CI Check use production mode

v0.10.17
Fix Conda Build
2026-03-24 12:39:15 +00:00 · 2026-01-27 19:59:22 +08:00 · 2026-01-27 19:41:12 +08:00 · 2026-01-27 19:39:42 +08:00 · 2026-01-27 15:21:55 +08:00 · 2026-01-08 03:46:44 +08:00
130 changed files with 7902 additions and 22435 deletions
--- a/.conda/base/recipe.yaml
+++ b/.conda/base/recipe.yaml
@@ -3,7 +3,7 @@

 package:
  name: unilabos
-  version: 0.10.19
+  version: 0.10.17

 source:
  path: ../../unilabos
@@ -41,20 +41,19 @@ requirements:
  - networkx
  - typing_extensions
  - websockets
+  - opentrons_shared_data
  - pint
  - fastapi
  - jinja2
  - requests
  - uvicorn
-  - if: not osx
-    then:
-    - opcua
+  - opcua
  - pyserial
  - pandas
  - pymodbus
  - matplotlib
  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
+  - uni-lab::unilabos-env ==0.10.17

 about:
  repository: https://github.com/deepmodeling/Uni-Lab-OS
--- a/.conda/environment/recipe.yaml
+++ b/.conda/environment/recipe.yaml
@@ -2,7 +2,7 @@

 package:
  name: unilabos-env
-  version: 0.10.19
+  version: 0.10.17

 build:
  noarch: generic
--- a/.conda/full/recipe.yaml
+++ b/.conda/full/recipe.yaml
@@ -3,7 +3,7 @@

 package:
  name: unilabos-full
-  version: 0.10.19
+  version: 0.10.17

 build:
  noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
  run:
  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
+  - uni-lab::unilabos ==0.10.17
  # Documentation tools
  - sphinx
  - sphinx_rtd_theme
--- a/.cursor/skills/add-device/SKILL.md
+++ b/.cursor/skills/add-device/SKILL.md
@@ -1,160 +0,0 @@
---
-name: add-device
-description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
---
-
-# 添加新设备到 Uni-Lab-OS
-
-**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
-
-该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
-
---
-
-## 装饰器参考
-
-### @device — 设备类装饰器
-
-```python
-from unilabos.registry.decorators import device
-
-# 单设备
-@device(
-    id="my_device.vendor",           # 注册表唯一标识（必填）
-    category=["temperature"],         # 分类标签列表（必填）
-    description="设备描述",            # 设备描述
-    display_name="显示名称",           # UI 显示名称（默认用 id）
-    icon="DeviceIcon.webp",           # 图标文件名
-    version="1.0.0",                  # 版本号
-    device_type="python",             # "python" 或 "ros2"
-    handles=[...],                    # 端口列表（InputHandle / OutputHandle）
-    model={...},                      # 3D 模型配置
-    hardware_interface=HardwareInterface(...),  # 硬件通信接口
-)
-
-# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
-@device(
-    ids=["pump.vendor.model_A", "pump.vendor.model_B"],
-    id_meta={
-        "pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
-        "pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
-    },
-    category=["pump_and_valve"],
-)
-```
-
-### @action — 动作方法装饰器
-
-```python
-from unilabos.registry.decorators import action
-
-@action                              # 无参：注册为 UniLabJsonCommand 动作
-@action()                            # 同上
-@action(description="执行操作")       # 带描述
-@action(
-    action_type=HeatChill,           # 指定 ROS Action 消息类型
-    goal={"temperature": "temp"},    # Goal 字段映射
-    feedback={},                     # Feedback 字段映射
-    result={},                       # Result 字段映射
-    handles=[...],                   # 动作级别端口
-    goal_default={"temp": 25.0},     # Goal 默认值
-    placeholder_keys={...},          # 参数占位符
-    always_free=True,                # 不受排队限制
-    auto_prefix=True,                # 强制使用 auto- 前缀
-    parent=True,                     # 从父类 MRO 获取参数签名
-)
-```
-
-**自动识别规则：**
- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
- `_` 开头的方法 → 不扫描
- `@not_action` 标记的方法 → 排除
-
-### @topic_config — 状态属性配置
-
-```python
-from unilabos.registry.decorators import topic_config
-
-@property
-@topic_config(
-    period=5.0,            # 发布周期（秒），默认 5.0
-    print_publish=False,   # 是否打印发布日志
-    qos=10,                # QoS 深度，默认 10
-    name="custom_name",    # 自定义发布名称（默认用属性名）
-)
-def temperature(self) -> float:
-    return self.data.get("temperature", 0.0)
-```
-
-### 辅助装饰器
-
-```python
-from unilabos.registry.decorators import not_action, always_free
-
-@not_action          # 标记为非动作（post_init、辅助方法等）
-@always_free         # 标记为不受排队限制（查询类操作）
-```
-
---
-
-## 设备模板
-
-```python
-import logging
-from typing import Any, Dict, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import device, action, topic_config, not_action
-
-@device(id="my_device", category=["my_category"], description="设备描述")
-class MyDevice:
-    _ros_node: BaseROS2DeviceNode
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        self.device_id = device_id or "my_device"
-        self.config = config or {}
-        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
-        self.data: Dict[str, Any] = {"status": "Idle"}
-
-    @not_action
-    def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
-        self._ros_node = ros_node
-
-    @action
-    async def initialize(self) -> bool:
-        self.data["status"] = "Ready"
-        return True
-
-    @action
-    async def cleanup(self) -> bool:
-        self.data["status"] = "Offline"
-        return True
-
-    @action(description="执行操作")
-    def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """带 @action 装饰器 → 注册为 'my_action' 动作"""
-        return {"success": True}
-
-    def get_info(self) -> Dict[str, Any]:
-        """无 @action → 自动注册为 'auto-get_info' 动作"""
-        return {"device_id": self.device_id}
-
-    @property
-    @topic_config()
-    def status(self) -> str:
-        return self.data.get("status", "Idle")
-
-    @property
-    @topic_config(period=2.0)
-    def temperature(self) -> float:
-        return self.data.get("temperature", 0.0)
-```
-
-### 要点
-
- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
- 运行时状态存储在 `self.data` 字典中
- 设备文件放在 `unilabos/devices/<category>/` 目录下
--- a/.cursor/skills/add-resource/SKILL.md
+++ b/.cursor/skills/add-resource/SKILL.md
@@ -1,351 +0,0 @@
---
-name: add-resource
-description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
---
-
-# 添加新物料资源
-
-Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
-
---
-
-## 资源类型
-
-| 类型 | 基类 | 用途 | 示例 |
-|------|------|------|------|
-| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
-| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
-| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
-| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
-
-**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
-
-WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
-
---
-
-## @resource 装饰器
-
-```python
-from unilabos.registry.decorators import resource
-
-@resource(
-    id="my_resource_id",        # 注册表唯一标识（必填）
-    category=["bottles"],       # 分类标签列表（必填）
-    description="资源描述",
-    icon="",                    # 图标
-    version="1.0.0",
-    handles=[...],              # 端口列表（InputHandle / OutputHandle）
-    model={...},                # 3D 模型配置
-    class_type="pylabrobot",    # "python" / "pylabrobot" / "unilabos"
-)
-```
-
---
-
-## 创建规范
-
-### 命名规则
-
-1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
-2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
-3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
-
-### 子物料命名示例
-
-```python
-# Carrier 内部的 sites 用 name 前缀
-for k, v in sites.items():
-    v.name = f"{name}_{v.name}"     # "堆栈1左_A01", "堆栈1左_B02" ...
-
-# Carrier 中放置 Bottle 时用 name 前缀
-carrier[0] = My_Reagent_Bottle(f"{name}_flask_1")    # "堆栈1左_flask_1"
-carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}")  # "堆栈1左_vial_A1"
-
-# create_homogeneous_resources 使用 name_prefix
-sites=create_homogeneous_resources(
-    klass=ResourceHolder,
-    locations=[...],
-    name_prefix=name,  # 自动生成 "{name}_0", "{name}_1" ...
-)
-
-# Deck setup 中用仓库名称作为 name 传入
-self.warehouses = {
-    "堆栈1左": my_warehouse_4x4("堆栈1左"),   # WareHouse.name = "堆栈1左"
-    "试剂堆栈": my_reagent_stack("试剂堆栈"),  # WareHouse.name = "试剂堆栈"
-}
-```
-
-### 其他规范
-
- **max_volume 单位为 μL**：500mL = 500000
- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
-
---
-
-## 资源模板
-
-### Bottle
-
-```python
-from unilabos.registry.decorators import resource
-from unilabos.resources.itemized_carrier import Bottle
-
-
-@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
-def My_Reagent_Bottle(
-    name: str,
-    diameter: float = 70.0,
-    height: float = 120.0,
-    max_volume: float = 500000.0,
-    barcode: str = None,
-) -> Bottle:
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="My_Reagent_Bottle",
-    )
-```
-
-**Bottle 参数：**
- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
- `diameter`: 瓶体直径 (mm)
- `height`: 瓶体高度 (mm)
- `max_volume`: 最大容积（**μL**，500mL = 500000）
- `barcode`: 条形码（可选）
-
-### BottleCarrier
-
-```python
-from pylabrobot.resources import ResourceHolder
-from pylabrobot.resources.carrier import create_ordered_items_2d
-from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.registry.decorators import resource
-
-
-@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
-def My_6SlotCarrier(name: str) -> BottleCarrier:
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=3, num_items_y=2,
-        dx=10.0, dy=10.0, dz=5.0,
-        item_dx=42.0, item_dy=35.0,
-        size_x=20.0, size_y=20.0, size_z=50.0,
-    )
-    # 子 site 用 name 作为前缀
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name, size_x=146.0, size_y=80.0, size_z=55.0,
-        sites=sites, model="My_6SlotCarrier",
-    )
-    carrier.num_items_x = 3
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-
-    # 放置 Bottle 时用 name 作为前缀
-    ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
-    for i in range(6):
-        carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
-    return carrier
-```
-
-### WareHouse / Deck 放置位
-
-WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
-
-#### WareHouse（使用 warehouse_factory）
-
-```python
-from unilabos.resources.warehouse import warehouse_factory
-from unilabos.registry.decorators import resource
-
-
-@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
-def my_warehouse_4x4(name: str) -> "WareHouse":
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,             # 第一个 slot 的起始偏移
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,  # slot 间距
-        resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0,  # slot 尺寸
-        model="my_warehouse_4x4",
-        col_offset=0,       # 列标签起始偏移（0 → A01, 4 → A05）
-        layout="row-major",  # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
-    )
-```
-
-`warehouse_factory` 参数说明：
- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
- `layout`：影响 slot 标签和坐标映射
-  - `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
-  - `"col-major"`：A01,B01,...,A02,B02,...（列优先）
-  - `"vertical-col-major"`：竖向排列，y 坐标反向
-
-#### Deck 组装 WareHouse
-
-Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
-
-```python
-from pylabrobot.resources import Deck, Coordinate
-from unilabos.registry.decorators import resource
-
-
-@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
-class MyStation_Deck(Deck):
-    def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
-                 category="deck", setup=False, **kwargs) -> None:
-        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
-        if setup:
-            self.setup()
-
-    def setup(self) -> None:
-        self.warehouses = {
-            "堆栈1左": my_warehouse_4x4("堆栈1左"),
-            "堆栈1右": my_warehouse_4x4("堆栈1右"),
-        }
-        self.warehouse_locations = {
-            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 自行测量计算
-            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),
-        }
-        for wh_name, wh in self.warehouses.items():
-            self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
-```
-
-#### Site 模式（前端定向放置）
-
-适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
-
-```python
-import collections
-from typing import Any, Dict, List, Optional
-from pylabrobot.resources import Deck, Resource, Coordinate
-from unilabos.registry.decorators import resource
-
-
-@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
-class MyLabDeck(Deck):
-    # 根据设备台面实测批量计算各 slot 坐标偏移
-    _DEFAULT_SITE_POSITIONS = [
-        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),       # T1-T4
-        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),   # T5-T8
-    ]
-    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
-    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
-
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
-                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
-        if sites is not None:
-            self.sites = [dict(s) for s in sites]
-        else:
-            self.sites = []
-            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
-                self.sites.append({
-                    "label": f"T{i + 1}",          # 前端显示的槽位标签
-                    "visible": True,                # 是否在前端可见
-                    "position": {"x": x, "y": y, "z": z},  # 槽位物理坐标
-                    "size": dict(self._DEFAULT_SITE_SIZE),  # 槽位尺寸
-                    "content_type": list(self._DEFAULT_CONTENT_TYPE),  # 允许放入的物料类型
-                })
-        self._ordering = collections.OrderedDict(
-            (site["label"], None) for site in self.sites
-        )
-
-    def assign_child_resource(self, resource: Resource,
-                              location: Optional[Coordinate] = None,
-                              reassign: bool = True,
-                              spot: Optional[int] = None):
-        idx = spot
-        if spot is None:
-            for i, site in enumerate(self.sites):
-                if site.get("label") == resource.name:
-                    idx = i
-                    break
-        if idx is None:
-            for i in range(len(self.sites)):
-                if self._get_site_resource(i) is None:
-                    idx = i
-                    break
-        if idx is None:
-            raise ValueError(f"No available site for '{resource.name}'")
-        loc = Coordinate(**self.sites[idx]["position"])
-        super().assign_child_resource(resource, location=loc, reassign=reassign)
-
-    def serialize(self) -> dict:
-        data = super().serialize()
-        sites_out = []
-        for i, site in enumerate(self.sites):
-            occupied = self._get_site_resource(i)
-            sites_out.append({
-                "label": site["label"],
-                "visible": site.get("visible", True),
-                "occupied_by": occupied.name if occupied else None,
-                "position": site["position"],
-                "size": site["size"],
-                "content_type": site["content_type"],
-            })
-        data["sites"] = sites_out
-        return data
-```
-
-**Site 字段说明：**
-
-| 字段 | 类型 | 说明 |
-|------|------|------|
-| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
-| `visible` | bool | 是否在前端可见 |
-| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
-| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
-| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
-
-**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
-
---
-
-## 文件位置
-
-```
-unilabos/resources/
-├── <project>/              # 按项目分组
-│   ├── bottles.py          # Bottle 工厂函数
-│   ├── bottle_carriers.py  # Carrier 工厂函数
-│   ├── warehouses.py       # WareHouse 工厂函数
-│   └── decks.py            # Deck 类定义
-```
-
---
-
-## 验证
-
-```bash
-# 资源可导入
-python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
-
-# 启动测试（AST 自动扫描）
-unilab -g <graph>.json
-```
-
-仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
-
---
-
-## 关键路径
-
-| 内容 | 路径 |
-|------|------|
-| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
-| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
-| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
-| 装饰器定义 | `unilabos/registry/decorators.py` |
--- a/.cursor/skills/add-resource/reference.md
+++ b/.cursor/skills/add-resource/reference.md
@@ -1,292 +0,0 @@
-# 资源高级参考
-
-本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
-
---
-
-## 1. 类继承体系
-
-```
-PyLabRobot
-├── Resource (PLR 基类)
-│   ├── Well
-│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
-│   ├── Deck
-│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
-│   ├── ResourceHolder               → 槽位占位符
-│   └── Container
-│       └── Battery (unilabos)       → 组装好的电池
-│
-├── ItemizedCarrier (unilabos, 继承 Resource)
-│   ├── BottleCarrier (unilabos)     → 瓶载架
-│   └── WareHouse (unilabos)         → 堆栈仓库
-│
-├── ItemizedResource (PLR)
-│   └── MagazineHolder (unilabos)    → 子弹夹载架
-│
-└── ResourceStack (PLR)
-    └── Magazine (unilabos)          → 子弹夹洞位
-```
-
-### Bottle 类细节
-
-```python
-class Bottle(Well):
-    def __init__(self, name, diameter, height, max_volume,
-                 size_x=0.0, size_y=0.0, size_z=0.0,
-                 barcode=None, category="container", model=None, **kwargs):
-        super().__init__(
-            name=name,
-            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
-            size_y=diameter,
-            size_z=height,      # PLR 用 height 作为 size_z
-            max_volume=max_volume,
-            category=category,
-            model=model,
-            bottom_type="flat",
-            cross_section_type="circle"
-        )
-```
-
-注意 `size_x = size_y = diameter`，`size_z = height`。
-
-### ItemizedCarrier 核心方法
-
-| 方法 | 说明 |
-|------|------|
-| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
-| `__setitem__(identifier, resource)` | 向槽位放入资源 |
-| `get_child_identifier(child)` | 获取子资源的标识符 |
-| `capacity` | 总槽位数 |
-| `sites` | 所有槽位字典 |
-
---
-
-## 2. 序列化与反序列化
-
-### PLR ↔ UniLab 转换
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
-| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
-
-### `from_plr_resources` 流程
-
-```
-PLR Resource
-    ↓ build_uuid_mapping (递归生成 UUID)
-    ↓ resource.serialize() → dict
-    ↓ resource.serialize_all_state() → states
-    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
-ResourceTreeSet
-```
-
-关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
-
-### `to_plr_resources` 流程
-
-```
-ResourceTreeSet
-    ↓ collect_node_data (收集 UUID、状态、扩展数据)
-    ↓ node_to_plr_dict (转为 PLR 字典格式)
-    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
-    ↓ sub_cls.deserialize(plr_dict) (反序列化)
-    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
-PLR Resource
-```
-
-### Bottle 序列化
-
-```python
-class Bottle(Well):
-    def serialize(self) -> dict:
-        data = super().serialize()
-        return {**data, "diameter": self.diameter, "height": self.height}
-
-    @classmethod
-    def deserialize(cls, data: dict, allow_marshal=False):
-        barcode_data = data.pop("barcode", None)
-        instance = super().deserialize(data, allow_marshal=allow_marshal)
-        if barcode_data and isinstance(barcode_data, str):
-            instance.barcode = barcode_data
-        return instance
-```
-
---
-
-## 3. Bioyond 物料同步
-
-### 双向转换函数
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
-| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
-
-### `resource_bioyond_to_plr` 流程
-
-```
-Bioyond 物料列表
-    ↓ reverse_type_mapping: {typeName → (model, UUID)}
-    ↓ 对每个物料:
-       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
-       initialize_resource({"name": unique_name, "class": model})
-    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
-    ↓ 处理 detail (子物料/坐标)
-    ↓ 按 locationName 放入 deck.warehouses 对应槽位
-PLR 资源列表
-```
-
-### `resource_plr_to_bioyond` 流程
-
-```
-PLR 资源列表
-    ↓ 遍历每个资源:
-       载架(capacity > 1): 生成 details 子物料 + 坐标
-       单瓶: 直接映射
-    ↓ type_mapping 查找 typeId
-    ↓ warehouse_mapping 查找位置 UUID
-    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
-Bioyond 物料列表
-```
-
-### BioyondResourceSynchronizer
-
-工作站通过 `ResourceSynchronizer` 自动同步物料：
-
-```python
-class BioyondResourceSynchronizer(ResourceSynchronizer):
-    def sync_from_external(self) -> bool:
-        all_data = []
-        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
-        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
-        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
-        unilab_resources = resource_bioyond_to_plr(
-            all_data,
-            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
-            deck=self.workstation.deck
-        )
-        # 更新 deck 上的资源
-```
-
---
-
-## 4. 非瓶类资源
-
-### ElectrodeSheet（极片）
-
-路径：`unilabos/resources/battery/electrode_sheet.py`
-
-```python
-class ElectrodeSheet(ResourcePLR):
-    """片状材料（极片、隔膜、弹片、垫片等）"""
-    _unilabos_state = {
-        "diameter": 0.0,
-        "thickness": 0.0,
-        "mass": 0.0,
-        "material_type": "",
-        "color": "",
-        "info": "",
-    }
-```
-
-工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
-
-### Battery（电池）
-
-```python
-class Battery(Container):
-    """组装好的电池"""
-    _unilabos_state = {
-        "color": "",
-        "electrolyte_name": "",
-        "open_circuit_voltage": 0.0,
-    }
-```
-
-### Magazine / MagazineHolder（子弹夹）
-
-```python
-class Magazine(ResourceStack):
-    """子弹夹洞位，可堆叠 ElectrodeSheet"""
-    # direction, max_sheets
-
-class MagazineHolder(ItemizedResource):
-    """多洞位子弹夹"""
-    # hole_diameter, hole_depth, max_sheets_per_hole
-```
-
-工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
-
---
-
-## 5. 仓库工厂模式参考
-
-### 实际 warehouse 工厂函数示例
-
-```python
-# 行优先 4x4 仓库
-def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="row-major",  # A01,A02,A03,A04, B01,...
-    )
-
-# 右侧 4x4 仓库（列名偏移）
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        col_offset=4,      # A05,A06,A07,A08
-        layout="row-major",
-    )
-
-# 竖向仓库（站内试剂存放）
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=1, num_items_y=2, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="vertical-col-major",
-    )
-
-# 行偏移（F 行开始）
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=3, num_items_y=5, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=159.0, item_dy=183.0, item_dz=130.0,
-        row_offset=row_offset,  # 0→A行起，5→F行起
-        layout="row-major",
-    )
-```
-
-### layout 类型说明
-
-| layout | 命名顺序 | 适用场景 |
-|--------|---------|---------|
-| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
-| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
-| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
-
---
-
-## 6. 关键路径
-
-| 内容 | 路径 |
-|------|------|
-| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
-| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
-| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
-| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
-| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
-| 电池资源 | `unilabos/resources/battery/` |
-| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
--- a/.cursor/skills/create-device-skill/SKILL.md
+++ b/.cursor/skills/create-device-skill/SKILL.md
@@ -1,328 +0,0 @@
---
-name: create-device-skill
-description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
---
-
-# 创建设备 Skill 指南
-
-本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
-
-## 数据源
-
- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
-
-## 创建流程
-
-### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
-
-开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
-
-向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
-
-#### 必备项 ①：ak / sk（认证凭据）
-
-来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
-
-获取后立即生成 AUTH token：
-
-```bash
-python ./scripts/gen_auth.py <ak> <sk>
-# 或从 config.py 提取
-python ./scripts/gen_auth.py --config <config.py>
-```
-
-认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
-
-#### 必备项 ②：--addr（目标环境）
-
-决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
-
-| `--addr` 值 | BASE URL |
-|-------------|----------|
-| `test` | `https://uni-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
-| `local` | `http://127.0.0.1:48197` |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
-| 其他自定义 URL | 直接使用该 URL |
-
-#### 必备项 ③：req_device_registry_upload.json（设备注册表）
-
-数据文件由 `unilab` 启动时自动生成，需要定位它：
-
-**推断 working_dir**（即 `unilabos_data` 所在目录）：
-
-| 条件 | working_dir 取值 |
-|------|------------------|
-| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
-| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
-| 都没传 | `<当前工作目录>/unilabos_data/` |
-
-**按优先级搜索文件**：
-
-```
-<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
-<推断的 working_dir>/req_device_registry_upload.json
-<workspace 根目录>/unilabos_data/req_device_registry_upload.json
-```
-
-也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
-
-找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
-
-**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
-
-#### 必备项 ④：目标设备
-
-用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
-
-如果用户不确定，运行提取脚本列出所有设备供选择：
-
-```bash
-python ./scripts/extract_device_actions.py --registry <找到的文件路径>
-```
-
-#### 完整示例
-
-用户提供：
-
-```
--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
--addr test
--port 8003
--disable_browser
-```
-
-从中提取：
- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
-
-**四项全部就绪后才进入 Step 1。**
-
-### Step 1 — 列出可用设备
-
-运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
-
-```bash
-# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
-python ./scripts/extract_device_actions.py
-
-# 指定注册表文件路径
-python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
-```
-
-脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
-
-### Step 2 — 提取 Action Schema
-
-用户选择设备后，运行提取脚本：
-
-```bash
-python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
-```
-
-脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
-
-每个 action 生成一个 JSON 文件，包含：
- `type` — 作为 API 调用的 `action_type`
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
- `goal` — goal 字段映射（含占位符 `$placeholder`）
- `goal_default` — 默认值
-
-### Step 3 — 写 action-index.md
-
-按模板为每个 action 写条目：
-
-```markdown
-### `<action_name>`
-
-<用途描述（一句话）>
-
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
- **可选参数**: `param3`, `param4`
- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
-```
-
-描述规则：
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
- 从 `schema.required` 区分核心/可选参数
- 按功能分类（移液、枪头、外设等）
- 标注 `placeholder_keys` 中的字段类型：
-  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
-  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
-  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
-  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
- array 类型字段 → `[{id, name, uuid}, ...]`
- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
-
-### Step 4 — 写 SKILL.md
-
-直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
- 设备名称
- Action 数量
- 目录列表
- Session state 中的 `device_name`
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
-
-API 模板结构：
-
-```markdown
-## 设备信息
- device_id, Python 源码路径, 设备类名
-
-## 前置条件（缺一不可）
- ak/sk → AUTH, --addr → BASE URL
-
-## Session State
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
-
-## API Endpoints (10 个)
-# 注意：
-# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
-#   调用 /lab/info/{uuid} 比对 access_key == ak）
-# - #2 创建工作流用 POST /lab/workflow
-# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
-
-## Placeholder Slot 填写规则
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
- unilabos_class → ClassSlot → "class_name" 字符串
- 特例：create_resource 的 res_id 允许填不存在的路径
- 列出本设备所有 Slot 字段、类型及含义
-
-## 渐进加载策略
-## 完整工作流 Checklist
-```
-
-### Step 5 — 验证
-
-检查文件完整性：
- [ ] `SKILL.md` 包含 10 个 API endpoint
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
- [ ] `action-index.md` 列出所有 action 并有描述
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
- [ ] 描述能让 agent 判断该用哪个 action
-
-## Action JSON 文件结构
-
-```json
-{
-  "type": "LiquidHandlerTransfer",    // → API 的 action_type
-  "goal": {                           // goal 字段映射
-    "sources": "sources",
-    "targets": "targets",
-    "tip_racks": "tip_racks",
-    "asp_vols": "asp_vols"
-  },
-  "schema": {                         // ← 直接是 goal 的 schema（已提升）
-    "type": "object",
-    "properties": {                   // 参数定义（即请求中 goal 的字段）
-      "sources": { "type": "array", "items": { "type": "object" } },
-      "targets": { "type": "array", "items": { "type": "object" } },
-      "asp_vols": { "type": "array", "items": { "type": "number" } }
-    },
-    "required": [...],
-    "_unilabos_placeholder_info": {   // ← Slot 类型标记
-      "sources": "unilabos_resources",
-      "targets": "unilabos_resources",
-      "tip_racks": "unilabos_resources"
-    }
-  },
-  "goal_default": { ... },            // 默认值
-  "placeholder_keys": {               // ← 汇总所有 Slot 字段
-    "sources": "unilabos_resources",  //    ResourceSlot
-    "targets": "unilabos_resources",
-    "tip_racks": "unilabos_resources",
-    "target_device_id": "unilabos_devices"  // DeviceSlot
-  }
-}
-```
-
-> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
-> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
-
-## Placeholder Slot 类型体系
-
-`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
-
-| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
-|---------------|-----------|---------|---------|
-| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
-| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
-| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
-| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
-
-### ResourceSlot（`unilabos_resources`）
-
-最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
-
-```json
-{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
-```
-
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
- `id` 本身是从 parent 计算的路径格式
- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
-
-> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
-
-### DeviceSlot（`unilabos_devices`）
-
-填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
-
-```
-"/host_node"
-"/bioyond_cell/reaction_station"
-```
-
- 只填路径字符串，不需要 `{id, uuid}` 对象
- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
-
-### NodeSlot（`unilabos_nodes`）
-
-范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
-
-```
-"/PRCXI/PRCXI_Deck"
-```
-
- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
-
-### ClassSlot（`unilabos_class`）
-
-填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
-
-```
-"container"
-```
-
-### 通过 API #10 获取资源树
-
-```bash
-curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
-```
-
-注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
-
-## 最终目录结构
-
-```
-./<skill-name>/
-├── SKILL.md              # API 端点 + 渐进加载指引
-├── action-index.md       # 动作索引：描述/用途/核心参数
-└── actions/              # 每个 action 的完整 JSON Schema
-    ├── action1.json
-    ├── action2.json
-    └── ...
-```
--- a/.cursor/skills/create-device-skill/scripts/extract_device_actions.py
+++ b/.cursor/skills/create-device-skill/scripts/extract_device_actions.py
@@ -1,200 +0,0 @@
-#!/usr/bin/env python3
-"""
-从 req_device_registry_upload.json 中提取指定设备的 action schema。
-
-用法:
-  # 列出所有设备及 action 数量（自动搜索注册表文件）
-  python extract_device_actions.py
-
-  # 指定注册表文件路径
-  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
-
-  # 提取指定设备的 action 到目录
-  python extract_device_actions.py <device_id> <output_dir>
-  python extract_device_actions.py --registry <path> <device_id> <output_dir>
-
-示例:
-  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
-  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
-"""
-import json
-import os
-import sys
-from datetime import datetime
-
-REGISTRY_FILENAME = "req_device_registry_upload.json"
-
-def find_registry(explicit_path=None):
-    """
-    查找 req_device_registry_upload.json 文件。
-
-    搜索优先级：
-    1. 用户通过 --registry 显式指定的路径
-    2. <cwd>/unilabos_data/req_device_registry_upload.json
-    3. <cwd>/req_device_registry_upload.json
-    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
-    5. 向上逐级搜索父目录（最多 5 层）
-    """
-    if explicit_path:
-        if os.path.isfile(explicit_path):
-            return explicit_path
-        if os.path.isdir(explicit_path):
-            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
-            if os.path.isfile(fp):
-                return fp
-        print(f"警告: 指定的路径不存在: {explicit_path}")
-        return None
-
-    candidates = [
-        os.path.join("unilabos_data", REGISTRY_FILENAME),
-        REGISTRY_FILENAME,
-    ]
-
-    for c in candidates:
-        if os.path.isfile(c):
-            return c
-
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
-    for c in candidates:
-        path = os.path.join(workspace_root, c)
-        if os.path.isfile(path):
-            return path
-
-    cwd = os.getcwd()
-    for _ in range(5):
-        parent = os.path.dirname(cwd)
-        if parent == cwd:
-            break
-        cwd = parent
-        for c in candidates:
-            path = os.path.join(cwd, c)
-            if os.path.isfile(path):
-                return path
-
-    return None
-
-def load_registry(path):
-    with open(path, 'r', encoding='utf-8') as f:
-        return json.load(f)
-
-def list_devices(data):
-    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
-    resources = data.get('resources', [])
-    devices = []
-    for res in resources:
-        rid = res.get('id', '')
-        cls = res.get('class', {})
-        avm = cls.get('action_value_mappings', {})
-        module = cls.get('module', '')
-        if avm:
-            devices.append((rid, len(avm), module))
-    return devices
-
-def flatten_schema_to_goal(action_data):
-    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
-    schema = action_data.get('schema', {})
-    goal_schema = schema.get('properties', {}).get('goal', {})
-    if goal_schema:
-        action_data = dict(action_data)
-        action_data['schema'] = goal_schema
-    return action_data
-
-
-def extract_actions(data, device_id, output_dir):
-    """提取指定设备的 action schema 到独立 JSON 文件"""
-    resources = data.get('resources', [])
-    for res in resources:
-        if res.get('id') == device_id:
-            cls = res.get('class', {})
-            module = cls.get('module', '')
-            avm = cls.get('action_value_mappings', {})
-            if not avm:
-                print(f"设备 {device_id} 没有 action_value_mappings")
-                return []
-
-            if module:
-                py_path = module.split(":")[0].replace(".", "/") + ".py"
-                class_name = module.split(":")[-1] if ":" in module else ""
-                print(f"Python 源码: {py_path}")
-                if class_name:
-                    print(f"设备类: {class_name}")
-
-            os.makedirs(output_dir, exist_ok=True)
-            written = []
-            for action_name in sorted(avm.keys()):
-                action_data = flatten_schema_to_goal(avm[action_name])
-                filename = action_name.replace('-', '_') + '.json'
-                filepath = os.path.join(output_dir, filename)
-                with open(filepath, 'w', encoding='utf-8') as f:
-                    json.dump(action_data, f, indent=2, ensure_ascii=False)
-                written.append(filename)
-                print(f"  {filepath}")
-            return written
-
-    print(f"设备 {device_id} 未找到")
-    return []
-
-def main():
-    args = sys.argv[1:]
-    explicit_registry = None
-
-    if "--registry" in args:
-        idx = args.index("--registry")
-        if idx + 1 < len(args):
-            explicit_registry = args[idx + 1]
-            args = args[:idx] + args[idx + 2:]
-        else:
-            print("错误: --registry 需要指定路径")
-            sys.exit(1)
-
-    registry_path = find_registry(explicit_registry)
-    if not registry_path:
-        print(f"错误: 找不到 {REGISTRY_FILENAME}")
-        print()
-        print("解决方法:")
-        print("  1. 先运行 unilab 启动命令，等待注册表生成")
-        print("  2. 用 --registry 指定文件路径:")
-        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
-        print()
-        print("搜索过的路径:")
-        for p in [
-            os.path.join("unilabos_data", REGISTRY_FILENAME),
-            REGISTRY_FILENAME,
-            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
-        ]:
-            print(f"  - {p}")
-        sys.exit(1)
-
-    print(f"注册表: {registry_path}")
-    mtime = os.path.getmtime(registry_path)
-    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
-    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
-    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
-    data = load_registry(registry_path)
-
-    if len(args) == 0:
-        devices = list_devices(data)
-        print(f"\n找到 {len(devices)} 个设备:")
-        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
-        print("-" * 120)
-        for did, count, module in sorted(devices, key=lambda x: x[0]):
-            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
-            print(f"{did:<50} {count:>7}  {py_path}")
-
-    elif len(args) == 2:
-        device_id = args[0]
-        output_dir = args[1]
-        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
-        written = extract_actions(data, device_id, output_dir)
-        if written:
-            print(f"\n共写入 {len(written)} 个 action 文件")
-
-    else:
-        print("用法:")
-        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
-        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
-        sys.exit(1)
-
-if __name__ == '__main__':
-    main()
--- a/.cursor/skills/create-device-skill/scripts/gen_auth.py
+++ b/.cursor/skills/create-device-skill/scripts/gen_auth.py
@@ -1,69 +0,0 @@
-#!/usr/bin/env python3
-"""
-从 ak/sk 生成 UniLab API Authorization header。
-
-算法: base64(ak:sk) → "Authorization: Lab <token>"
-
-用法:
-  python gen_auth.py <ak> <sk>
-  python gen_auth.py --config <config.py>
-
-示例:
-  python gen_auth.py myak mysk
-  python gen_auth.py --config experiments/config.py
-"""
-import base64
-import re
-import sys
-
-
-def gen_auth(ak: str, sk: str) -> str:
-    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
-    return token
-
-
-def extract_from_config(config_path: str) -> tuple:
-    """从 config.py 中提取 ak 和 sk"""
-    with open(config_path, "r", encoding="utf-8") as f:
-        content = f.read()
-    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
-    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
-    if not ak_match or not sk_match:
-        return None, None
-    return ak_match.group(1), sk_match.group(1)
-
-
-def main():
-    args = sys.argv[1:]
-
-    if len(args) == 2 and args[0] == "--config":
-        ak, sk = extract_from_config(args[1])
-        if not ak or not sk:
-            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
-            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
-            sys.exit(1)
-        print(f"配置文件: {args[1]}")
-    elif len(args) == 2:
-        ak, sk = args
-    else:
-        print("用法:")
-        print("  python gen_auth.py <ak> <sk>")
-        print("  python gen_auth.py --config <config.py>")
-        sys.exit(1)
-
-    token = gen_auth(ak, sk)
-    print(f"ak: {ak}")
-    print(f"sk: {sk}")
-    print()
-    print(f"Authorization header:")
-    print(f"  Authorization: Lab {token}")
-    print()
-    print(f"curl 用法:")
-    print(f'  curl -H "Authorization: Lab {token}" ...')
-    print()
-    print(f"Shell 变量:")
-    print(f'  AUTH="Authorization: Lab {token}"')
-
-
-if __name__ == "__main__":
-    main()
--- a/.github/workflows/ci-check.yml
+++ b/.github/workflows/ci-check.yml
@@ -49,7 +49,7 @@ jobs:
          uv pip uninstall enum34 || echo enum34 not installed, skipping
          uv pip install .

-      - name: Run check mode (AST registry validation)
+      - name: Run check mode (complete_registry)
        run: |
          call conda activate check-env
          echo Running check mode...
--- a/.gitignore
+++ b/.gitignore
@@ -5,7 +5,6 @@ output/
 unilabos_data/
 pyrightconfig.json
 .cursorignore
-device_package*/
 ## Python

 # Byte-compiled / optimized / DLL files
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -1,87 +0,0 @@
-# AGENTS.md
-
-This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
-
-Also follow the monorepo-level rules in `../AGENTS.md`.
-
-## Build & Development
-
-```bash
-# Install in editable mode (requires mamba env with python 3.11)
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Run with a device graph
-unilab --graph <graph.json> --config <config.py> --backend ros
-unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
-
-# Common CLI flags
-unilab --app_bridges websocket fastapi    # communication bridges
-unilab --test_mode                        # simulate hardware, no real execution
-unilab --check_mode                       # CI validation of registry imports
-unilab --skip_env_check                   # skip auto-install of dependencies
-unilab --visual rviz|web|disable          # visualization mode
-unilab --is_slave                         # run as slave node
-
-# Workflow upload subcommand
-unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
-
-# Tests
-pytest tests/                              # all tests
-pytest tests/resources/test_resourcetreeset.py  # single test file
-pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
-```
-
-## Architecture
-
-### Startup Flow
-
-`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
-
-### Core Layers
-
-**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
-
-**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
-
-**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
-
-**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
-
-**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
-
-**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
-
-**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
-
-### Configuration System
-
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
- Config files are `.py` files with matching class names (see `config/example_config.py`)
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
- Device topology defined in graph files (JSON with node-link format, or GraphML)
-
-### Key Data Flow
-
-1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
-2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
-3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
-4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
-
-### Test Data
-
-Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
-
-## Code Conventions
-
- Code comments and log messages in simplified Chinese
- Python 3.11+, type hints expected
- Pydantic models for data validation (`resource_tracker.py`)
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
- CLI argument dashes auto-converted to underscores for consistency
-
-## Licensing
-
- Framework code: GPL-3.0
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -1,4 +0,0 @@
-
-Please follow the rules defined in:
-
-@AGENTS.md
--- a/docs/developer_guide/add_device.md
+++ b/docs/developer_guide/add_device.md
@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**

 ```python
-from unilabos.registry.decorators import device, topic_config
-
-@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
    def __init__(self):
        self._position: float = 0.0
@@ -26,23 +23,19 @@ class MockGripper:
        self._status = "Idle"

    @property
-    @topic_config()  # 添加 @topic_config 才会定时广播
    def position(self) -> float:
        return self._position

    @property
-    @topic_config()
    def velocity(self) -> float:
        return self._velocity

    @property
-    @topic_config()
    def torque(self) -> float:
        return self._torque

-    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
+    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
    @property
-    @topic_config(period=2.0)  # 可自定义发布周期
    def status(self) -> str:
        return self._status

@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符

 系统会自动分析您的 Python 驱动类并生成：

- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
+- `status_types`：从 `@property` 装饰的方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：

 ```python
 from typing import Dict, Any
-from unilabos.registry.decorators import device, topic_config

-@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
    """设备类文档字符串

@@ -207,9 +198,8 @@ class MyDevice:
        # 初始化硬件连接

    @property
-    @topic_config()  # 必须添加 @topic_config 才会广播
    def status(self) -> str:
-        """设备状态（通过 @topic_config 广播）"""
+        """设备状态（会自动广播）"""
        return self._status

    def my_action(self, param: float) -> Dict[str, Any]:
@@ -227,61 +217,34 @@ class MyDevice:

 ## 状态属性 vs 动作方法

-### 状态属性（@property + @topic_config）
+### 状态属性（@property）

-状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
+状态属性会被自动识别并定期广播：

 ```python
-from unilabos.registry.decorators import topic_config
-
@property
-@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
    """当前温度"""
    return self._read_temperature()

@property
-@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
    """设备状态: idle, running, error"""
    return self._status

@property
-@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
    """设备是否就绪"""
    return self._status == "idle"
 ```

-也可以使用普通方法（非 @property）配合 `@topic_config`：
-
-```python
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
-    return {"temp": self._temp, "humidity": self._humidity}
-```
-
-**`@topic_config` 参数**:
-
-| 参数 | 类型 | 默认值 | 说明 |
-|------|------|--------|------|
-| `period` | float | 5.0 | 发布周期（秒） |
-| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
-| `qos` | int | 10 | QoS 深度 |
-| `name` | str | None | 自定义发布名称 |
-
-**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
-
 **特点**:

- 必须使用 `@topic_config` 装饰器
- 支持 `@property` 和普通方法
- 添加到注册表的 `status_types`
+- 使用`@property`装饰器
+- 只读，不能有参数
+- 自动添加到注册表的`status_types`
 - 定期发布到 ROS2 topic

-> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
-
 ### 动作方法

 动作方法是设备可以执行的操作：
@@ -534,7 +497,6 @@ class LiquidHandler:
        self._status = "idle"

    @property
-    @topic_config()
    def status(self) -> str:
        return self._status

@@ -924,52 +886,7 @@ class MyDevice:

 ## 最佳实践

-### 1. 使用 `@device` 装饰器标识设备类
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
-class MyDevice:
-    ...
-```
-
- `id`：设备唯一标识符，用于注册表匹配
- `category`：分类列表，前端用于分组显示
- `description`：设备描述
- `icon`：图标文件名（可选）
-
-### 2. 使用 `@topic_config` 声明需要广播的状态
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ @property + @topic_config → 会广播
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    return {"temp": self._temp}
-
-# ✓ 使用 name 参数自定义发布名称
-@property
-@topic_config(name="ready")
-def is_ready(self) -> bool:
-    return self._status == "idle"
-
-# ✗ 仅有 @property，没有 @topic_config → 不会广播
-@property
-def internal_state(self) -> str:
-    return self._state
-```
-
-> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
-
-### 3. 类型注解
+### 1. 类型注解

 ```python
 from typing import Dict, Any, Optional, List
@@ -984,7 +901,7 @@ def method(
    pass
 ```

-### 4. 文档字符串
+### 2. 文档字符串

 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
    pass
 ```

-### 5. 配置验证
+### 3. 配置验证

 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
    self.baudrate = config['baudrate']
 ```

-### 6. 资源清理
+### 4. 资源清理

 ```python
 def __del__(self):
@@ -1029,7 +946,7 @@ def __del__(self):
        self.connection.close()
 ```

-### 7. 设计前端友好的返回值
+### 5. 设计前端友好的返回值

 **记住：返回值会直接显示在 Web 界面**

--- a/docs/developer_guide/add_registry.md
+++ b/docs/developer_guide/add_registry.md
@@ -422,20 +422,18 @@ placeholder_keys:

 ### status_types

-系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
+系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：

 ```yaml
 status_types:
-  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
-  is_heating: bool
-  status: str
+  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
+  is_heating: bool # 从 get_is_heating() 或 @property is_heating
+  status: str # 从 get_status() 或 @property status
 ```

 **注意事项**：

- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
+- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`

@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
        self._temperature = 25.0

    @property
-    @topic_config()
    def status(self) -> str:
        """设备状态"""
        return self._status

    @property
-    @topic_config()
    def temperature(self) -> float:
        """当前温度"""
        return self._temperature
@@ -813,23 +809,21 @@ my_temperature_controller:
 你的设备类需要符合以下要求：

 ```python
-from unilabos.registry.decorators import device, topic_config
+from unilabos.common.device_base import DeviceBase

-@device(id="my_device", category=["temperature"], description="My Device")
-class MyDevice:
+class MyDevice(DeviceBase):
    def __init__(self, config):
        """初始化，参数会自动分析到 init_param_schema.config"""
+        super().__init__(config)
        self.port = config.get('port', '/dev/ttyUSB0')

-    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
+    # 状态方法（会自动生成到 status_types）
    @property
-    @topic_config()
    def status(self):
        """返回设备状态"""
        return "idle"

    @property
-    @topic_config()
    def temperature(self):
        """返回当前温度"""
        return 25.0
@@ -1045,34 +1039,7 @@ resource.type      # "resource"

 ### 代码规范

-1. **使用 `@device` 装饰器标识设备类**
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Device")
-class MyDevice:
-    ...
-```
-
-2. **使用 `@topic_config` 声明广播属性**
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ 需要广播的状态属性
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✗ 仅有 @property 不会广播
-@property
-def internal_counter(self) -> int:
-    return self._counter
-```
-
-3. **始终使用类型注解**
+1. **始终使用类型注解**

 ```python
 # ✓ 好
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
    pass
 ```

-4. **提供有意义的参数名**
+2. **提供有意义的参数名**

 ```python
 # ✓ 好 - 清晰的参数名
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
    pass
 ```

-5. **使用 Optional 表示可选参数**
+3. **使用 Optional 表示可选参数**

 ```python
 from typing import Optional
@@ -1109,7 +1076,7 @@ def method(
    pass
 ```

-6. **添加详细的文档字符串**
+4. **添加详细的文档字符串**

 ```python
 def method(
@@ -1129,13 +1096,13 @@ def method(
    pass
 ```

-7. **方法命名规范**
+5. **方法命名规范**

-   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
+   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
   - 动作方法使用动词开头
   - 保持命名清晰、一致

-8. **完善的错误处理**
+6. **完善的错误处理**
   - 实现完善的错误处理
   - 添加日志记录
   - 提供有意义的错误信息
--- a/docs/developer_guide/networking_overview.md
+++ b/docs/developer_guide/networking_overview.md
@@ -221,10 +221,10 @@ Laboratory A    Laboratory B

 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource

 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 ```

 ---
--- a/docs/user_guide/best_practice.md
+++ b/docs/user_guide/best_practice.md
@@ -439,9 +439,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 1. 访问 Web 界面，进入"仪器耗材"模块
 2. 在"仪器设备"区域找到并添加上述设备
 3. 在"物料耗材"区域找到并添加容器
-4. 在workstation中配置protocol_type包含PumpTransferProtocol
-
-![添加Protocol类型](image/add_protocol.png)

 ![物料列表](image/material.png)

@@ -452,9 +449,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **操作步骤：**

 1. 将两个 `container` 拖拽到 `workstation` 中
-2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
-3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-4. 在画布上连接它们（建立父子关系）
+2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+3. 在画布上连接它们（建立父子关系）

 ![设备连接](image/links.png)

--- a/docs/user_guide/image/add_protocol.png
+++ b/docs/user_guide/image/add_protocol.png
--- a/docs/user_guide/image/links.png
+++ b/docs/user_guide/image/links.png
--- a/docs/user_guide/launch.md
+++ b/docs/user_guide/launch.md
@@ -22,6 +22,7 @@ options:
  --is_slave            Run the backend as slave node (without host privileges).
  --slave_no_host       Skip waiting for host service in slave mode
  --upload_registry     Upload registry information when starting unilab
+  --use_remote_resource Use remote resources when starting unilab
  --config CONFIG       Configuration file path, supports .py format Python config files
  --port PORT           Port for web service information page
  --disable_browser     Disable opening information page on startup
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：

 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
- **远程资源**：不指定本地文件即可
+- **远程资源**：使用 `--use_remote_resource` 从云端获取

 ### 7. 注册表构建

@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry

 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk
+unilab --ak your_ak --sk your_sk --use_remote_resource

 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.10.17
 source:
  path: ../../unilabos_msgs
  target_directory: src
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.10.19"
+  version: "0.10.17"

 source:
  path: ../..
--- a/scripts/workflow.py
+++ b/scripts/workflow.py
@@ -2,6 +2,7 @@ import json
 import logging
 import traceback
 import uuid
+import xml.etree.ElementTree as ET
 from typing import Any, Dict, List

 import networkx as nx
@@ -24,15 +25,7 @@ class SimpleGraph:

    def add_edge(self, source, target, **attrs):
        """添加边"""
-        # edge = {"source": source, "target": target, **attrs}
-        edge = {
-            "source": source, "target": target,
-            "source_node_uuid": source,
-            "target_node_uuid": target,
-            "source_handle_io": "source",
-            "target_handle_io": "target",
-            **attrs
-        }
+        edge = {"source": source, "target": target, **attrs}
        self.edges.append(edge)

    def to_dict(self):
@@ -49,7 +42,6 @@ class SimpleGraph:
            "multigraph": False,
            "graph": {},
            "nodes": nodes_list,
-            "edges": self.edges,
            "links": self.edges,
        }

@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
    return text


+def convert_to_type(val: str) -> Any:
+    """将字符串值转换为适当的数据类型"""
+    if val == "True":
+        return True
+    if val == "False":
+        return False
+    if val == "?":
+        return None
+    if val.endswith(" g"):
+        return float(val.split(" ")[0])
+    if val.endswith("mg"):
+        return float(val.split("mg")[0])
+    elif val.endswith("mmol"):
+        return float(val.split("mmol")[0]) / 1000
+    elif val.endswith("mol"):
+        return float(val.split("mol")[0])
+    elif val.endswith("ml"):
+        return float(val.split("ml")[0])
+    elif val.endswith("RPM"):
+        return float(val.split("RPM")[0])
+    elif val.endswith(" °C"):
+        return float(val.split(" ")[0])
+    elif val.endswith(" %"):
+        return float(val.split(" ")[0])
+    return val


+def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
+    """统一的数据重构函数，根据操作类型自动选择模板"""
+    refactored_data = []
+
+    # 定义操作映射，包含生物实验和有机化学的所有操作
+    OPERATION_MAPPING = {
+        # 生物实验操作
+        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
+        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
+        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
+        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
+        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
+        # 有机化学操作
+        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
+        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
+        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
+        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
+        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
+        "Transfer": "SynBioFactory-workstation-TransferProtocol",
+        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
+        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
+        "Filter": "SynBioFactory-workstation-FilterProtocol",
+        "Dry": "SynBioFactory-workstation-DryProtocol",
+        "Add": "SynBioFactory-workstation-AddProtocol",
+    }
+
+    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    for step in data:
+        operation = step.get("action")
+        if not operation or operation in UNSUPPORTED_OPERATIONS:
+            continue
+
+        # 处理重复操作
+        if operation == "Repeat":
+            times = step.get("times", step.get("parameters", {}).get("times", 1))
+            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
+            for i in range(int(times)):
+                sub_data = refactor_data(sub_steps)
+                refactored_data.extend(sub_data)
+            continue
+
+        # 获取模板名称
+        template = OPERATION_MAPPING.get(operation)
+        if not template:
+            # 自动推断模板类型
+            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
+                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
+            else:
+                template = f"SynBioFactory-workstation-{operation}Protocol"
+
+        # 创建步骤数据
+        step_data = {
+            "template": template,
+            "description": step.get("description", step.get("purpose", f"{operation} operation")),
+            "lab_node_type": "Device",
+            "parameters": step.get("parameters", step.get("action_args", {})),
+        }
+        refactored_data.append(step_data)
+
+    return refactored_data
+
+
+def build_protocol_graph(
+    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
+) -> SimpleGraph:
+    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
+    G = SimpleGraph()
+    resource_last_writer = {}
+    LAB_NAME = "SynBioFactory"
+
+    protocol_steps = refactor_data(protocol_steps)
+
+    # 检查协议步骤中的模板来判断协议类型
+    has_biomek_template = any(
+        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
+        for step in protocol_steps
+    )
+
+    if has_biomek_template:
+        # 生物实验协议图构建
+        for labware_id, labware in labware_info.items():
+            node_id = str(uuid.uuid4())
+
+            labware_attrs = labware.copy()
+            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
+            labware_attrs["description"] = labware_id
+            labware_attrs["lab_node_type"] = (
+                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
+            )
+            labware_attrs["device_id"] = workstation_name
+
+            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
+            resource_last_writer[labware_id] = f"{node_id}:labware"
+
+        # 处理协议步骤
+        prev_node = None
+        for i, step in enumerate(protocol_steps):
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 添加控制流边
+            if prev_node is not None:
+                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
+            prev_node = node_id
+
+            # 处理物料流
+            params = step.get("parameters", {})
+            if "sources" in params and params["sources"] in resource_last_writer:
+                source_node, source_port = resource_last_writer[params["sources"]].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
+
+            if "targets" in params:
+                resource_last_writer[params["targets"]] = f"{node_id}:labware"
+
+        # 添加协议结束节点
+        end_id = str(uuid.uuid4())
+        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
+        if prev_node is not None:
+            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
+
+    else:
+        # 有机化学协议图构建
+        WORKSTATION_ID = workstation_name
+
+        # 为所有labware创建资源节点
+        for item_id, item in labware_info.items():
+            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
+            node_id = str(uuid.uuid4())
+
+            # 判断节点类型
+            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
+                if "reactor" not in str(item_id).lower():
+                    continue
+                lab_node_type = "Sample"
+                description = f"Prepare Reactor: {item_id}"
+                liquid_type = []
+                liquid_volume = []
+            else:
+                lab_node_type = "Reagent"
+                description = f"Add Reagent to Flask: {item_id}"
+                liquid_type = [item_id]
+                liquid_volume = [1e5]
+
+            G.add_node(
+                node_id,
+                template=f"{LAB_NAME}-host_node-create_resource",
+                description=description,
+                lab_node_type=lab_node_type,
+                res_id=item_id,
+                device_id=WORKSTATION_ID,
+                class_name="container",
+                parent=WORKSTATION_ID,
+                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
+                liquid_input_slot=[-1],
+                liquid_type=liquid_type,
+                liquid_volume=liquid_volume,
+                slot_on_deck="",
+                role=item.get("role", ""),
+            )
+            resource_last_writer[item_id] = f"{node_id}:labware"
+
+        last_control_node_id = None
+
+        # 处理协议步骤
+        for step in protocol_steps:
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 控制流
+            if last_control_node_id is not None:
+                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
+            last_control_node_id = node_id
+
+            # 物料流
+            params = step.get("parameters", {})
+            input_resources = {
+                "Vessel": params.get("vessel"),
+                "ToVessel": params.get("to_vessel"),
+                "FromVessel": params.get("from_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources": params.get("sources"),
+                "targets": params.get("targets"),
+            }
+
+            for target_port, resource_name in input_resources.items():
+                if resource_name and resource_name in resource_last_writer:
+                    source_node, source_port = resource_last_writer[resource_name].split(":")
+                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+            output_resources = {
+                "VesselOut": params.get("vessel"),
+                "FromVesselOut": params.get("from_vessel"),
+                "ToVesselOut": params.get("to_vessel"),
+                "FiltrateOut": params.get("filtrate_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources_out": params.get("sources"),
+                "targets_out": params.get("targets"),
+            }
+
+            for source_port, resource_name in output_resources.items():
+                if resource_name:
+                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
+
+    return G
+
+
+def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
+    """
+    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    G = nx.DiGraph()
+
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        G.add_node(node_id, label=label, **attrs)
+
+    for edge in protocol_graph.edges:
+        G.add_edge(edge["source"], edge["target"])
+
+    plt.figure(figsize=(20, 15))
+    try:
+        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
+    except Exception:
+        pos = nx.shell_layout(G)  # Fallback layout
+
+    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
+    nx.draw(
+        G,
+        pos,
+        with_labels=False,
+        node_size=2500,
+        node_color="skyblue",
+        node_shape="o",
+        edge_color="gray",
+        width=1.5,
+        arrowsize=15,
+    )
+    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
+
+    plt.title("Chemical Protocol Workflow Graph", size=15)
+    plt.savefig(output_path, dpi=300, bbox_inches="tight")
+    plt.close()
+    print(f"  - Visualization saved to '{output_path}'")
+
+
+from networkx.drawing.nx_agraph import to_agraph
+import re
+
+COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
+
+def _is_compass(port: str) -> bool:
+    return isinstance(port, str) and port.lower() in COMPASS
+
+def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
+    """
+    使用 Graphviz 端口语法绘制协议工作流图。
+    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
+    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
+    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    # 1) 先用 networkx 搭建有向图，保留端口属性
+    G = nx.DiGraph()
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
+        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
+
+    edges_data = []
+    in_ports_by_node  = {}  # 收集命名输入端口
+    out_ports_by_node = {}  # 收集命名输出端口
+
+    for edge in protocol_graph.edges:
+        u = edge["source"]
+        v = edge["target"]
+        sp = edge.get("source_port")
+        tp = edge.get("target_port")
+
+        # 记录到图里（保留原始端口信息）
+        G.add_edge(u, v, source_port=sp, target_port=tp)
+        edges_data.append((u, v, sp, tp))
+
+        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
+        if sp and not _is_compass(sp):
+            out_ports_by_node.setdefault(u, set()).add(str(sp))
+        if tp and not _is_compass(tp):
+            in_ports_by_node.setdefault(v, set()).add(str(tp))
+
+    # 2) 转为 AGraph，使用 Graphviz 渲染
+    A = to_agraph(G)
+    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
+    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
+    A.edge_attr.update(arrowsize="0.8", color="#666666")
+
+    # 3) 为需要命名端口的节点设置 record 形状与 label
+    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
+    for n in A.nodes():
+        node = A.get_node(n)
+        core = G.nodes[n].get("_core_label", n)
+
+        in_ports  = sorted(in_ports_by_node.get(n, []))
+        out_ports = sorted(out_ports_by_node.get(n, []))
+
+        # 如果该节点涉及命名端口，则用 record；否则保留原 box
+        if in_ports or out_ports:
+            def port_fields(ports):
+                if not ports:
+                    return " "  # 必须留一个空槽占位
+                # 每个端口一个小格子，<p> name
+                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
+
+            left  = port_fields(in_ports)
+            right = port_fields(out_ports)
+
+            # 三栏：左(入) | 中(节点名) | 右(出)
+            record_label = f"{{ {left} | {core} | {right} }}"
+            node.attr.update(shape="record", label=record_label)
+        else:
+            # 没有命名端口：普通盒子，显示核心标签
+            node.attr.update(label=str(core))
+
+    # 4) 给边设置 headport / tailport
+    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
+    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
+    for (u, v, sp, tp) in edges_data:
+        e = A.get_edge(u, v)
+
+        # Graphviz 属性：tail 是源，head 是目标
+        if sp:
+            if _is_compass(sp):
+                e.attr["tailport"] = sp.lower()
+            else:
+                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
+                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
+
+        if tp:
+            if _is_compass(tp):
+                e.attr["headport"] = tp.lower()
+            else:
+                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
+
+        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
+        # e.attr["arrowhead"] = "vee"
+
+    # 5) 输出
+    A.draw(output_path, prog="dot")
+    print(f"  - Port-aware workflow rendered to '{output_path}'")
+
+
+def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
+    """展平嵌套的XDL程序结构"""
+    flattened_operations = []
+    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    def extract_operations(element: ET.Element):
+        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
+            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
+                flattened_operations.append(element)
+
+        for child in element:
+            extract_operations(child)
+
+    for child in procedure_elem:
+        extract_operations(child)
+
+    return flattened_operations
+
+
+def parse_xdl_content(xdl_content: str) -> tuple:
+    """解析XDL内容"""
+    try:
+        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
+        root = ET.fromstring(xdl_content_cleaned)
+
+        synthesis_elem = root.find("Synthesis")
+        if synthesis_elem is None:
+            return None, None, None
+
+        # 解析硬件组件
+        hardware_elem = synthesis_elem.find("Hardware")
+        hardware = []
+        if hardware_elem is not None:
+            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
+
+        # 解析试剂
+        reagents_elem = synthesis_elem.find("Reagents")
+        reagents = []
+        if reagents_elem is not None:
+            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
+
+        # 解析程序
+        procedure_elem = synthesis_elem.find("Procedure")
+        if procedure_elem is None:
+            return None, None, None
+
+        flattened_operations = flatten_xdl_procedure(procedure_elem)
+        return hardware, reagents, flattened_operations
+
+    except ET.ParseError as e:
+        raise ValueError(f"Invalid XDL format: {e}")
+
+
+def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
+    """
+    将XDL XML格式转换为标准的字典格式
+
+    Args:
+        xdl_content: XDL XML内容
+
+    Returns:
+        转换结果，包含步骤和器材信息
+    """
+    try:
+        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
+        if hardware is None:
+            return {"error": "Failed to parse XDL content", "success": False}
+
+        # 将XDL元素转换为字典格式
+        steps_data = []
+        for elem in flattened_operations:
+            # 转换参数类型
+            parameters = {}
+            for key, val in elem.attrib.items():
+                converted_val = convert_to_type(val)
+                if converted_val is not None:
+                    parameters[key] = converted_val
+
+            step_dict = {
+                "operation": elem.tag,
+                "parameters": parameters,
+                "description": elem.get("purpose", f"Operation: {elem.tag}"),
+            }
+            steps_data.append(step_dict)
+
+        # 合并硬件和试剂为统一的labware_info格式
+        labware_data = []
+        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
+        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
+
+        return {
+            "success": True,
+            "steps": steps_data,
+            "labware": labware_data,
+            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
+        }
+
+    except Exception as e:
+        error_msg = f"XDL conversion failed: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}


 def create_workflow(
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.10.19',
+    version='0.10.17',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
--- a/tests/workflow/test.json
+++ b/tests/workflow/test.json
@@ -1,213 +0,0 @@
-{
-  "workflow": [
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_1",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_2",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_3",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_4",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_5",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_6",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set_2",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set_3",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    }
-  ],
-  "reagent": {
-    "Liquid_1": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "Liquid_4": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "dest_set": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "Liquid_2": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "Liquid_5": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "dest_set_2": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "Liquid_3": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "Liquid_6": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "dest_set_3": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "cell_lines": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    },
-    "cell_lines_2": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    },
-    "cell_lines_3": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    }
-  }
-}
--- a/unilabos/init.py
+++ b/unilabos/init.py
@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.10.17"
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -1,10 +1,8 @@
 import argparse
 import asyncio
 import os
-import platform
 import shutil
 import signal
-import subprocess
 import sys
 import threading
 import time
@@ -26,84 +24,6 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 _restart_requested: bool = False
 _restart_reason: str = ""

-RESTART_EXIT_CODE = 42
-
-
-def _build_child_argv():
-    """Build sys.argv for child process, stripping supervisor-only arguments."""
-    result = []
-    skip_next = False
-    for arg in sys.argv:
-        if skip_next:
-            skip_next = False
-            continue
-        if arg in ("--restart_mode", "--restart-mode"):
-            continue
-        if arg in ("--auto_restart_count", "--auto-restart-count"):
-            skip_next = True
-            continue
-        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
-            continue
-        result.append(arg)
-    return result
-
-
-def _run_as_supervisor(max_restarts: int):
-    """
-    Supervisor process that spawns and monitors child processes.
-
-    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
-    it only launches the real process as a child and restarts it when the child
-    exits with RESTART_EXIT_CODE.
-    """
-    child_argv = [sys.executable] + _build_child_argv()
-    restart_count = 0
-
-    print_status(
-        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
-        f"child command: {' '.join(child_argv)}",
-        "info",
-    )
-
-    while True:
-        print_status(
-            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
-            "info",
-        )
-
-        try:
-            process = subprocess.Popen(child_argv)
-            exit_code = process.wait()
-        except KeyboardInterrupt:
-            print_status("[Supervisor] Interrupted, terminating child process...", "info")
-            process.terminate()
-            try:
-                process.wait(timeout=10)
-            except subprocess.TimeoutExpired:
-                process.kill()
-                process.wait()
-            sys.exit(1)
-
-        if exit_code == RESTART_EXIT_CODE:
-            restart_count += 1
-            if restart_count > max_restarts:
-                print_status(
-                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
-                    "warning",
-                )
-                sys.exit(1)
-            print_status(
-                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
-                "info",
-            )
-            time.sleep(2)
-        else:
-            if exit_code != 0:
-                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
-            else:
-                print_status("[Supervisor] Child exited normally", "info")
-            sys.exit(exit_code)
-

 def load_config_from_file(config_path):
    if config_path is None:
@@ -145,13 +65,6 @@ def parse_args():
        action="append",
        help="Path to the registry directory",
    )
-    parser.add_argument(
-        "--devices",
-        type=str,
-        default=None,
-        action="append",
-        help="Path to Python code directory for AST-based device/resource scanning",
-    )
    parser.add_argument(
        "--working_dir",
        type=str,
@@ -241,53 +154,23 @@ def parse_args():
        action="store_true",
        help="Skip environment dependency check on startup",
    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="Complete registry information",
+    )
    parser.add_argument(
        "--check_mode",
        action="store_true",
        default=False,
        help="Run in check mode for CI: validates registry imports and ensures no file changes",
    )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete and rewrite YAML registry files using AST analysis results",
-    )
    parser.add_argument(
        "--no_update_feedback",
        action="store_true",
        help="Disable sending update feedback to server",
    )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
-    parser.add_argument(
-        "--external_devices_only",
-        action="store_true",
-        default=False,
-        help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
-    )
-    parser.add_argument(
-        "--extra_resource",
-        action="store_true",
-        default=False,
-        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
-    )
-    parser.add_argument(
-        "--restart_mode",
-        action="store_true",
-        default=False,
-        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
-    )
-    parser.add_argument(
-        "--auto_restart_count",
-        type=int,
-        default=500,
-        help="Maximum number of automatic restarts in restart mode (default: 500)",
-    )
    # workflow upload subcommand
    workflow_parser = subparsers.add_parser(
        "workflow_upload",
@@ -321,12 +204,6 @@ def parse_args():
        default=False,
        help="Whether to publish the workflow (default: False)",
    )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
    return parser


@@ -338,88 +215,68 @@ def main():
    args = parser.parse_args()
    args_dict = vars(args)

-    # Supervisor mode: spawn child processes and monitor for restart
-    if args_dict.get("restart_mode", False):
-        _run_as_supervisor(args_dict.get("auto_restart_count", 5))
-        return
-
    # 环境检查 - 检查并自动安装必需的包 (可选)
    skip_env_check = args_dict.get("skip_env_check", False)
    check_mode = args_dict.get("check_mode", False)

    if not skip_env_check:
-        from unilabos.utils.environment_check import check_environment, check_device_package_requirements
+        from unilabos.utils.environment_check import check_environment

        if not check_environment(auto_install=True):
            print_status("环境检查失败，程序退出", "error")
            os._exit(1)
-
-        # 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
-        devices_dirs_for_req = args_dict.get("devices", None)
-        if devices_dirs_for_req:
-            if not check_device_package_requirements(devices_dirs_for_req):
-                print_status("设备包依赖检查失败，程序退出", "error")
-                os._exit(1)
    else:
        print_status("跳过环境依赖检查", "warning")

    # 加载配置文件，优先加载config，然后从env读取
    config_path = args_dict.get("config")

-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
+    if check_mode:
+        args_dict["working_dir"] = os.path.abspath(os.getcwd())
+    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
+    if skip_env_check and not args_dict.get("working_dir") and not config_path:
        working_dir = os.path.abspath(os.getcwd())
-
-    # unilabos_data 子目录自动检测
-    if os.path.basename(working_dir) != "unilabos_data":
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
-        if os.path.isdir(unilabos_data_sub):
-            working_dir = unilabos_data_sub
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
-            # 未显式指定路径，默认使用 cwd/unilabos_data
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
+        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
+        # 检查当前目录是否有 local_config.py
+        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(local_config_in_cwd):
+            config_path = local_config_in_cwd
            print_status(f"发现本地配置文件: {config_path}", "info")
        else:
            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
+    elif os.getcwd().endswith("unilabos_data"):
+        working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir", "")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
                )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                os._exit(1)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not skip_env_check and not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)

    # 加载配置文件 (check_mode 跳过)
    print_status(f"当前工作目录为 {working_dir}", "info")
@@ -431,9 +288,7 @@ def main():

    if hasattr(BasicConfig, "log_level"):
        logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)

    if args.addr != parser.get_default("addr"):
        if args.addr == "test":
@@ -477,66 +332,46 @@ def main():
    BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
    BasicConfig.upload_registry = args_dict.get("upload_registry", False)
    BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
-    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
-    if BasicConfig.extra_resource:
-        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
    BasicConfig.communication_protocol = "websocket"
-    machine_name = platform.node()
+    machine_name = os.popen("hostname").read().strip()
    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
    BasicConfig.machine_name = machine_name
    BasicConfig.vis_2d_enable = args_dict["2d_vis"]
    BasicConfig.check_mode = check_mode

-    from unilabos.registry.registry import build_registry
-
-    # 显示启动横幅
-    print_unilab_banner(args_dict)
-
-    # Step 0: AST 分析优先 + YAML 注册表加载
-    # check_mode 和 upload_registry 都会执行实际 import 验证
-    devices_dirs = args_dict.get("devices", None)
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
-    external_only = args_dict.get("external_devices_only", False)
-    lab_registry = build_registry(
-        registry_paths=args_dict["registry_path"],
-        devices_dirs=devices_dirs,
-        upload_registry=BasicConfig.upload_registry,
-        check_mode=check_mode,
-        complete_registry=complete_registry,
-        external_only=external_only,
-    )
-
-    # Check mode: 注册表验证完成后直接退出
-    if check_mode:
-        device_count = len(lab_registry.device_type_registry)
-        resource_count = len(lab_registry.resource_type_registry)
-        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
-        os._exit(0)
-
-    # 以下导入依赖 ROS2 环境，check_mode 已退出不需要
    from unilabos.resources.graphio import (
        read_node_link_json,
        read_graphml,
        dict_from_graph,
-        modify_to_backend_format,
    )
    from unilabos.app.communication import get_communication_client
+    from unilabos.registry.registry import build_registry
    from unilabos.app.backend import start_backend
    from unilabos.app.web import http_client
    from unilabos.app.web import start_server
    from unilabos.app.register import register_devices_and_resources
+    from unilabos.resources.graphio import modify_to_backend_format
    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict

-    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
+    # 显示启动横幅
+    print_unilab_banner(args_dict)
+
+    # 注册表 - check_mode 时强制启用 complete_registry
+    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+
+    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    if check_mode:
+        print_status("Check mode: complete_registry 完成，退出", "info")
+        os._exit(0)
+
    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
        if BasicConfig.ak and BasicConfig.sk:
-            # print_status("开始注册设备到服务端...", "info")
+            print_status("开始注册设备到服务端...", "info")
            try:
                register_devices_and_resources(lab_registry)
-                # print_status("设备注册完成", "info")
+                print_status("设备注册完成", "info")
            except Exception as e:
                print_status(f"设备注册失败: {e}", "error")
        else:
@@ -621,16 +456,12 @@ def main():
            continue

    # 如果从远端获取了物料信息，则与本地物料进行同步
-    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
+    if request_startup_json and "nodes" in request_startup_json:
        print_status("开始同步远端物料到本地...", "info")
        remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
        resource_tree_set.merge_remote_resources(remote_tree_set)
        print_status("远端物料同步完成", "info")

-    # 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
-    # TODO: 当 community device package 功能上线后，在这里调用
-    #   install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
-
    # 使用 ResourceTreeSet 代替 list
    args_dict["resources_config"] = resource_tree_set
    args_dict["devices_config"] = resource_tree_set
@@ -722,10 +553,6 @@ def main():
            open_browser=not args_dict["disable_browser"],
            port=BasicConfig.port,
        )
-        if restart_requested:
-            print_status("[Main] Restart requested, cleaning up...", "info")
-            cleanup_for_restart()
-            os._exit(RESTART_EXIT_CODE)


 if __name__ == "__main__":
--- a/unilabos/app/model.py
+++ b/unilabos/app/model.py
@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
    action_type: str = Field(
        examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
    )
-    sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
    action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
    task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
    job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
--- a/unilabos/app/register.py
+++ b/unilabos/app/register.py
@@ -1,8 +1,9 @@
+import json
 import time
-from typing import Any, Dict, Optional, Tuple
+from typing import Optional, Tuple, Dict, Any

 from unilabos.utils.log import logger
-from unilabos.utils.tools import normalize_json as _normalize_device
+from unilabos.utils.type_check import TypeEncoder


 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
    注册设备和资源到服务器（仅支持HTTP）
    """

+    # 注册资源信息 - 使用HTTP方式
    from unilabos.app.web.client import http_client

    logger.info("[UniLab Register] 开始注册设备和资源...")

+    # 注册设备信息
    devices_to_register = {}
    for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = _normalize_device(device_info)
-        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
+        devices_to_register[device_info["id"]] = json.loads(
+            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
+        )
+        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")

    resources_to_register = {}
    for resource_info in lab_registry.obtain_registry_resource_info():
        resources_to_register[resource_info["id"]] = resource_info
-        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")

    if gather_only:
        return devices_to_register, resources_to_register
-
+    # 注册设备
    if devices_to_register:
        try:
            start_time = time.time()
-            response = http_client.resource_registry(
-                {"resources": list(devices_to_register.values())},
-                tag="device_registry",
-            )
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
            cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
-            skipped = res_data.get("data", {}).get("skipped", False)
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 设备注册跳过（内容未变化）"
-                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
            else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
        except Exception as e:
            logger.error(f"[UniLab Register] 设备注册异常: {e}")

+    # 注册资源
    if resources_to_register:
        try:
            start_time = time.time()
-            response = http_client.resource_registry(
-                {"resources": list(resources_to_register.values())},
-                tag="resource_registry",
-            )
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
            cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
-            skipped = res_data.get("data", {}).get("skipped", False)
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 资源注册跳过（内容未变化）"
-                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
            else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
        except Exception as e:
            logger.error(f"[UniLab Register] 资源注册异常: {e}")
+
+    logger.info("[UniLab Register] 设备和资源注册完成.")
--- a/unilabos/app/web/api.py
+++ b/unilabos/app/web/api.py
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                "result": {},
                                "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": {},
+                                "handles": [],
                            }
                            # 不生成已配置action的动作
                            for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
    # 启动广播任务
    @app.on_event("startup")
    async def startup_event():
-        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
-        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
+        asyncio.create_task(broadcast_device_status())
+        asyncio.create_task(broadcast_status_page_data())
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -3,13 +3,11 @@ HTTP客户端模块

 提供与远程服务器通信的客户端功能，只有host需要用
 """
-import gzip
+
 import json
 import os
 from typing import List, Dict, Any, Optional

-from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
-
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
@@ -76,8 +74,7 @@ class HTTPClient:
            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
        """
        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
-            f.write(json.dumps(payload, indent=4))
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
        if not self.initialized or first_add:
@@ -282,54 +279,22 @@ class HTTPClient:
            )
        return response

-    def resource_registry(
-        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
-    ) -> requests.Response:
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
        """
-        注册资源到服务器，同步保存请求/响应到 unilabos_data
+        注册资源到服务器

        Args:
            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
-            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")

        Returns:
            Response: API响应对象
        """
-        # 序列化一次，同时用于保存和发送
-        json_bytes = _fast_dumps(registry_data)
-
-        # 保存请求数据到 unilabos_data
-        req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
-        try:
-            os.makedirs(BasicConfig.working_dir, exist_ok=True)
-            with open(req_path, "wb") as f:
-                f.write(_fast_dumps_pretty(registry_data))
-            logger.trace(f"注册表请求数据已保存: {req_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表请求数据失败: {e}")
-
-        compressed_body = gzip.compress(json_bytes)
-        headers = {
-            "Authorization": f"Lab {self.auth}",
-            "Content-Type": "application/json",
-            "Content-Encoding": "gzip",
-        }
        response = requests.post(
            f"{self.remote_addr}/lab/resource",
-            data=compressed_body,
-            headers=headers,
+            json=registry_data,
+            headers={"Authorization": f"Lab {self.auth}"},
            timeout=30,
        )
-
-        # 保存响应数据到 unilabos_data
-        res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
-        try:
-            with open(res_path, "w", encoding="utf-8") as f:
-                f.write(f"{response.status_code}\n{response.text}")
-            logger.trace(f"注册表响应数据已保存: {res_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表响应数据失败: {e}")
-
        if response.status_code not in [200, 201]:
            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
        if response.status_code == 200:
@@ -368,106 +333,6 @@ class HTTPClient:
                logger.error(f"响应内容: {response.text}")
        return None

-    def workflow_import(
-        self,
-        name: str,
-        workflow_uuid: str,
-        workflow_name: str,
-        nodes: List[Dict[str, Any]],
-        edges: List[Dict[str, Any]],
-        tags: Optional[List[str]] = None,
-        published: bool = False,
-        description: str = "",
-    ) -> Dict[str, Any]:
-        """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
-
-        Args:
-            name: 工作流名称（顶层）
-            workflow_uuid: 工作流UUID
-            workflow_name: 工作流名称（data内部）
-            nodes: 工作流节点列表
-            edges: 工作流边列表
-            tags: 工作流标签列表，默认为空列表
-            published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
-
-        Returns:
-            Dict: API响应数据，包含 code 和 data (uuid, name)
-        """
-        payload = {
-            "name": name,
-            "data": {
-                "workflow_uuid": workflow_uuid,
-                "workflow_name": workflow_name,
-                "nodes": nodes,
-                "edges": edges,
-                "tags": tags if tags is not None else [],
-            },
-        }
-        # 保存请求到文件
-        with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps(payload, indent=4, ensure_ascii=False))
-
-        response = requests.post(
-            f"{self.remote_addr}/lab/workflow/owner/import",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        # 保存响应到文件
-        with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
-
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
-            return res
-        else:
-            logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-

 # 创建默认客户端实例
 http_client = HTTPClient()
--- a/unilabos/app/web/controller.py
+++ b/unilabos/app/web/controller.py
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
            queue_item,
            action_type=action_type,
            action_kwargs=action_args,
-            sample_material=req.sample_material,
            server_info=server_info,
        )

--- a/unilabos/app/web/server.py
+++ b/unilabos/app/web/server.py
@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
    # 设置页面路由
    try:
        setup_web_pages(pages)
-        # info("[Web] 已加载Web UI模块")
+        info("[Web] 已加载Web UI模块")
    except ImportError as e:
        info(f"[Web] 未找到Web页面模块: {str(e)}")
    except Exception as e:
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
    server_thread.start()

-    # info("[Web] Server started, monitoring for restart requests...")
+    info("[Web] Server started, monitoring for restart requests...")

    # 监控重启标志
    import unilabos.app.main as main_module
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -26,7 +26,6 @@ from enum import Enum
 from typing_extensions import TypedDict

 from unilabos.app.model import JobAddReq
-from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -77,7 +76,6 @@ class JobInfo:
    start_time: float
    last_update_time: float = field(default_factory=time.time)
    ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)

    def update_timestamp(self):
        """更新最后更新时间"""
@@ -129,15 +127,6 @@ class DeviceActionManager:
            # 总是将job添加到all_jobs中
            self.all_jobs[job_info.job_id] = job_info

-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
            # 检查是否有正在执行或准备执行的任务
            if device_key in self.active_jobs:
                # 有正在执行或准备执行的任务，加入队列
@@ -187,15 +176,11 @@ class DeviceActionManager:
                logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                return False

-            # always_free的job不需要检查active_jobs
-            if not job_info.always_free:
-                # 检查设备上是否是这个job
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                    job_log = format_job_log(
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
+            # 检查设备上是否是这个job
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                return False

            # 开始执行任务，将状态从READY转换为STARTED
            job_info.status = JobStatus.STARTED
@@ -218,13 +203,6 @@ class DeviceActionManager:
            job_info = self.all_jobs[job_id]
            device_key = job_info.device_action_key

-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
            # 移除活跃任务
            if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                del self.active_jobs[device_key]
@@ -256,14 +234,9 @@ class DeviceActionManager:
            return None

    def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
        with self.lock:
-            jobs = list(self.active_jobs.values())
-            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
-                    jobs.append(job)
-            return jobs
+            return list(self.active_jobs.values())

    def get_queued_jobs(self) -> List[JobInfo]:
        """获取所有排队中的任务"""
@@ -288,14 +261,6 @@ class DeviceActionManager:
            job_info = self.all_jobs[job_id]
            device_key = job_info.device_action_key

-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
            # 如果是正在执行的任务
            if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                # 清理active job状态
@@ -369,18 +334,13 @@ class DeviceActionManager:
        timeout_jobs = []

        with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
-            ready_candidates = list(self.active_jobs.values())
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
-                    ready_candidates.append(job)
-
-            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
+            # 统计READY状态的任务数量
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
            if ready_jobs_count > 0:
                logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501

            # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                if job_info.is_ready_timeout():
                    timeout_jobs.append(job_info)
                    job_log = format_job_log(
@@ -409,7 +369,6 @@ class MessageProcessor:
        # 线程控制
        self.is_running = False
        self.thread = None
-        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
        self.reconnect_count = 0

        logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -436,31 +395,22 @@ class MessageProcessor:
    def stop(self) -> None:
        """停止消息处理线程"""
        self.is_running = False
-        # 主动关闭websocket以快速中断消息接收循环
-        ws = self.websocket
-        loop = self._loop
-        if ws and loop and loop.is_running():
-            try:
-                asyncio.run_coroutine_threadsafe(ws.close(), loop)
-            except Exception:
-                pass
        if self.thread and self.thread.is_alive():
            self.thread.join(timeout=2)
        logger.info("[MessageProcessor] Stopped")

    def _run(self):
        """运行消息处理主循环"""
-        self._loop = asyncio.new_event_loop()
+        loop = asyncio.new_event_loop()
        try:
-            asyncio.set_event_loop(self._loop)
-            self._loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(loop)
+            loop.run_until_complete(self._connection_handler())
        except Exception as e:
            logger.error(f"[MessageProcessor] Thread error: {str(e)}")
            logger.error(traceback.format_exc())
        finally:
-            if self._loop:
-                self._loop.close()
-            self._loop = None
+            if loop:
+                loop.close()

    async def _connection_handler(self):
        """处理WebSocket连接和重连逻辑"""
@@ -477,10 +427,8 @@ class MessageProcessor:
                async with websockets.connect(
                    self.websocket_url,
                    ssl=ssl_context,
-                    open_timeout=20,
                    ping_interval=WSConfig.ping_interval,
                    ping_timeout=10,
-                    close_timeout=5,
                    additional_headers={
                        "Authorization": f"Lab {BasicConfig.auth_secret()}",
                        "EdgeSession": f"{self.session_id}",
@@ -491,98 +439,85 @@ class MessageProcessor:
                    self.connected = True
                    self.reconnect_count = 0

-                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")

                    # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
-
-                    # 每次连接（含重连）后重新向服务端注册，
-                    # 否则服务端不知道客户端已上线，不会推送消息。
-                    if self.websocket_client:
-                        self.websocket_client.publish_host_ready()
+                    send_task = asyncio.create_task(self._send_handler())

                    try:
                        # 接收消息循环
                        await self._message_handler()
                    finally:
-                        # 必须在 async with __aexit__ 之前停止 send_task，
-                        # 否则 send_task 会在关闭握手期间继续发送数据，
-                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
-                        self.connected = False
                        send_task.cancel()
                        try:
                            await send_task
                        except asyncio.CancelledError:
                            pass
+                        self.connected = False

            except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] 与服务端连接中断")
-            except TimeoutError:
-                logger.warning(
-                    f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
-                )
-            except websockets.exceptions.InvalidStatus as e:
-                logger.warning(
-                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
-                )
-            except Exception as e:
-                logger.error(traceback.format_exc())
-                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
-            finally:
+                logger.warning("[MessageProcessor] Connection closed")
                self.connected = False
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
+                logger.error(traceback.format_exc())
+                self.connected = False
+            finally:
                self.websocket = None

            # 重连逻辑
-            if not self.is_running:
-                break
-            if self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
                self.reconnect_count += 1
-                backoff = WSConfig.reconnect_interval
                logger.info(
-                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
+                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                )
-                await asyncio.sleep(backoff)
-            else:
+                await asyncio.sleep(WSConfig.reconnect_interval)
+            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
                logger.error("[MessageProcessor] Max reconnection attempts reached")
                break
+            else:
+                self.reconnect_count -= 1

    async def _message_handler(self):
-        """处理接收到的消息。
-
-        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
-        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
-        正确清理内部 task，避免 task 泄漏。
-        """
+        """处理接收到的消息"""
        if not self.websocket:
            logger.error("[MessageProcessor] WebSocket connection is None")
            return

-        async for message in self.websocket:
-            try:
-                data = json.loads(message)
-                message_type = data.get("action", "")
-                message_data = data.get("data")
-                if self.session_id and self.session_id == data.get("edge_session"):
-                    await self._process_message(message_type, message_data)
-                else:
-                    if message_type.endswith("_material"):
-                        logger.trace(
-                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                        )
-                        logger.debug(
-                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                        )
-                    else:
+        try:
+            async for message in self.websocket:
+                try:
+                    data = json.loads(message)
+                    message_type = data.get("action", "")
+                    message_data = data.get("data")
+                    if self.session_id and self.session_id == data.get("edge_session"):
                        await self._process_message(message_type, message_data)
-            except json.JSONDecodeError:
-                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                logger.error(traceback.format_exc())
+                    else:
+                        if message_type.endswith("_material"):
+                            logger.trace(
+                                f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
+                            )
+                            logger.debug(
+                                f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
+                            )
+                        else:
+                            await self._process_message(message_type, message_data)
+                except json.JSONDecodeError:
+                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+        except websockets.exceptions.ConnectionClosed:
+            logger.info("[MessageProcessor] Message handler stopped - connection closed")
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
+            logger.error(traceback.format_exc())

    async def _send_handler(self):
        """处理发送队列中的消息"""
-        logger.trace("[MessageProcessor] Send handler started")
+        logger.debug("[MessageProcessor] Send handler started")

        try:
            while self.connected and self.websocket:
@@ -610,7 +545,7 @@ class MessageProcessor:
                        try:
                            message_str = json.dumps(msg, ensure_ascii=False)
                            await self.websocket.send(message_str)
-                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                        except Exception as e:
                            logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                            logger.error(traceback.format_exc())
@@ -627,7 +562,6 @@ class MessageProcessor:

        except asyncio.CancelledError:
            logger.debug("[MessageProcessor] Send handler cancelled")
-            raise
        except Exception as e:
            logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
            logger.error(traceback.format_exc())
@@ -659,10 +593,6 @@ class MessageProcessor:
            # elif message_type == "session_id":
            #     self.session_id = message_data.get("session_id")
            #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
-            elif message_type == "add_device":
-                await self._handle_device_manage(message_data, "add")
-            elif message_type == "remove_device":
-                await self._handle_device_manage(message_data, "remove")
            elif message_type == "request_restart":
                await self._handle_request_restart(message_data)
            else:
@@ -678,24 +608,6 @@ class MessageProcessor:
        if host_node:
            host_node.handle_pong_response(pong_data)

-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
    async def _handle_query_action_state(self, data: Dict[str, Any]):
        """处理query_action_state消息"""
        device_id = data.get("device_id", "")
@@ -710,9 +622,6 @@ class MessageProcessor:

        device_action_key = f"/devices/{device_id}/{action_name}"

-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
        # 创建任务信息
        job_info = JobInfo(
            job_id=job_id,
@@ -722,7 +631,6 @@ class MessageProcessor:
            device_action_key=device_action_key,
            status=JobStatus.QUEUE,
            start_time=time.time(),
-            always_free=action_always_free,
        )

        # 添加到设备管理器
@@ -749,8 +657,6 @@ class MessageProcessor:
    async def _handle_job_start(self, data: Dict[str, Any]):
        """处理job_start消息"""
        try:
-            if not data.get("sample_material"):
-                data["sample_material"] = {}
            req = JobAddReq(**data)

            job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
@@ -782,7 +688,6 @@ class MessageProcessor:
                queue_item,
                action_type=req.action_type,
                action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                server_info=req.server_info,
            )

@@ -999,37 +904,6 @@ class MessageProcessor:
            )
            thread.start()

-    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
-        """Handle add_device / remove_device from LabGo server."""
-        if not device_list:
-            return
-
-        for item in device_list:
-            target_node_id = item.get("target_node_id", "host_node")
-
-            def _notify(target_id: str, act: str, cfg: ResourceDictType):
-                try:
-                    host_node = HostNode.get_instance(timeout=5)
-                    if not host_node:
-                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
-                        return
-                    success = host_node.notify_device_manage(target_id, act, cfg)
-                    if success:
-                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
-                    else:
-                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
-                except Exception as e:
-                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
-                    logger.error(traceback.format_exc())
-
-            thread = threading.Thread(
-                target=_notify,
-                args=(target_node_id, action, item),
-                daemon=True,
-                name=f"DeviceManage-{action}-{item.get('id', '')}",
-            )
-            thread.start()
-
    async def _handle_request_restart(self, data: Dict[str, Any]):
        """
        处理重启请求
@@ -1041,9 +915,10 @@ class MessageProcessor:
        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")

        # 发送确认消息
-        self.send_message(
-            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-        )
+        if self.websocket_client:
+            await self.websocket_client.send_message(
+                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+            )

        # 设置全局重启标志
        import unilabos.app.main as main_module
@@ -1145,14 +1020,13 @@ class QueueProcessor:
    def stop(self) -> None:
        """停止队列处理线程"""
        self.is_running = False
-        self.queue_update_event.set()  # 立即唤醒等待中的线程
        if self.thread and self.thread.is_alive():
            self.thread.join(timeout=2)
        logger.info("[QueueProcessor] Stopped")

    def _run(self):
        """运行队列处理主循环"""
-        logger.trace("[QueueProcessor] Queue processor started")
+        logger.debug("[QueueProcessor] Queue processor started")

        while self.is_running:
            try:
@@ -1246,11 +1120,6 @@ class QueueProcessor:
        logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")

        for job_info in queued_jobs:
-            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
-            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
-            if job_info.status != JobStatus.QUEUE:
-                continue
-
            message = {
                "action": "report_action_state",
                "data": {
@@ -1367,6 +1236,7 @@ class WebSocketClient(BaseCommunicationClient):
        else:
            url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"

+        logger.debug(f"[WebSocketClient] URL: {url}")
        return url

    def start(self) -> None:
@@ -1379,11 +1249,13 @@ class WebSocketClient(BaseCommunicationClient):
            logger.error("[WebSocketClient] WebSocket URL not configured")
            return

+        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
+
        # 启动两个核心线程
        self.message_processor.start()
        self.queue_processor.start()

-        logger.trace("[WebSocketClient] All threads started")
+        logger.info("[WebSocketClient] All threads started")

    def stop(self) -> None:
        """停止WebSocket客户端"""
@@ -1399,8 +1271,8 @@ class WebSocketClient(BaseCommunicationClient):
                message = {"action": "normal_exit", "data": {"session_id": session_id}}
                self.message_processor.send_message(message)
                logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
-                time.sleep(0.3)
+                # 给一点时间让消息发送出去
+                time.sleep(1)
            except Exception as e:
                logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")

@@ -1432,7 +1304,7 @@ class WebSocketClient(BaseCommunicationClient):
            },
        }
        self.message_processor.send_message(message)
-        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")

    def publish_job_status(
        self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
--- a/unilabos/compile/pump_protocol.py
+++ b/unilabos/compile/pump_protocol.py
@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
    return total_volume


-def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
-    """
-    判断是否为泵阀一体设备
-    """
-    class_lower = (node_class or "").lower()
-    name_lower = (node_name or "").lower()
-
-    if "pump" not in class_lower and "pump" not in name_lower:
-        return False
-
-    integrated_markers = [
-        "valve",
-        "pump_valve",
-        "pumpvalve",
-        "integrated",
-        "transfer_pump",
-    ]
-
-    for marker in integrated_markers:
-        if marker in class_lower or marker in name_lower:
-            return True
-
-    return False
+def is_integrated_pump(node_name):
+    return "pump" in node_name and "valve" in node_name


 def find_connected_pump(G, valve_node):
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
    debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")

    for node in filtered_backbone:
-        node_data = G.nodes.get(node, {})
-        node_class = node_data.get("class", "") or ""
-        if is_integrated_pump(node_class, node):
+        if is_integrated_pump(G.nodes[node]["class"]):
            pumps_from_node[node] = node
            valve_from_node[node] = node
            debug_print(f"  - 集成泵-阀: {node}")
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -23,8 +23,6 @@ class BasicConfig:
    disable_browser = False  # 禁止浏览器自动打开
    port = 8002  # 本地HTTP服务
    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
-    extra_resource = False  # 是否加载lab_开头的额外资源
    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"

@@ -41,7 +39,7 @@ class BasicConfig:
 class WSConfig:
    reconnect_interval = 5  # 重连间隔（秒）
    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 20  # ping间隔（秒）
+    ping_interval = 30  # ping间隔（秒）


 # HTTP配置
@@ -147,5 +145,5 @@ def load_config(config_path=None):
            traceback.print_exc()
            exit(1)
    else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
        load_config(config_path)
--- a/unilabos/device_comms/universal_driver.py
+++ b/unilabos/device_comms/universal_driver.py
@@ -1,3 +1,4 @@
+
 from abc import abstractmethod
 from functools import wraps
 import inspect
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
--- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
+++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
@@ -19,11 +19,10 @@ from rclpy.node import Node
 import re

 class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
-    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
        super().__init__(
            driver_instance=self,
            device_id=device_id,
-            registry_name=registry_name,
            status_types={},
            action_value_mappings={},
            hardware_interface={},
--- a/unilabos/devices/virtual/virtual_sample_demo.py
+++ b/unilabos/devices/virtual/virtual_sample_demo.py
@@ -1,88 +0,0 @@
-"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
-
-import asyncio
-import logging
-import random
-import time
-from typing import Any, Dict, List, Optional
-
-
-class VirtualSampleDemo:
-    """虚拟样品追踪演示设备，提供两种典型返回模式：
-    - measure_samples: 等长输入输出 (前端按 index 自动对齐)
-    - split_and_measure: 输出比输入长，附带 samples 列标注归属
-    """
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop("id")
-        if config is None and "config" in kwargs:
-            config = kwargs.pop("config")
-
-        self.device_id = device_id or "unknown_sample_demo"
-        self.config = config or {}
-        self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
-        self.data: Dict[str, Any] = {"status": "Idle"}
-
-    # ------------------------------------------------------------------
-    # Action 1: 等长输入输出，无 samples 列
-    # ------------------------------------------------------------------
-    async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
-        """模拟光度测量。absorbance = concentration * 0.05 + noise
-
-        入参和出参 list 长度相等，前端按 index 自动对齐。
-        """
-        self.logger.info(f"measure_samples: concentrations={concentrations}")
-        absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
-        return {"concentrations": concentrations, "absorbance": absorbance}
-
-    # ------------------------------------------------------------------
-    # Action 2: 输出比输入长，带 samples 列
-    # ------------------------------------------------------------------
-    async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
-        """将每个样品均分为 split_count 份后逐份测量。
-
-        返回的 list 长度 = len(volumes) * split_count，
-        附带 samples 列标注每行属于第几个输入样品 (0-based index)。
-        """
-        self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
-        out_volumes: List[float] = []
-        readings: List[float] = []
-        samples: List[int] = []
-
-        for idx, vol in enumerate(volumes):
-            split_vol = round(vol / split_count, 2)
-            for _ in range(split_count):
-                out_volumes.append(split_vol)
-                readings.append(round(random.uniform(0.1, 1.0), 4))
-                samples.append(idx)
-
-        return {"volumes": out_volumes, "readings": readings, "samples": samples}
-
-    # ------------------------------------------------------------------
-    # Action 3: 入参和出参都带 samples 列（不等长）
-    # ------------------------------------------------------------------
-    async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
-        """对 split_and_measure 的输出做二次分析。
-
-        入参 readings/samples 长度相同但 > 原始样品数，
-        出参同样带 samples 列，长度与入参一致。
-        """
-        self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
-        scores: List[float] = []
-        passed: List[bool] = []
-        threshold = 0.4
-
-        for r in readings:
-            score = round(r * 100 + random.gauss(0, 2), 2)
-            scores.append(score)
-            passed.append(r >= threshold)
-
-        return {"scores": scores, "passed": passed, "samples": samples}
-
-    # ------------------------------------------------------------------
-    # 状态属性
-    # ------------------------------------------------------------------
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Idle")
--- a/unilabos/devices/virtual/virtual_transferpump.py
+++ b/unilabos/devices/virtual/virtual_transferpump.py
@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):

 class VirtualTransferPump:
    """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-
+    
    _ros_node: BaseROS2DeviceNode
-
+    
    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
        """
        初始化虚拟转移泵
-
+        
        Args:
            device_id: 设备ID
            config: 配置字典，包含max_volume, port等参数
            **kwargs: 其他参数，确保兼容性
        """
        self.device_id = device_id or "virtual_transfer_pump"
-
+        
        # 从config或kwargs中获取参数，确保类型正确
        if config:
-            self.max_volume = float(config.get("max_volume", 25.0))
-            self.port = config.get("port", "VIRTUAL")
+            self.max_volume = float(config.get('max_volume', 25.0))
+            self.port = config.get('port', 'VIRTUAL')
        else:
-            self.max_volume = float(kwargs.get("max_volume", 25.0))
-            self.port = kwargs.get("port", "VIRTUAL")
-
-        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
-        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
-
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
+            self.port = kwargs.get('port', 'VIRTUAL')
+        
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
+        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
+        
        # 状态变量 - 确保都是正确类型
        self._status = "Idle"
        self._position = 0.0  # float
-        self._max_velocity = 5.0  # float
+        self._max_velocity = 5.0  # float 
        self._current_volume = 0.0  # float

        # 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,16 +52,14 @@ class VirtualTransferPump:
        self._fast_dispense_time = 1.0  # 快速喷射时间（秒）

        self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-
+        
        print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
-        print(
-            f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
-        )
+        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
        print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-
+    
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
-
+    
    async def initialize(self) -> bool:
        """初始化虚拟泵 🚀"""
        self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -70,33 +68,33 @@ class VirtualTransferPump:
        self._current_volume = 0.0
        self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
        return True
-
+    
    async def cleanup(self) -> bool:
        """清理虚拟泵 🧹"""
        self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
        self._status = "Idle"
        self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
        return True
-
+    
    # 基本属性
    @property
    def status(self) -> str:
        return self._status
-
+    
    @property
    def position(self) -> float:
        """当前柱塞位置 (ml) 📍"""
        return self._position
-
+    
    @property
    def current_volume(self) -> float:
        """当前注射器中的体积 (ml) 💧"""
        return self._current_volume
-
+    
    @property
    def max_velocity(self) -> float:
        return self._max_velocity
-
+    
    @property
    def transfer_rate(self) -> float:
        return self._transfer_rate
@@ -105,17 +103,17 @@ class VirtualTransferPump:
        """设置最大速度 (ml/s) 🌊"""
        self._max_velocity = max(0.1, min(50.0, velocity))  # 限制在合理范围内
        self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-
+    
    def get_status(self) -> str:
        """获取泵状态 📋"""
        return self._status
-
+    
    async def _simulate_operation(self, duration: float):
        """模拟操作延时 ⏱️"""
        self._status = "Busy"
        await self._ros_node.sleep(duration)
        self._status = "Idle"
-
+    
    def _calculate_duration(self, volume: float, velocity: float = None) -> float:
        """
        计算操作持续时间 ⏰
@@ -123,10 +121,10 @@ class VirtualTransferPump:
        """
        if velocity is None:
            velocity = self._max_velocity
-
+        
        # 📊 计算理论时间（用于日志显示）
        theoretical_duration = abs(volume) / velocity
-
+        
        # 🚀 如果启用快速模式，使用固定的快速时间
        if self._fast_mode:
            # 根据操作类型选择快速时间
@@ -134,13 +132,13 @@ class VirtualTransferPump:
                actual_duration = self._fast_move_time
            else:  # 很小的操作
                actual_duration = 0.5
-
+            
            self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
            return actual_duration
        else:
            # 正常模式使用理论时间
            return theoretical_duration
-
+    
    def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
        """
        计算显示用的持续时间（用于日志） 📊
@@ -149,16 +147,16 @@ class VirtualTransferPump:
        if velocity is None:
            velocity = self._max_velocity
        return abs(volume) / velocity
-
+    
    # 新的set_position方法 - 专门用于SetPumpPosition动作
    async def set_position(self, position: float, max_velocity: float = None):
        """
        移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-
+        
        Args:
            position (float): 目标位置 (ml)
            max_velocity (float): 移动速度 (ml/s)
-
+        
        Returns:
            dict: 符合SetPumpPosition.action定义的结果
        """
@@ -166,19 +164,19 @@ class VirtualTransferPump:
            # 验证并转换参数
            target_position = float(position)
            velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-
+            
            # 限制位置在有效范围内
            target_position = max(0.0, min(float(self.max_volume), target_position))
-
+            
            # 计算移动距离
            volume_to_move = abs(target_position - self._position)
-
+            
            # 📊 计算显示用的时间（用于日志）
            display_duration = self._calculate_display_duration(volume_to_move, velocity)
-
+            
            # ⚡ 计算实际执行时间（快速模式）
            actual_duration = self._calculate_duration(volume_to_move, velocity)
-
+            
            # 🎯 确定操作类型和emoji
            if target_position > self._position:
                operation_type = "吸液"
@@ -189,34 +187,28 @@ class VirtualTransferPump:
            else:
                operation_type = "保持"
                operation_emoji = "📍"
-
+            
            self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(
-                f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
-            )
+            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
            self.logger.info(f"  🌊 速度: {velocity:.2f} mL/s")
            self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+            
            if self._fast_mode:
                self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+            
            # 🚀 模拟移动过程
            if volume_to_move > 0.01:  # 只有当移动距离足够大时才显示进度
                start_position = self._position
                steps = 5 if actual_duration > 0.5 else 2  # 根据实际时间调整步数
                step_duration = actual_duration / steps
-
+                
                self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-
+                
                for i in range(steps + 1):
                    # 计算当前位置和进度
                    progress = (i / steps) * 100 if steps > 0 else 100
-                    current_pos = (
-                        start_position + (target_position - start_position) * (i / steps)
-                        if steps > 0
-                        else target_position
-                    )
-
+                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
+                    
                    # 更新状态
                    if i < steps:
                        self._status = f"{operation_type}中"
@@ -224,10 +216,10 @@ class VirtualTransferPump:
                    else:
                        self._status = "Idle"
                        status_emoji = "✅"
-
+                    
                    self._position = current_pos
                    self._current_volume = current_pos
-
+                    
                    # 显示进度（每25%或最后一步）
                    if i == 0:
                        self.logger.debug(f"  🔄 {operation_type}开始: {progress:.0f}%")
@@ -235,7 +227,7 @@ class VirtualTransferPump:
                        self.logger.debug(f"  🔄 {operation_type}进度: {progress:.0f}%")
                    elif i == steps:
                        self.logger.info(f"  ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-
+                    
                    # 等待一小步时间
                    if i < steps and step_duration > 0:
                        await self._ros_node.sleep(step_duration)
@@ -244,27 +236,25 @@ class VirtualTransferPump:
                self._position = target_position
                self._current_volume = target_position
                self.logger.info(f"  📍 微调完成: {target_position:.2f}mL")
-
+        
            # 确保最终位置准确
            self._position = target_position
            self._current_volume = target_position
            self._status = "Idle"
-
+            
            # 📊 最终状态日志
            if volume_to_move > 0.01:
-                self.logger.info(
-                    f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
-                )
-
+                self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
+            
            # 返回符合action定义的结果
            return {
                "success": True,
                "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
                "final_position": self._position,
                "final_volume": self._current_volume,
-                "operation_type": operation_type,
+                "operation_type": operation_type
            }
-
+            
        except Exception as e:
            error_msg = f"❌ 设置位置失败: {str(e)}"
            self.logger.error(error_msg)
@@ -272,136 +262,134 @@ class VirtualTransferPump:
                "success": False,
                "message": error_msg,
                "final_position": self._position,
-                "final_volume": self._current_volume,
+                "final_volume": self._current_volume
            }
-
+    
    # 其他泵操作方法
    async def pull_plunger(self, volume: float, velocity: float = None):
        """
        拉取柱塞（吸液） 📥
-
+        
        Args:
            volume (float): 要拉取的体积 (ml)
            velocity (float): 拉取速度 (ml/s)
        """
        new_position = min(self.max_volume, self._position + volume)
        actual_volume = new_position - self._position
-
+        
        if actual_volume <= 0:
            self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
            return
-
+        
        display_duration = self._calculate_display_duration(actual_volume, velocity)
        actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
        self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
        self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
        self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
        if self._fast_mode:
            self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
        await self._simulate_operation(actual_duration)
-
+        
        self._position = new_position
        self._current_volume = new_position
-
+        
        self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")

    async def push_plunger(self, volume: float, velocity: float = None):
        """
        推出柱塞（排液） 📤
-
+        
        Args:
            volume (float): 要推出的体积 (ml)
            velocity (float): 推出速度 (ml/s)
        """
        new_position = max(0, self._position - volume)
        actual_volume = self._position - new_position
-
+        
        if actual_volume <= 0:
            self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
            return
-
+        
        display_duration = self._calculate_display_duration(actual_volume, velocity)
        actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
        self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
        self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
        self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
        if self._fast_mode:
            self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
        await self._simulate_operation(actual_duration)
-
+        
        self._position = new_position
        self._current_volume = new_position
-
+        
        self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")

    # 便捷操作方法
    async def aspirate(self, volume: float, velocity: float = None):
        """吸液操作 📥"""
        await self.pull_plunger(volume, velocity)
-
+    
    async def dispense(self, volume: float, velocity: float = None):
        """排液操作 📤"""
        await self.push_plunger(volume, velocity)
-
+    
    async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
        """转移操作（先吸后排） 🔄"""
        self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-
+        
        # 吸液
        await self.aspirate(volume, aspirate_velocity)
-
+        
        # 短暂停顿
        self.logger.debug("⏸️ 短暂停顿...")
        await self._ros_node.sleep(0.1)
-
+        
        # 排液
        await self.dispense(volume, dispense_velocity)
-
+    
    async def empty_syringe(self, velocity: float = None):
        """清空注射器"""
        await self.set_position(0, velocity)
-
+    
    async def fill_syringe(self, velocity: float = None):
        """充满注射器"""
        await self.set_position(self.max_volume, velocity)
-
+    
    async def stop_operation(self):
        """停止当前操作"""
        self._status = "Idle"
        self.logger.info("Operation stopped")
-
+    
    # 状态查询方法
    def get_position(self) -> float:
        """获取当前位置"""
        return self._position
-
+    
    def get_current_volume(self) -> float:
        """获取当前体积"""
        return self._current_volume
-
+    
    def get_remaining_capacity(self) -> float:
        """获取剩余容量"""
        return self.max_volume - self._current_volume
-
+    
    def is_empty(self) -> bool:
        """检查是否为空"""
        return self._current_volume <= 0.01  # 允许小量误差
-
+    
    def is_full(self) -> bool:
        """检查是否已满"""
        return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
-
+    
    def __str__(self):
-        return (
-            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-        )
-
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+    
    def __repr__(self):
        return self.__str__()

@@ -410,20 +398,20 @@ class VirtualTransferPump:
 async def demo():
    """虚拟泵使用示例"""
    pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-
+    
    await pump.initialize()
-
+    
    print(f"Initial state: {pump}")
-
+    
    # 测试set_position方法
    result = await pump.set_position(10.0, max_velocity=2.0)
    print(f"Set position result: {result}")
    print(f"After setting position to 10ml: {pump}")
-
+    
    # 吸液测试
    await pump.aspirate(5.0, velocity=2.0)
    print(f"After aspirating 5ml: {pump}")
-
+    
    # 清空测试
    result = await pump.set_position(0.0)
    print(f"Empty result: {result}")
--- a/unilabos/devices/virtual/workbench.py
+++ b/unilabos/devices/virtual/workbench.py
@@ -1,72 +1,58 @@
 """
 Virtual Workbench Device - 模拟工作台设备
-包含:
+包含：
 - 1个机械臂 (每次操作3s, 独占锁)
 - 3个加热台 (每次加热10s, 可并行)

-工作流程:
-1. A1-A5 物料同时启动, 竞争机械臂
+工作流程：
+1. A1-A5 物料同时启动，竞争机械臂
 2. 机械臂将物料移动到空闲加热台
-3. 加热完成后, 机械臂将物料移动到C1-C5
+3. 加热完成后，机械臂将物料移动到C1-C5

-注意: 调用来自线程池, 使用 threading.Lock 进行同步
+注意：调用来自线程池，使用 threading.Lock 进行同步
 """
-
 import logging
 import time
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, Optional
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock

 from typing_extensions import TypedDict

-from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
-)
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
+from unilabos.utils.decorator import not_action


 # ============ TypedDict 返回类型定义 ============

-
 class MoveToHeatingStationResult(TypedDict):
    """move_to_heating_station 返回类型"""
-
    success: bool
    station_id: int
    material_id: str
    material_number: int
    message: str
-    unilabos_samples: List[LabSample]


 class StartHeatingResult(TypedDict):
    """start_heating 返回类型"""
-
    success: bool
    station_id: int
    material_id: str
    material_number: int
    message: str
-    unilabos_samples: List[LabSample]


 class MoveToOutputResult(TypedDict):
    """move_to_output 返回类型"""
-
    success: bool
    station_id: int
    material_id: str
-    output_position: str
-    message: str
-    unilabos_samples: List[LabSample]


 class PrepareMaterialsResult(TypedDict):
    """prepare_materials 返回类型 - 批量准备物料"""
-
    success: bool
    count: int
    material_1: int  # 物料编号1
@@ -75,24 +61,20 @@ class PrepareMaterialsResult(TypedDict):
    material_4: int  # 物料编号4
    material_5: int  # 物料编号5
    message: str
-    unilabos_samples: List[LabSample]


 # ============ 状态枚举 ============

-
 class HeatingStationState(Enum):
    """加热台状态枚举"""
-
    IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料, 等待加热
+    OCCUPIED = "occupied"  # 已放置物料，等待加热
    HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成, 等待取走
+    COMPLETED = "completed"  # 加热完成，等待取走


 class ArmState(Enum):
    """机械臂状态枚举"""
-
    IDLE = "idle"  # 空闲
    BUSY = "busy"  # 工作中

@@ -100,7 +82,6 @@ class ArmState(Enum):
@dataclass
 class HeatingStation:
    """加热台数据结构"""
-
    station_id: int
    state: HeatingStationState = HeatingStationState.IDLE
    current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
@@ -109,31 +90,26 @@ class HeatingStation:
    heating_progress: float = 0.0


-@device(
-    id="virtual_workbench",
-    category=["virtual_device"],
-    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
-)
 class VirtualWorkbench:
    """
    Virtual Workbench Device - 虚拟工作台设备

    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
-    - 加热台加热耗时10秒, 3个加热台可并行工作
+    - 机械臂操作耗时3秒，同一时间只能执行一个操作
+    - 加热台加热耗时10秒，3个加热台可并行工作

    工作流:
-    1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
-    2. 获取机械臂后, 查找空闲加热台
-    3. 机械臂将物料放入加热台, 开始加热
-    4. 加热完成后, 机械臂将物料移动到目标位置Cn
+    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
+    2. 获取机械臂后，查找空闲加热台
+    3. 机械臂将物料放入加热台，开始加热
+    4. 加热完成后，机械臂将物料移动到目标位置Cn
    """

    _ros_node: BaseROS2DeviceNode

    # 配置常量
-    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 60.0  # 加热时间(秒)
+    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 10.0  # 加热时间(秒)
    NUM_HEATING_STATIONS: int = 3  # 加热台数量

    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
@@ -150,23 +126,24 @@ class VirtualWorkbench:
        self.data: Dict[str, Any] = {}

        # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
-        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
+        self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))

-        # 机械臂状态和锁
+        # 机械臂状态和锁 (使用threading.Lock)
        self._arm_lock = Lock()
        self._arm_state = ArmState.IDLE
        self._arm_current_task: Optional[str] = None

-        # 加热台状态
+        # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
        self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i)
+            for i in range(1, self.NUM_HEATING_STATIONS + 1)
        }
-        self._stations_lock = RLock()
+        self._stations_lock = RLock()  # 可重入锁，保护加热台状态

        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}
+        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
        self._tasks_lock = Lock()

        # 处理其他kwargs参数
@@ -192,6 +169,7 @@ class VirtualWorkbench:
        """初始化虚拟工作台"""
        self.logger.info(f"初始化虚拟工作台 {self.device_id}")

+        # 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
        with self._stations_lock:
            for station in self._heating_stations.values():
                station.state = HeatingStationState.IDLE
@@ -199,16 +177,15 @@ class VirtualWorkbench:
                station.material_number = None
                station.heating_progress = 0.0

-        self.data.update(
-            {
-                "status": "Ready",
-                "arm_state": ArmState.IDLE.value,
-                "arm_current_task": None,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": 0,
-                "message": "工作台就绪",
-            }
-        )
+        # 初始化状态
+        self.data.update({
+            "status": "Ready",
+            "arm_state": ArmState.IDLE.value,
+            "arm_current_task": None,
+            "heating_stations": self._get_stations_status(),
+            "active_tasks_count": 0,
+            "message": "工作台就绪",
+        })

        self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
        return True
@@ -227,14 +204,12 @@ class VirtualWorkbench:
        with self._tasks_lock:
            self._active_tasks.clear()

-        self.data.update(
-            {
-                "status": "Offline",
-                "arm_state": ArmState.IDLE.value,
-                "heating_stations": {},
-                "message": "工作台已关闭",
-            }
-        )
+        self.data.update({
+            "status": "Offline",
+            "arm_state": ArmState.IDLE.value,
+            "heating_stations": {},
+            "message": "工作台已关闭",
+        })
        return True

    def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
@@ -252,19 +227,21 @@ class VirtualWorkbench:

    def _update_data_status(self, message: Optional[str] = None):
        """更新状态数据"""
-        self.data.update(
-            {
-                "arm_state": self._arm_state.value,
-                "arm_current_task": self._arm_current_task,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": len(self._active_tasks),
-            }
-        )
+        self.data.update({
+            "arm_state": self._arm_state.value,
+            "arm_current_task": self._arm_current_task,
+            "heating_stations": self._get_stations_status(),
+            "active_tasks_count": len(self._active_tasks),
+        })
        if message:
            self.data["message"] = message

    def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台"""
+        """查找空闲的加热台
+
+        Returns:
+            空闲加热台ID，如果没有则返回None
+        """
        with self._stations_lock:
            for station_id, station in self._heating_stations.items():
                if station.state == HeatingStationState.IDLE:
@@ -272,12 +249,23 @@ class VirtualWorkbench:
        return None

    def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权(阻塞直到获取)"""
+        """获取机械臂使用权（阻塞直到获取）
+
+        Args:
+            task_description: 任务描述，用于日志
+
+        Returns:
+            是否成功获取
+        """
        self.logger.info(f"[{task_description}] 等待获取机械臂...")
+
+        # 阻塞等待获取锁
        self._arm_lock.acquire()
+
        self._arm_state = ArmState.BUSY
        self._arm_current_task = task_description
        self._update_data_status(f"机械臂执行: {task_description}")
+
        self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
        return True

@@ -290,37 +278,28 @@ class VirtualWorkbench:
        self._update_data_status(f"机械臂已释放 (完成: {task})")
        self.logger.info(f"机械臂已释放 (完成: {task})")

-    @action(
-        auto_prefix=True,
-        description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
-        handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
-        ],
-    )
    def prepare_materials(
        self,
-        sample_uuids: SampleUUIDsType,
        count: int = 5,
    ) -> PrepareMaterialsResult:
        """
        批量准备物料 - 虚拟起始节点

-        作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
+        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
+        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
+
+        Args:
+            count: 待生成的物料数量，默认5 (生成 A1-A5)
+
+        Returns:
+            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
        """
+        # 生成物料列表 A1 - A{count}
        materials = [i for i in range(1, count + 1)]

        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
+            f"[准备物料] 生成 {count} 个物料: "
+            f"A1-A{count} -> material_1~material_{count}"
        )

        return {
@@ -332,42 +311,29 @@ class VirtualWorkbench:
            "material_4": materials[3] if len(materials) > 3 else 0,
            "material_5": materials[4] if len(materials) > 4 else 0,
            "message": f"已准备 {count} 个物料: A1-A{count}",
-            "unilabos_samples": [
-                LabSample(
-                    sample_uuid=sample_uuid,
-                    oss_path="",
-                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
        }

-    @action(
-        auto_prefix=True,
-        description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
-        handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
    def move_to_heating_station(
        self,
-        sample_uuids: SampleUUIDsType,
        material_number: int,
    ) -> MoveToHeatingStationResult:
        """
        将物料从An位置移动到加热台

-        多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
+        多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
+
+        Args:
+            material_number: 物料编号 (1-5)
+
+        Returns:
+            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
        """
+        # 根据物料编号生成物料ID
        material_id = f"A{material_number}"
        task_desc = f"移动{material_id}到加热台"
        self.logger.info(f"[任务] {task_desc} - 开始执行")

+        # 记录任务
        with self._tasks_lock:
            self._active_tasks[material_id] = {
                "status": "waiting_for_arm",
@@ -375,27 +341,33 @@ class VirtualWorkbench:
            }

        try:
+            # 步骤1: 等待获取机械臂使用权(竞争)
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "waiting_for_arm"
            self._acquire_arm(task_desc)

+            # 步骤2: 查找空闲加热台
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "finding_station"
            station_id = None

+            # 循环等待直到找到空闲加热台
            while station_id is None:
                station_id = self._find_available_heating_station()
                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
+                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
+                    # 释放机械臂，等待后重试
                    self._release_arm()
                    time.sleep(0.5)
                    self._acquire_arm(task_desc)

+            # 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
            with self._stations_lock:
                self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
                self._heating_stations[station_id].current_material = material_id
                self._heating_stations[station_id].material_number = material_number

+            # 步骤4: 模拟机械臂移动操作 (3秒)
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "arm_moving"
                self._active_tasks[material_id]["assigned_station"] = station_id
@@ -403,11 +375,11 @@ class VirtualWorkbench:

            time.sleep(self.ARM_OPERATION_TIME)

+            # 步骤5: 放入加热台完成
            self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(
-                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
-            )
+            self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")

+            # 释放机械臂
            self._release_arm()

            with self._tasks_lock:
@@ -419,17 +391,6 @@ class VirtualWorkbench:
                "material_id": material_id,
                "material_number": material_number,
                "message": f"{material_id}已成功移动到加热台{station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

        except Exception as e:
@@ -442,42 +403,22 @@ class VirtualWorkbench:
                "material_id": material_id,
                "material_number": material_number,
                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

-    @action(
-        auto_prefix=True,
-        always_free=True,
-        description="启动指定加热台的加热程序",
-        handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
    def start_heating(
        self,
-        sample_uuids: SampleUUIDsType,
        station_id: int,
        material_number: int,
    ) -> StartHeatingResult:
        """
        启动指定加热台的加热程序
+
+        Args:
+            station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
+            material_number: 物料编号，从 move_to_heating_station 的 handle 传入
+
+        Returns:
+            StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
        """
        self.logger.info(f"[加热台{station_id}] 开始加热")

@@ -488,17 +429,6 @@ class VirtualWorkbench:
                "material_id": "",
                "material_number": material_number,
                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

        with self._stations_lock:
@@ -511,17 +441,6 @@ class VirtualWorkbench:
                    "material_id": "",
                    "material_number": material_number,
                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
                }

            if station.state == HeatingStationState.HEATING:
@@ -531,21 +450,11 @@ class VirtualWorkbench:
                    "material_id": station.current_material,
                    "material_number": material_number,
                    "message": f"加热台{station_id}已经在加热中",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
                }

            material_id = station.current_material

+            # 开始加热
            station.state = HeatingStationState.HEATING
            station.heating_start_time = time.time()
            station.heating_progress = 0.0
@@ -556,19 +465,10 @@ class VirtualWorkbench:

        self._update_data_status(f"加热台{station_id}开始加热{material_id}")

-        with self._stations_lock:
-            heating_list = [
-                f"加热台{sid}:{s.current_material}"
-                for sid, s in self._heating_stations.items()
-                if s.state == HeatingStationState.HEATING and s.current_material
-            ]
-        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
-
+        # 模拟加热过程 (10秒)
        start_time = time.time()
-        last_countdown_log = start_time
        while True:
            elapsed = time.time() - start_time
-            remaining = max(0.0, self.HEATING_TIME - elapsed)
            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)

            with self._stations_lock:
@@ -576,15 +476,12 @@ class VirtualWorkbench:

            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")

-            if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
-                last_countdown_log = time.time()
-
            if elapsed >= self.HEATING_TIME:
                break

            time.sleep(1.0)

+        # 加热完成
        with self._stations_lock:
            self._heating_stations[station_id].state = HeatingStationState.COMPLETED
            self._heating_stations[station_id].heating_progress = 100.0
@@ -602,39 +499,24 @@ class VirtualWorkbench:
            "material_id": material_id,
            "material_number": material_number,
            "message": f"加热台{station_id}加热完成",
-            "unilabos_samples": [
-                LabSample(
-                    sample_uuid=sample_uuid,
-                    oss_path="",
-                    extra=(
-                        {"material_uuid": content}
-                        if isinstance(content, str) else (content.serialize() if content else {})
-                    ),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
        }

-    @action(
-        auto_prefix=True,
-        description="将物料从加热台移动到输出位置Cn",
-        handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-        ],
-    )
    def move_to_output(
        self,
-        sample_uuids: SampleUUIDsType,
        station_id: int,
        material_number: int,
    ) -> MoveToOutputResult:
        """
        将物料从加热台移动到输出位置Cn
+
+        Args:
+            station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
+            material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
+
+        Returns:
+            MoveToOutputResult: 包含执行结果
        """
-        output_number = material_number
+        output_number = material_number  # 物料编号决定输出位置

        if station_id not in self._heating_stations:
            return {
@@ -643,17 +525,6 @@ class VirtualWorkbench:
                "material_id": "",
                "output_position": f"C{output_number}",
                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

        with self._stations_lock:
@@ -667,17 +538,6 @@ class VirtualWorkbench:
                    "material_id": "",
                    "output_position": f"C{output_number}",
                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
                }

            if station.state != HeatingStationState.COMPLETED:
@@ -687,17 +547,6 @@ class VirtualWorkbench:
                    "material_id": material_id,
                    "output_position": f"C{output_number}",
                    "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
                }

        output_position = f"C{output_number}"
@@ -709,17 +558,18 @@ class VirtualWorkbench:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "waiting_for_arm_output"

+            # 获取机械臂
            self._acquire_arm(task_desc)

            with self._tasks_lock:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "arm_moving_to_output"

-            self.logger.info(
-                f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
-            )
+            # 模拟机械臂操作 (3秒)
+            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
            time.sleep(self.ARM_OPERATION_TIME)

+            # 清空加热台
            with self._stations_lock:
                self._heating_stations[station_id].state = HeatingStationState.IDLE
                self._heating_stations[station_id].current_material = None
@@ -727,17 +577,17 @@ class VirtualWorkbench:
                self._heating_stations[station_id].heating_progress = 0.0
                self._heating_stations[station_id].heating_start_time = None

+            # 释放机械臂
            self._release_arm()

+            # 任务完成
            with self._tasks_lock:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "completed"
                    self._active_tasks[material_id]["end_time"] = time.time()

            self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(
-                f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
-            )
+            self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")

            return {
                "success": True,
@@ -745,18 +595,6 @@ class VirtualWorkbench:
                "material_id": material_id,
                "output_position": output_position,
                "message": f"{material_id}已成功移动到{output_position}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content is not None else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

        except Exception as e:
@@ -769,106 +607,81 @@ class VirtualWorkbench:
                "material_id": "",
                "output_position": output_position,
                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
            }

    # ============ 状态属性 ============

    @property
-    @topic_config()
    def status(self) -> str:
        return self.data.get("status", "Unknown")

    @property
-    @topic_config()
    def arm_state(self) -> str:
        return self._arm_state.value

    @property
-    @topic_config()
    def arm_current_task(self) -> str:
        return self._arm_current_task or ""

    @property
-    @topic_config()
    def heating_station_1_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.state.value if station else "unknown"

    @property
-    @topic_config()
    def heating_station_1_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.current_material or "" if station else ""

    @property
-    @topic_config()
    def heating_station_1_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.heating_progress if station else 0.0

    @property
-    @topic_config()
    def heating_station_2_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.state.value if station else "unknown"

    @property
-    @topic_config()
    def heating_station_2_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.current_material or "" if station else ""

    @property
-    @topic_config()
    def heating_station_2_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.heating_progress if station else 0.0

    @property
-    @topic_config()
    def heating_station_3_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.state.value if station else "unknown"

    @property
-    @topic_config()
    def heating_station_3_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.current_material or "" if station else ""

    @property
-    @topic_config()
    def heating_station_3_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.heating_progress if station else 0.0

    @property
-    @topic_config()
    def active_tasks_count(self) -> int:
        with self._tasks_lock:
            return len(self._active_tasks)

    @property
-    @topic_config()
    def message(self) -> str:
        return self.data.get("message", "")
--- a/unilabos/registry/ast_registry_scanner.py
+++ b/unilabos/registry/ast_registry_scanner.py
--- a/unilabos/registry/decorators.py
+++ b/unilabos/registry/decorators.py
@@ -1,614 +0,0 @@
-"""
-装饰器注册表系统
-
-通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
-
-Usage:
-    from unilabos.registry.decorators import (
-        device, action, resource,
-        InputHandle, OutputHandle,
-        ActionInputHandle, ActionOutputHandle,
-        HardwareInterface, Side, DataSource,
-    )
-
-    @device(
-        id="solenoid_valve.mock",
-        category=["pump_and_valve"],
-        description="模拟电磁阀设备",
-        handles=[
-            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
-            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
-        ],
-        hardware_interface=HardwareInterface(
-            name="hardware_interface",
-            read="send_command",
-            write="send_command",
-        ),
-    )
-    class SolenoidValveMock:
-        @action(action_type=EmptyIn)
-        def close(self):
-            ...
-
-        @action(
-            handles=[
-                ActionInputHandle(key="in", data_type="fluid", label="in"),
-                ActionOutputHandle(key="out", data_type="fluid", label="out"),
-            ],
-        )
-        def set_valve_position(self, position):
-            ...
-
-        # 无 @action 装饰器 => auto- 前缀动作
-        def is_open(self):
-            ...
-"""
-
-from enum import Enum
-from functools import wraps
-from typing import Any, Callable, Dict, List, Optional, TypeVar
-
-from pydantic import BaseModel, ConfigDict, Field
-
-F = TypeVar("F", bound=Callable[..., Any])
-
-# ---------------------------------------------------------------------------
-# 枚举
-# ---------------------------------------------------------------------------
-
-
-class Side(str, Enum):
-    """UI 上 Handle 的显示位置"""
-
-    NORTH = "NORTH"
-    SOUTH = "SOUTH"
-    EAST = "EAST"
-    WEST = "WEST"
-
-
-class DataSource(str, Enum):
-    """Handle 的数据来源"""
-
-    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
-    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
-
-
-# ---------------------------------------------------------------------------
-# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
-# ---------------------------------------------------------------------------
-
-
-class _DeviceHandleBase(BaseModel):
-    """设备/资源端口基类 (内部使用)"""
-
-    model_config = ConfigDict(populate_by_name=True)
-
-    key: str = Field(serialization_alias="handler_key")
-    data_type: str
-    label: str
-    side: Optional[Side] = None
-    data_key: Optional[str] = None
-    data_source: Optional[str] = None
-    description: Optional[str] = None
-
-    # 子类覆盖
-    io_type: str = ""
-
-    def to_registry_dict(self) -> Dict[str, Any]:
-        return self.model_dump(by_alias=True, exclude_none=True)
-
-
-class InputHandle(_DeviceHandleBase):
-    """
-    输入端口 (io_type="target"), 用于 @device / @resource handles
-
-    Example:
-        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
-    """
-
-    io_type: str = "target"
-
-
-class OutputHandle(_DeviceHandleBase):
-    """
-    输出端口 (io_type="source"), 用于 @device / @resource handles
-
-    Example:
-        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
-    """
-
-    io_type: str = "source"
-
-
-# ---------------------------------------------------------------------------
-# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
-# ---------------------------------------------------------------------------
-
-
-class _ActionHandleBase(BaseModel):
-    """动作端口基类 (内部使用)"""
-
-    model_config = ConfigDict(populate_by_name=True)
-
-    key: str = Field(serialization_alias="handler_key")
-    data_type: str
-    label: str
-    side: Optional[Side] = None
-    data_key: Optional[str] = None
-    data_source: Optional[str] = None
-    description: Optional[str] = None
-    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
-
-    def to_registry_dict(self) -> Dict[str, Any]:
-        return self.model_dump(by_alias=True, exclude_none=True)
-
-
-class ActionInputHandle(_ActionHandleBase):
-    """
-    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
-
-    Example:
-        ActionInputHandle(
-            key="material_input", data_type="workbench_material",
-            label="物料编号", data_key="material_number", data_source="handle",
-        )
-    """
-
-    pass
-
-
-class ActionOutputHandle(_ActionHandleBase):
-    """
-    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
-
-    Example:
-        ActionOutputHandle(
-            key="station_output", data_type="workbench_station",
-            label="加热台ID", data_key="station_id", data_source="executor",
-        )
-    """
-
-    pass
-
-
-# ---------------------------------------------------------------------------
-# HardwareInterface
-# ---------------------------------------------------------------------------
-
-
-class HardwareInterface(BaseModel):
-    """
-    硬件通信接口定义
-
-    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
-
-    Example:
-        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
-    """
-
-    name: str
-    read: Optional[str] = None
-    write: Optional[str] = None
-    extra_info: Optional[List[str]] = None
-
-
-# ---------------------------------------------------------------------------
-# 全局注册表 -- 记录所有被装饰器标记的类/函数
-# ---------------------------------------------------------------------------
-_registered_devices: Dict[str, type] = {}  # device_id -> class
-_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
-
-
-def _device_handles_to_list(
-    handles: Optional[List[_DeviceHandleBase]],
-) -> List[Dict[str, Any]]:
-    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
-    if handles is None:
-        return []
-    return [h.to_registry_dict() for h in handles]
-
-
-def _action_handles_to_dict(
-    handles: Optional[List[_ActionHandleBase]],
-) -> Dict[str, Any]:
-    """
-    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
-
-    ActionInputHandle => "input", ActionOutputHandle => "output"
-    """
-    if handles is None:
-        return {}
-    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
-    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
-    result: Dict[str, Any] = {}
-    if input_list:
-        result["input"] = input_list
-    if output_list:
-        result["output"] = output_list
-    return result
-
-
-# ---------------------------------------------------------------------------
-# @device 类装饰器
-# ---------------------------------------------------------------------------
-
-
-# noinspection PyShadowingBuiltins
-def device(
-    id: Optional[str] = None,
-    ids: Optional[List[str]] = None,
-    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
-    category: Optional[List[str]] = None,
-    description: str = "",
-    display_name: str = "",
-    icon: str = "",
-    version: str = "1.0.0",
-    handles: Optional[List[_DeviceHandleBase]] = None,
-    model: Optional[Dict[str, Any]] = None,
-    device_type: str = "python",
-    hardware_interface: Optional[HardwareInterface] = None,
-):
-    """
-    设备类装饰器
-
-    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
-
-    支持两种模式:
-      1. 单设备: id="xxx", category=[...]
-      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
-
-    Args:
-        id: 单设备时的注册表唯一标识
-        ids: 多设备时的 id 列表，与 id_meta 配合使用
-        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
-        category: 设备分类标签列表 (必填)
-        description: 设备描述
-        display_name: 人类可读的设备显示名称，缺失时默认使用 id
-        icon: 图标路径
-        version: 版本号
-        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
-        model: 可选的 3D 模型配置
-        device_type: 设备实现类型 ("python" / "ros2")
-        hardware_interface: 硬件通信接口 (HardwareInterface)
-    """
-    # Resolve device ids
-    if ids is not None:
-        device_ids = list(ids)
-        if not device_ids:
-            raise ValueError("@device ids 不能为空")
-        id_meta = id_meta or {}
-    elif id is not None:
-        device_ids = [id]
-        id_meta = {}
-    else:
-        raise ValueError("@device 必须提供 id 或 ids")
-
-    if category is None:
-        raise ValueError("@device category 必填")
-
-    base_meta = {
-        "category": category,
-        "description": description,
-        "display_name": display_name,
-        "icon": icon,
-        "version": version,
-        "handles": _device_handles_to_list(handles),
-        "model": model,
-        "device_type": device_type,
-        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
-    }
-
-    def decorator(cls):
-        cls._device_registry_meta = base_meta
-        cls._device_registry_id_meta = id_meta
-        cls._device_registry_ids = device_ids
-
-        for did in device_ids:
-            if did in _registered_devices:
-                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
-            _registered_devices[did] = cls
-
-        return cls
-
-    return decorator
-
-
-# ---------------------------------------------------------------------------
-# @action 方法装饰器
-# ---------------------------------------------------------------------------
-
-# 区分 "用户没传 action_type" 和 "用户传了 None"
-_ACTION_TYPE_UNSET = object()
-
-
-# noinspection PyShadowingNames
-def action(
-    action_type: Any = _ACTION_TYPE_UNSET,
-    goal: Optional[Dict[str, str]] = None,
-    feedback: Optional[Dict[str, str]] = None,
-    result: Optional[Dict[str, str]] = None,
-    handles: Optional[List[_ActionHandleBase]] = None,
-    goal_default: Optional[Dict[str, Any]] = None,
-    placeholder_keys: Optional[Dict[str, str]] = None,
-    always_free: bool = False,
-    is_protocol: bool = False,
-    description: str = "",
-    auto_prefix: bool = False,
-    parent: bool = False,
-):
-    """
-    动作方法装饰器
-
-    标记方法为注册表动作。有三种用法:
-      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
-      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
-      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
-
-    Protocol 用法:
-      @action(action_type=Add, is_protocol=True)
-      def AddProtocol(self): ...
-      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
-      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
-
-    Args:
-        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
-                     不传/默认 = UniLabJsonCommand (非 auto).
-        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
-              protocol 模式下可留空，系统自动生成 identity 映射.
-        feedback: Feedback 字段映射
-        result: Result 字段映射
-        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
-        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
-        placeholder_keys: 参数占位符配置
-        always_free: 是否为永久闲置动作 (不受排队限制)
-        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
-        description: 动作描述
-        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
-        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
-    """
-
-    def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
-
-        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
-        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
-
-        meta = {
-            "action_type": resolved_type,
-            "goal": goal or {},
-            "feedback": feedback or {},
-            "result": result or {},
-            "handles": _action_handles_to_dict(handles),
-            "goal_default": goal_default or {},
-            "placeholder_keys": placeholder_keys or {},
-            "always_free": always_free,
-            "is_protocol": is_protocol,
-            "description": description,
-            "auto_prefix": auto_prefix,
-            "parent": parent,
-        }
-        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
-
-        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
-        if always_free:
-            wrapper._is_always_free = True  # type: ignore[attr-defined]
-
-        return wrapper  # type: ignore[return-value]
-
-    return decorator
-
-
-def get_action_meta(func) -> Optional[Dict[str, Any]]:
-    """获取方法上的 @action 装饰器元数据"""
-    return getattr(func, "_action_registry_meta", None)
-
-
-def has_action_decorator(func) -> bool:
-    """检查函数是否带有 @action 装饰器"""
-    return hasattr(func, "_action_registry_meta")
-
-
-# ---------------------------------------------------------------------------
-# @resource 类/函数装饰器
-# ---------------------------------------------------------------------------
-
-
-def resource(
-    id: str,
-    category: List[str],
-    description: str = "",
-    icon: str = "",
-    version: str = "1.0.0",
-    handles: Optional[List[_DeviceHandleBase]] = None,
-    model: Optional[Dict[str, Any]] = None,
-    class_type: str = "pylabrobot",
-):
-    """
-    资源类/函数装饰器
-
-    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
-
-    Args:
-        id: 注册表唯一标识 (必填, 不可重复)
-        category: 资源分类标签列表 (必填)
-        description: 资源描述
-        icon: 图标路径
-        version: 版本号
-        handles: 端口列表 (InputHandle / OutputHandle)
-        model: 可选的 3D 模型配置
-        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
-    """
-
-    def decorator(obj):
-        meta = {
-            "resource_id": id,
-            "category": category,
-            "description": description,
-            "icon": icon,
-            "version": version,
-            "handles": _device_handles_to_list(handles),
-            "model": model,
-            "class_type": class_type,
-        }
-        obj._resource_registry_meta = meta
-
-        if id in _registered_resources:
-            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
-        _registered_resources[id] = obj
-
-        return obj
-
-    return decorator
-
-
-def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
-    """
-    获取类上的 @device 装饰器元数据。
-
-    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
-    (base_meta 与 id_meta[device_id] 深度合并)。
-    """
-    base = getattr(cls, "_device_registry_meta", None)
-    if base is None:
-        return None
-    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
-    if device_id is None or device_id not in id_meta:
-        result = dict(base)
-        ids = getattr(cls, "_device_registry_ids", None)
-        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
-        return result
-
-    overrides = id_meta[device_id]
-    result = dict(base)
-    result["device_id"] = device_id
-    for key in ["handles", "description", "icon", "model"]:
-        if key in overrides:
-            val = overrides[key]
-            if key == "handles" and isinstance(val, list):
-                # handles 必须是 Handle 对象列表
-                result[key] = [h.to_registry_dict() for h in val]
-            else:
-                result[key] = val
-    return result
-
-
-def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
-    """获取对象上的 @resource 装饰器元数据"""
-    return getattr(obj, "_resource_registry_meta", None)
-
-
-def get_all_registered_devices() -> Dict[str, type]:
-    """获取所有已注册的设备类"""
-    return _registered_devices.copy()
-
-
-def get_all_registered_resources() -> Dict[str, Any]:
-    """获取所有已注册的资源"""
-    return _registered_resources.copy()
-
-
-def clear_registry():
-    """清空全局注册表 (用于测试)"""
-    _registered_devices.clear()
-    _registered_resources.clear()
-
-
-# ---------------------------------------------------------------------------
-# topic_config / not_action / always_free 装饰器
-# ---------------------------------------------------------------------------
-
-
-def topic_config(
-    period: Optional[float] = None,
-    print_publish: Optional[bool] = None,
-    qos: Optional[int] = None,
-    name: Optional[str] = None,
-) -> Callable[[F], F]:
-    """
-    Topic发布配置装饰器
-
-    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
-
-    Args:
-        period: 发布周期（秒）。None 表示使用默认值 5.0
-        print_publish: 是否打印发布日志。None 表示使用节点默认配置
-        qos: QoS深度配置。None 表示使用默认值 10
-        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
-
-    Note:
-        与 @property 连用时，@topic_config 必须放在 @property 下面，
-        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
-    """
-
-    def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
-
-        wrapper._topic_period = period  # type: ignore[attr-defined]
-        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
-        wrapper._topic_qos = qos  # type: ignore[attr-defined]
-        wrapper._topic_name = name  # type: ignore[attr-defined]
-        wrapper._has_topic_config = True  # type: ignore[attr-defined]
-
-        return wrapper  # type: ignore[return-value]
-
-    return decorator
-
-
-def get_topic_config(func) -> dict:
-    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
-    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
-        return {
-            "period": getattr(func, "_topic_period", None),
-            "print_publish": getattr(func, "_topic_print_publish", None),
-            "qos": getattr(func, "_topic_qos", None),
-            "name": getattr(func, "_topic_name", None),
-        }
-    return {}
-
-
-def always_free(func: F) -> F:
-    """
-    标记动作为永久闲置(不受busy队列限制)的装饰器
-
-    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
-    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    wrapper._is_always_free = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_always_free(func) -> bool:
-    """检查函数是否被标记为永久闲置"""
-    return getattr(func, "_is_always_free", False)
-
-
-def not_action(func: F) -> F:
-    """
-    标记方法为非动作的装饰器
-
-    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
-    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    wrapper._is_not_action = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_not_action(func) -> bool:
-    """检查函数是否被标记为非动作"""
-    return getattr(func, "_is_not_action", False)
--- a/unilabos/registry/device_comms/communication_devices.yaml
+++ b/unilabos/registry/device_comms/communication_devices.yaml
@@ -96,13 +96,10 @@ serial:
          type: string
        port:
          type: string
-        registry_name:
-          type: string
        resource_tracker:
          type: object
      required:
      - device_id
-      - registry_name
      - port
      type: object
    data:
--- a/unilabos/registry/devices/Qone_nmr.yaml
+++ b/unilabos/registry/devices/Qone_nmr.yaml
@@ -13,18 +13,21 @@ Qone_nmr:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -68,6 +71,31 @@ Qone_nmr:
          title: monitor_folder_for_new_content参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-strings_to_txt:
        feedback: {}
        goal: {}
@@ -110,18 +138,21 @@ Qone_nmr:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -136,31 +167,32 @@ Qone_nmr:
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
--- a/unilabos/registry/devices/bioyond_cell.yaml
+++ b/unilabos/registry/devices/bioyond_cell.yaml
@@ -22,8 +22,7 @@ bioyond_cell:
              required:
              - xlsx_path
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: auto_batch_outbound_from_xlsx参数
@@ -491,9 +490,7 @@ bioyond_cell:
            goal:
              properties:
                material_names:
-                  items:
-                    type: string
-                  type: array
+                  type: string
                type_id:
                  default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
                  type: string
@@ -502,8 +499,7 @@ bioyond_cell:
                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_and_inbound_materials参数
@@ -539,8 +535,7 @@ bioyond_cell:
              - type_id
              - warehouse_name
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_material参数
@@ -561,16 +556,11 @@ bioyond_cell:
            goal:
              properties:
                mappings:
-                  additionalProperties:
-                    type: object
                  type: object
              required:
              - mappings
              type: object
-            result:
-              items:
-                type: object
-              type: array
+            result: {}
          required:
          - goal
          title: create_materials参数
@@ -602,8 +592,7 @@ bioyond_cell:
              required:
              - xlsx_path
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_orders参数
@@ -635,8 +624,7 @@ bioyond_cell:
              required:
              - xlsx_path
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_orders_v2参数
@@ -677,8 +665,7 @@ bioyond_cell:
              - bottle_type
              - location_code
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_sample参数
@@ -731,8 +718,7 @@ bioyond_cell:
                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: order_list_v2参数
@@ -835,8 +821,7 @@ bioyond_cell:
              required:
              - material_obj
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: report_material_change参数
@@ -890,8 +875,7 @@ bioyond_cell:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_continue参数
@@ -912,8 +896,7 @@ bioyond_cell:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_reset参数
@@ -934,8 +917,7 @@ bioyond_cell:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_start参数
@@ -1380,8 +1362,7 @@ bioyond_cell:
                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_start_and_auto_feeding参数
@@ -1826,8 +1807,7 @@ bioyond_cell:
                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_start_and_auto_feeding_v2参数
@@ -1848,8 +1828,7 @@ bioyond_cell:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: scheduler_stop参数
@@ -1871,15 +1850,12 @@ bioyond_cell:
              properties:
                items:
                  items:
-                    additionalProperties:
-                      type: string
                    type: object
                  type: array
              required:
              - items
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: storage_batch_inbound参数
@@ -1908,8 +1884,7 @@ bioyond_cell:
              - material_id
              - location_id
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: storage_inbound参数
@@ -1930,8 +1905,7 @@ bioyond_cell:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: transfer_1_to_2参数
@@ -1972,8 +1946,7 @@ bioyond_cell:
                  type: integer
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: transfer_3_to_2参数
@@ -2010,8 +1983,7 @@ bioyond_cell:
                  type: integer
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: transfer_3_to_2_to_1参数
@@ -2035,11 +2007,10 @@ bioyond_cell:
                ip:
                  type: string
                port:
-                  type: integer
+                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: update_push_ip参数
@@ -2068,8 +2039,7 @@ bioyond_cell:
              required:
              - order_code
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: wait_for_order_finish参数
@@ -2102,8 +2072,7 @@ bioyond_cell:
              required:
              - order_code
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: wait_for_order_finish_polling参数
@@ -2135,8 +2104,7 @@ bioyond_cell:
                  type: integer
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: wait_for_transfer_task参数
@@ -2144,7 +2112,8 @@ bioyond_cell:
        type: UniLabJsonCommand
    module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
    status_types:
-      device_id: ''
+      device_id: String
+      material_info: dict
    type: python
  config_info: []
  description: ''
@@ -2165,7 +2134,11 @@ bioyond_cell:
      properties:
        device_id:
          type: string
+        material_info:
+          type: object
      required:
      - device_id
+      - material_info
      type: object
+  registry_type: device
  version: 1.0.0
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml
@@ -24,8 +24,7 @@ bioyond_dispensing_station:
              required:
              - data
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: brief_step_parameters参数
@@ -54,8 +53,7 @@ bioyond_dispensing_station:
              - report_request
              - used_materials
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: process_order_finish_report参数
@@ -80,8 +78,7 @@ bioyond_dispensing_station:
              required:
              - order_id
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: project_order_report参数
@@ -131,8 +128,7 @@ bioyond_dispensing_station:
              required:
              - workflow_id
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: workflow_sample_locations参数
@@ -148,12 +144,12 @@ bioyond_dispensing_station:
          temperature: temperature
          titration: titration
        goal_default:
-          delay_time: null
-          hold_m_name: null
+          delay_time: '600'
+          hold_m_name: ''
          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
+          speed: '400'
+          temperature: '40'
+          titration: ''
        handles:
          input:
          - data_key: titration
@@ -169,16 +165,20 @@ bioyond_dispensing_station:
            handler_key: BATCH_CREATE_RESULT
            io_type: sink
            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
          properties:
            feedback:
+              properties: {}
+              required: []
              title: BatchCreate9010VialFeedingTasks_Feedback
+              type: object
            goal:
              properties:
                delay_time:
+                  default: '600'
                  description: 延迟时间(秒),默认600
                  type: string
                hold_m_name:
@@ -189,9 +189,11 @@ bioyond_dispensing_station:
                  description: 10%物料的液体物料名称,默认为"NMP"
                  type: string
                speed:
+                  default: '400'
                  description: 搅拌速度,默认400
                  type: string
                temperature:
+                  default: '40'
                  description: 温度(℃),默认40
                  type: string
                titration:
@@ -200,14 +202,21 @@ bioyond_dispensing_station:
                  type: string
              required:
              - titration
+              - hold_m_name
              title: BatchCreate9010VialFeedingTasks_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
+                  type: string
+              required:
+              - return_info
              title: BatchCreate9010VialFeedingTasks_Result
-              type: string
+              type: object
          required:
          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
+          title: BatchCreate9010VialFeedingTasks
          type: object
        type: UniLabJsonCommand
      batch_create_diamine_solution_tasks:
@@ -219,11 +228,11 @@ bioyond_dispensing_station:
          speed: speed
          temperature: temperature
        goal_default:
-          delay_time: null
+          delay_time: '600'
          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
+          solutions: ''
+          speed: '400'
+          temperature: '20'
        handles:
          input:
          - data_key: solutions
@@ -239,16 +248,20 @@ bioyond_dispensing_station:
            handler_key: BATCH_CREATE_RESULT
            io_type: sink
            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
          properties:
            feedback:
+              properties: {}
+              required: []
              title: BatchCreateDiamineSolutionTasks_Feedback
+              type: object
            goal:
              properties:
                delay_time:
+                  default: '600'
                  description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
                  type: string
                liquid_material_name:
@@ -262,9 +275,11 @@ bioyond_dispensing_station:
                    4.5, "solvent_volume": 18}]'
                  type: string
                speed:
+                  default: '400'
                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
                  type: string
                temperature:
+                  default: '20'
                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
                  type: string
              required:
@@ -272,11 +287,17 @@ bioyond_dispensing_station:
              title: BatchCreateDiamineSolutionTasks_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
+                  type: string
+              required:
+              - return_info
              title: BatchCreateDiamineSolutionTasks_Result
-              type: string
+              type: object
          required:
          - goal
-          title: batch_create_diamine_solution_tasks参数
+          title: BatchCreateDiamineSolutionTasks
          type: object
        type: UniLabJsonCommand
      compute_experiment_design:
@@ -288,7 +309,7 @@ bioyond_dispensing_station:
          wt_percent: wt_percent
        goal_default:
          m_tot: '70'
-          ratio: null
+          ratio: ''
          titration_percent: '0.03'
          wt_percent: '0.25'
        handles:
@@ -317,8 +338,12 @@ bioyond_dispensing_station:
            handler_key: feeding_order
            io_type: sink
            label: Feeding Order Data From Calculation Node
-        placeholder_keys: {}
-        result: {}
+        result:
+          feeding_order: feeding_order
+          return_info: return_info
+          solutions: solutions
+          solvents: solvents
+          titration: titration
        schema:
          description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
          properties:
@@ -331,7 +356,7 @@ bioyond_dispensing_station:
                  type: string
                ratio:
                  description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: object
+                  type: string
                titration_percent:
                  default: '0.03'
                  description: 滴定比例(10%部分)
@@ -346,23 +371,14 @@ bioyond_dispensing_station:
            result:
              properties:
                feeding_order:
-                  items: {}
-                  title: Feeding Order
                  type: array
                return_info:
-                  title: Return Info
                  type: string
                solutions:
-                  items: {}
-                  title: Solutions
                  type: array
                solvents:
-                  additionalProperties: true
-                  title: Solvents
                  type: object
                titration:
-                  additionalProperties: true
-                  title: Titration
                  type: object
              required:
              - solutions
@@ -370,11 +386,11 @@ bioyond_dispensing_station:
              - solvents
              - feeding_order
              - return_info
-              title: ComputeExperimentDesignReturn
+              title: ComputeExperimentDesign_Result
              type: object
          required:
          - goal
-          title: compute_experiment_design参数
+          title: ComputeExperimentDesign
          type: object
        type: UniLabJsonCommand
      create_90_10_vial_feeding_task:
@@ -428,18 +444,17 @@ bioyond_dispensing_station:
          speed: ''
          temperature: ''
        handles: {}
-        placeholder_keys: {}
        result:
          return_info: return_info
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: DispenStationVialFeed_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                delay_time:
                  type: string
@@ -487,13 +502,38 @@ bioyond_dispensing_station:
                  type: string
                temperature:
                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
              title: DispenStationVialFeed_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: DispenStationVialFeed_Result
              type: object
          required:
@@ -524,18 +564,17 @@ bioyond_dispensing_station:
          temperature: ''
          volume: ''
        handles: {}
-        placeholder_keys: {}
        result:
          return_info: return_info
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: DispenStationSolnPrep_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                delay_time:
                  type: string
@@ -555,13 +594,24 @@ bioyond_dispensing_station:
                  type: string
                volume:
                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
              title: DispenStationSolnPrep_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: DispenStationSolnPrep_Result
              type: object
          required:
@@ -574,8 +624,8 @@ bioyond_dispensing_station:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
          properties:
@@ -585,6 +635,12 @@ bioyond_dispensing_station:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 调度器启动结果，成功返回1，失败返回0
+                  type: integer
+              required:
+              - return_info
              title: scheduler_start结果
              type: object
          required:
@@ -598,8 +654,8 @@ bioyond_dispensing_station:
          target_device_id: target_device_id
          transfer_groups: transfer_groups
        goal_default:
-          target_device_id: null
-          transfer_groups: null
+          target_device_id: ''
+          transfer_groups: ''
        handles: {}
        placeholder_keys:
          target_device_id: unilabos_devices
@@ -615,13 +671,32 @@ bioyond_dispensing_station:
                  type: string
                transfer_groups:
                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
+                  items:
+                    properties:
+                      materials:
+                        description: 物料名称（手动输入，系统将通过RPC查询验证）
+                        type: string
+                      target_sites:
+                        description: 目标库位（手动输入，如"A01"）
+                        type: string
+                      target_stack:
+                        description: 目标堆栈名称（从列表选择）
+                        enum:
+                        - 堆栈1左
+                        - 堆栈1右
+                        - 站内试剂存放堆栈
+                        type: string
+                    required:
+                    - materials
+                    - target_stack
+                    - target_sites
+                    type: object
                  type: array
              required:
              - target_device_id
              - transfer_groups
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: transfer_materials_to_reaction_station参数
@@ -634,9 +709,9 @@ bioyond_dispensing_station:
          check_interval: check_interval
          timeout: timeout
        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
+          batch_create_result: ''
+          check_interval: '10'
+          timeout: '7200'
        handles:
          input:
          - data_key: batch_create_result
@@ -652,35 +727,47 @@ bioyond_dispensing_station:
            handler_key: batch_reports_result
            io_type: sink
            label: Batch Order Completion Reports
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
          properties:
            feedback:
+              properties: {}
+              required: []
              title: WaitForMultipleOrdersAndGetReports_Feedback
+              type: object
            goal:
              properties:
                batch_create_result:
                  description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                  type: string
                check_interval:
-                  default: 10
+                  default: '10'
                  description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: integer
+                  type: string
                timeout:
-                  default: 7200
+                  default: '7200'
                  description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: integer
-              required: []
+                  type: string
+              required:
+              - batch_create_result
              title: WaitForMultipleOrdersAndGetReports_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
+                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
+                    order_id, status, completion_status, report, elapsed_time)'
+                  type: string
+              required:
+              - return_info
              title: WaitForMultipleOrdersAndGetReports_Result
              type: object
          required:
          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
+          title: WaitForMultipleOrdersAndGetReports
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
--- a/unilabos/registry/devices/camera.yaml
+++ b/unilabos/registry/devices/camera.yaml
@@ -0,0 +1,78 @@
+camera:
+  category:
+  - camera
+  class:
+    action_value_mappings:
+      auto-destroy_node:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: destroy_node参数
+          type: object
+        type: UniLabJsonCommand
+      auto-timer_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: timer_callback参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.ros.nodes.presets.camera:VideoPublisher
+    status_types: {}
+    type: ros2
+  config_info: []
+  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        camera_index:
+          default: 0
+          type: string
+        device_id:
+          default: video_publisher
+          type: string
+        device_uuid:
+          default: ''
+          type: string
+        period:
+          default: 0.1
+          type: number
+        resource_tracker:
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0
--- a/unilabos/registry/devices/cameraSII.yaml
+++ b/unilabos/registry/devices/cameraSII.yaml
@@ -18,7 +18,7 @@ cameracontroller_device:
            goal:
              properties:
                config:
-                  type: object
+                  type: string
              required: []
              type: object
            result: {}
@@ -42,8 +42,7 @@ cameracontroller_device:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: stop参数
@@ -51,7 +50,7 @@ cameracontroller_device:
        type: UniLabJsonCommand
    module: unilabos.devices.cameraSII.cameraUSB:CameraController
    status_types:
-      status: Dict[str, Any]
+      status: dict
    type: python
  config_info: []
  description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -104,4 +103,5 @@ cameracontroller_device:
      required:
      - status
      type: object
+  registry_type: device
  version: 1.0.0
--- a/unilabos/registry/devices/characterization_chromatic.yaml
+++ b/unilabos/registry/devices/characterization_chromatic.yaml
@@ -141,26 +141,30 @@ hplc.agilent:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -171,6 +175,7 @@ hplc.agilent:
    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
    status_types:
      could_run: bool
+      data_file: String
      device_status: str
      driver_init_ok: bool
      finish_status: str
@@ -194,6 +199,10 @@ hplc.agilent:
      properties:
        could_run:
          type: boolean
+        data_file:
+          items:
+            type: string
+          type: array
        device_status:
          type: string
        driver_init_ok:
@@ -207,13 +216,14 @@ hplc.agilent:
        success:
          type: boolean
      required:
-      - could_run
-      - device_status
-      - driver_init_ok
-      - finish_status
-      - is_running
      - status_text
+      - device_status
+      - could_run
+      - driver_init_ok
+      - is_running
      - success
+      - finish_status
+      - data_file
      type: object
  version: 1.0.0
 hplc.agilent-zhida:
@@ -226,25 +236,26 @@ hplc.agilent-zhida:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -304,18 +315,21 @@ hplc.agilent-zhida:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -327,35 +341,35 @@ hplc.agilent-zhida:
        feedback: {}
        goal:
          string: string
-          text: text
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -393,7 +407,7 @@ hplc.agilent-zhida:
        status:
          type: object
      required:
-      - methods
      - status
+      - methods
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/characterization_optic.yaml
+++ b/unilabos/registry/devices/characterization_optic.yaml
@@ -120,41 +120,42 @@ raman.home_made:
          type: object
        type: UniLabJsonCommand
      raman_cmd:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
--- a/unilabos/registry/devices/chinwe.yaml
+++ b/unilabos/registry/devices/chinwe.yaml
@@ -19,8 +19,7 @@ separator.chinwe:
              properties: {}
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: connect参数
@@ -66,145 +65,135 @@ separator.chinwe:
              required:
              - command_dict
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: execute_command_from_outer参数
          type: object
        type: UniLabJsonCommand
      motor_rotate_quarter:
-        feedback: {}
        goal:
          direction: 顺时针
          motor_id: 4
          speed: 60
-        goal_default:
-          direction: 顺时针
-          motor_id: null
-          speed: 60
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 电机旋转 1/4 圈
          properties:
-            feedback: {}
            goal:
              properties:
                direction:
                  default: 顺时针
                  description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
                  type: string
                motor_id:
+                  default: '4'
                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  type: integer
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
                speed:
                  default: 60
                  description: 速度 (RPM)
                  type: integer
              required:
              - motor_id
+              - speed
              type: object
-            result: {}
-          required:
-          - goal
-          title: motor_rotate_quarter参数
-          type: object
        type: UniLabJsonCommand
      motor_run_continuous:
-        feedback: {}
        goal:
          direction: 顺时针
          motor_id: 4
          speed: 60
-        goal_default:
-          direction: 顺时针
-          motor_id: null
-          speed: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 电机一直旋转 (速度模式)
          properties:
-            feedback: {}
            goal:
              properties:
                direction:
                  default: 顺时针
                  description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
                  type: string
                motor_id:
+                  default: '4'
                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  type: integer
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
                speed:
+                  default: 60
                  description: 速度 (RPM)
                  type: integer
              required:
              - motor_id
              - speed
              type: object
-            result: {}
-          required:
-          - goal
-          title: motor_run_continuous参数
-          type: object
        type: UniLabJsonCommand
      motor_stop:
-        feedback: {}
        goal:
          motor_id: 4
-        goal_default:
-          motor_id: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 停止指定步进电机
          properties:
-            feedback: {}
            goal:
              properties:
                motor_id:
+                  default: '4'
                  description: 选择电机
+                  enum:
+                  - '4'
+                  - '5'
                  title: '注: 4=搅拌, 5=旋钮'
-                  type: integer
+                  type: string
              required:
              - motor_id
              type: object
-            result: {}
-          required:
-          - goal
-          title: motor_stop参数
-          type: object
        type: UniLabJsonCommand
      pump_aspirate:
-        feedback: {}
        goal:
          pump_id: 1
          valve_port: 1
          volume: 1000
-        goal_default:
-          pump_id: null
-          valve_port: null
-          volume: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 注射泵吸液
          properties:
-            feedback: {}
            goal:
              properties:
                pump_id:
+                  default: '1'
                  description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
                valve_port:
+                  default: '1'
                  description: 阀门端口
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                volume:
+                  default: 1000
                  description: 吸液步数
                  type: integer
              required:
@@ -212,38 +201,41 @@ separator.chinwe:
              - volume
              - valve_port
              type: object
-            result: {}
-          required:
-          - goal
-          title: pump_aspirate参数
-          type: object
        type: UniLabJsonCommand
      pump_dispense:
-        feedback: {}
        goal:
          pump_id: 1
          valve_port: 1
          volume: 1000
-        goal_default:
-          pump_id: null
-          valve_port: null
-          volume: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 注射泵排液
          properties:
-            feedback: {}
            goal:
              properties:
                pump_id:
+                  default: '1'
                  description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
                valve_port:
+                  default: '1'
                  description: 阀门端口
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                volume:
+                  default: 1000
                  description: 排液步数
                  type: integer
              required:
@@ -251,152 +243,121 @@ separator.chinwe:
              - volume
              - valve_port
              type: object
-            result: {}
-          required:
-          - goal
-          title: pump_dispense参数
-          type: object
        type: UniLabJsonCommand
      pump_initialize:
-        feedback: {}
        goal:
          drain_port: 0
          output_port: 0
          pump_id: 1
          speed: 10
-        goal_default:
-          drain_port: 0
-          output_port: 0
-          pump_id: null
-          speed: 10
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 初始化指定注射泵
          properties:
-            feedback: {}
            goal:
              properties:
                drain_port:
                  default: 0
                  description: 排液口索引
-                  type: string
+                  type: integer
                output_port:
                  default: 0
                  description: 输出口索引
-                  type: string
-                pump_id:
-                  description: 选择泵
-                  title: '注: 1号泵, 2号泵, 3号泵'
                  type: integer
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: string
                speed:
                  default: 10
                  description: 运动速度
-                  type: string
+                  type: integer
              required:
              - pump_id
              type: object
-            result: {}
-          required:
-          - goal
-          title: pump_initialize参数
-          type: object
        type: UniLabJsonCommand
      pump_valve:
-        feedback: {}
        goal:
          port: 1
          pump_id: 1
-        goal_default:
-          port: null
-          pump_id: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 切换指定泵的阀门端口
          properties:
-            feedback: {}
            goal:
              properties:
                port:
+                  default: '1'
                  description: 阀门端口号 (1-8)
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                pump_id:
+                  default: '1'
                  description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
              required:
              - pump_id
              - port
              type: object
-            result: {}
-          required:
-          - goal
-          title: pump_valve参数
-          type: object
        type: UniLabJsonCommand
      wait_sensor_level:
-        feedback: {}
        goal:
          target_state: 有液
          timeout: 30
-        goal_default:
-          target_state: 有液
-          timeout: 30
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 等待传感器液位条件
          properties:
-            feedback: {}
            goal:
              properties:
                target_state:
                  default: 有液
                  description: 目标液位状态
+                  enum:
+                  - 有液
+                  - 无液
                  type: string
                timeout:
                  default: 30
                  description: 超时时间 (秒)
                  type: integer
-              required: []
+              required:
+              - target_state
              type: object
-            result:
-              type: boolean
-          required:
-          - goal
-          title: wait_sensor_level参数
-          type: object
        type: UniLabJsonCommand
      wait_time:
-        feedback: {}
        goal:
          duration: 10
-        goal_default:
-          duration: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
        schema:
          description: 等待指定时间
          properties:
-            feedback: {}
            goal:
              properties:
                duration:
+                  default: 10
                  description: 等待时间 (秒)
                  type: integer
              required:
              - duration
              type: object
-            result:
-              type: boolean
-          required:
-          - goal
-          title: wait_time参数
-          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.separator.chinwe:ChinweDevice
    status_types:
@@ -445,8 +406,8 @@ separator.chinwe:
        sensor_rssi:
          type: integer
      required:
-      - is_connected
      - sensor_level
      - sensor_rssi
+      - is_connected
      type: object
  version: 2.1.0
--- a/unilabos/registry/devices/coin_cell_workstation.yaml
+++ b/unilabos/registry/devices/coin_cell_workstation.yaml
@@ -64,8 +64,7 @@ coincellassemblyworkstation_device:
              properties: {}
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: fun_wuliao_test参数
@@ -110,8 +109,7 @@ coincellassemblyworkstation_device:
              - elec_num
              - elec_use_num
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: func_allpack_cmd参数
@@ -222,8 +220,7 @@ coincellassemblyworkstation_device:
              - elec_num
              - elec_use_num
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: func_allpack_cmd_simp参数
@@ -312,8 +309,7 @@ coincellassemblyworkstation_device:
                  type: boolean
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: func_pack_device_init_auto_start_combined参数
@@ -355,8 +351,7 @@ coincellassemblyworkstation_device:
              properties: {}
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: func_pack_device_stop参数
@@ -381,8 +376,7 @@ coincellassemblyworkstation_device:
                  type: string
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: func_pack_get_msg_cmd参数
@@ -436,8 +430,7 @@ coincellassemblyworkstation_device:
              properties: {}
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: func_pack_send_finished_cmd参数
@@ -474,8 +467,7 @@ coincellassemblyworkstation_device:
              - assembly_type
              - assembly_pressure
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: func_pack_send_msg_cmd参数
@@ -619,8 +611,7 @@ coincellassemblyworkstation_device:
              - elec_num
              - elec_use_num
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: func_sendbottle_allpack_multi参数
@@ -672,6 +663,31 @@ coincellassemblyworkstation_device:
          title: modify_deck_name参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-qiming_coin_cell_code:
        feedback: {}
        goal: {}
@@ -719,8 +735,7 @@ coincellassemblyworkstation_device:
              required:
              - fujipian_panshu
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: qiming_coin_cell_code参数
@@ -811,24 +826,25 @@ coincellassemblyworkstation_device:
        sys_status:
          type: string
      required:
+      - sys_status
+      - sys_mode
+      - request_rec_msg_status
+      - request_send_msg_status
      - data_assembly_coin_cell_num
-      - data_assembly_pressure
      - data_assembly_time
+      - data_open_circuit_voltage
      - data_axis_x_pos
      - data_axis_y_pos
      - data_axis_z_pos
-      - data_coin_cell_code
-      - data_coin_num
-      - data_electrolyte_code
-      - data_electrolyte_volume
-      - data_glove_box_o2_content
-      - data_glove_box_pressure
-      - data_glove_box_water_content
-      - data_open_circuit_voltage
      - data_pole_weight
-      - request_rec_msg_status
-      - request_send_msg_status
-      - sys_mode
-      - sys_status
+      - data_assembly_pressure
+      - data_electrolyte_volume
+      - data_coin_num
+      - data_coin_cell_code
+      - data_electrolyte_code
+      - data_glove_box_pressure
+      - data_glove_box_o2_content
+      - data_glove_box_water_content
      type: object
+  registry_type: device
  version: 1.0.0
--- a/unilabos/registry/devices/gas_handler.yaml
+++ b/unilabos/registry/devices/gas_handler.yaml
@@ -50,25 +50,26 @@ gas_source.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -81,25 +82,26 @@ gas_source.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -114,31 +116,32 @@ gas_source.mock:
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -229,25 +232,26 @@ vacuum_pump.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -260,25 +264,26 @@ vacuum_pump.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -293,31 +298,32 @@ vacuum_pump.mock:
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
--- a/unilabos/registry/devices/hotel.yaml
+++ b/unilabos/registry/devices/hotel.yaml
@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
    action_value_mappings: {}
    module: unilabos.devices.resource_container.container:HotelContainer
    status_types:
-      rotation: ''
+      rotation: String
    type: python
  config_info: []
  description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。
--- a/unilabos/registry/devices/laiyu_liquid_test.yaml
+++ b/unilabos/registry/devices/laiyu_liquid_test.yaml
@@ -22,8 +22,7 @@ xyz_stepper_controller:
              required:
              - degrees
              type: object
-            result:
-              type: integer
+            result: {}
          required:
          - goal
          title: degrees_to_steps参数
@@ -48,8 +47,7 @@ xyz_stepper_controller:
              required:
              - axis
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: emergency_stop参数
@@ -74,10 +72,7 @@ xyz_stepper_controller:
                  type: boolean
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: enable_all_axes参数
@@ -106,8 +101,7 @@ xyz_stepper_controller:
              required:
              - axis
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: enable_motor参数
@@ -128,10 +122,7 @@ xyz_stepper_controller:
              properties: {}
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: home_all_axes参数
@@ -156,8 +147,7 @@ xyz_stepper_controller:
              required:
              - axis
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: home_axis参数
@@ -198,8 +188,7 @@ xyz_stepper_controller:
              - axis
              - position
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: move_to_position参数
@@ -240,8 +229,7 @@ xyz_stepper_controller:
              - axis
              - degrees
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: move_to_position_degrees参数
@@ -282,8 +270,7 @@ xyz_stepper_controller:
              - axis
              - revolutions
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: move_to_position_revolutions参数
@@ -314,17 +301,14 @@ xyz_stepper_controller:
                  default: 5000
                  type: integer
                x:
-                  type: integer
+                  type: string
                y:
-                  type: integer
+                  type: string
                z:
-                  type: integer
+                  type: string
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: move_xyz参数
@@ -355,17 +339,14 @@ xyz_stepper_controller:
                  default: 5000
                  type: integer
                x_deg:
-                  type: number
+                  type: string
                y_deg:
-                  type: number
+                  type: string
                z_deg:
-                  type: number
+                  type: string
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: move_xyz_degrees参数
@@ -396,17 +377,14 @@ xyz_stepper_controller:
                  default: 5000
                  type: integer
                x_rev:
-                  type: number
+                  type: string
                y_rev:
-                  type: number
+                  type: string
                z_rev:
-                  type: number
+                  type: string
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: move_xyz_revolutions参数
@@ -431,8 +409,7 @@ xyz_stepper_controller:
              required:
              - revolutions
              type: object
-            result:
-              type: integer
+            result: {}
          required:
          - goal
          title: revolutions_to_steps参数
@@ -465,8 +442,7 @@ xyz_stepper_controller:
              - axis
              - speed
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: set_speed_mode参数
@@ -491,8 +467,7 @@ xyz_stepper_controller:
              required:
              - steps
              type: object
-            result:
-              type: number
+            result: {}
          required:
          - goal
          title: steps_to_degrees参数
@@ -517,8 +492,7 @@ xyz_stepper_controller:
              required:
              - steps
              type: object
-            result:
-              type: number
+            result: {}
          required:
          - goal
          title: steps_to_revolutions参数
@@ -539,10 +513,7 @@ xyz_stepper_controller:
              properties: {}
              required: []
              type: object
-            result:
-              additionalProperties:
-                type: boolean
-              type: object
+            result: {}
          required:
          - goal
          title: stop_all_axes参数
@@ -571,8 +542,7 @@ xyz_stepper_controller:
              required:
              - axis
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: wait_for_completion参数
@@ -580,7 +550,8 @@ xyz_stepper_controller:
        type: UniLabJsonCommand
    module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
    status_types:
-      all_positions: Dict[MotorAxis, MotorPosition]
+      all_positions: dict
+      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
    type: python
  config_info: []
  description: 新XYZ控制器
@@ -603,10 +574,12 @@ xyz_stepper_controller:
    data:
      properties:
        all_positions:
-          additionalProperties:
-            type: object
+          type: object
+        motor_status:
          type: object
      required:
+      - motor_status
      - all_positions
      type: object
+  registry_type: device
  version: 1.0.0
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
--- a/unilabos/registry/devices/neware_battery_test_system.yaml
+++ b/unilabos/registry/devices/neware_battery_test_system.yaml
@@ -5,6 +5,31 @@ neware_battery_test_system:
  - battery_test
  class:
    action_value_mappings:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-print_status_summary:
        feedback: {}
        goal: {}
@@ -41,8 +66,7 @@ neware_battery_test_system:
              properties: {}
              required: []
              type: object
-            result:
-              type: boolean
+            result: {}
          required:
          - goal
          title: test_connection参数
@@ -53,8 +77,9 @@ neware_battery_test_system:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
        schema:
          description: 调试方法：显示所有资源的实际名称
          properties:
@@ -64,10 +89,19 @@ neware_battery_test_system:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 资源调试信息
+                  type: string
+                success:
+                  description: 是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
              type: object
          required:
          - goal
-          title: debug_resource_names参数
          type: object
        type: UniLabJsonCommand
      export_status_json:
@@ -77,8 +111,9 @@ neware_battery_test_system:
        goal_default:
          filepath: bts_status.json
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
        schema:
          description: 导出当前状态数据到JSON文件
          properties:
@@ -92,10 +127,19 @@ neware_battery_test_system:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 导出操作结果信息
+                  type: string
+                success:
+                  description: 导出是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
              type: object
          required:
          - goal
-          title: export_status_json参数
          type: object
        type: UniLabJsonCommand
      get_device_summary:
@@ -137,8 +181,10 @@ neware_battery_test_system:
        goal_default:
          plate_num: null
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          plate_data: plate_data
+          return_info: return_info
+          success: success
        schema:
          description: 获取指定盘或所有盘的状态信息
          properties:
@@ -147,14 +193,29 @@ neware_battery_test_system:
              properties:
                plate_num:
                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  maximum: 2
+                  minimum: 1
                  type: integer
              required: []
              type: object
            result:
+              properties:
+                plate_data:
+                  description: 盘状态数据（单盘或所有盘）
+                  type: object
+                return_info:
+                  description: 操作结果信息
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              - plate_data
              type: object
          required:
          - goal
-          title: get_plate_status参数
          type: object
        type: UniLabJsonCommand
      print_status_summary_action:
@@ -162,8 +223,9 @@ neware_battery_test_system:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
        schema:
          description: 打印通道状态摘要信息到控制台
          properties:
@@ -173,21 +235,28 @@ neware_battery_test_system:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 打印操作结果信息
+                  type: string
+                success:
+                  description: 打印是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
              type: object
          required:
          - goal
-          title: print_status_summary_action参数
          type: object
        type: UniLabJsonCommand
      query_plate_action:
        feedback: {}
        goal:
-          plate_id: plate_id
-          string: string
+          string: plate_id
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
@@ -195,23 +264,27 @@ neware_battery_test_system:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -225,11 +298,13 @@ neware_battery_test_system:
          csv_path: string
          output_dir: string
        goal_default:
-          csv_path: null
+          csv_path: ''
          output_dir: .
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          submitted_count: submitted_count
+          success: success
        schema:
          description: 从CSV文件批量提交Neware测试任务
          properties:
@@ -240,17 +315,31 @@ neware_battery_test_system:
                  description: 输入CSV文件的绝对路径
                  type: string
                output_dir:
-                  default: .
                  description: 输出目录（用于存储XML和备份文件），默认当前目录
                  type: string
              required:
              - csv_path
              type: object
            result:
+              properties:
+                return_info:
+                  description: 执行结果详细信息
+                  type: string
+                submitted_count:
+                  description: 成功提交的任务数量
+                  type: integer
+                success:
+                  description: 是否成功
+                  type: boolean
+                total_count:
+                  description: CSV文件中的总行数
+                  type: integer
+              required:
+              - return_info
+              - success
              type: object
          required:
          - goal
-          title: submit_from_csv参数
          type: object
        type: UniLabJsonCommand
      test_connection_action:
@@ -258,8 +347,9 @@ neware_battery_test_system:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
        schema:
          description: 测试与电池测试系统的TCP连接
          properties:
@@ -269,10 +359,19 @@ neware_battery_test_system:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 连接测试结果信息
+                  type: string
+                success:
+                  description: 连接测试是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
              type: object
          required:
          - goal
-          title: test_connection_action参数
          type: object
        type: UniLabJsonCommand
      upload_backup_to_oss:
@@ -293,8 +392,12 @@ neware_battery_test_system:
            handler_key: uploaded_files
            io_type: sink
            label: Uploaded Files (with standard flow info)
-        placeholder_keys: {}
-        result: {}
+        result:
+          failed_files: failed_files
+          return_info: return_info
+          success: success
+          total_count: total_count
+          uploaded_count: uploaded_count
        schema:
          description: 上传备份文件到阿里云OSS
          properties:
@@ -314,17 +417,65 @@ neware_battery_test_system:
              required: []
              type: object
            result:
+              properties:
+                failed_files:
+                  description: 上传失败的文件名列表
+                  items:
+                    type: string
+                  type: array
+                return_info:
+                  description: 上传操作结果信息
+                  type: string
+                success:
+                  description: 上传是否成功
+                  type: boolean
+                total_count:
+                  description: 总文件数
+                  type: integer
+                uploaded_count:
+                  description: 成功上传的文件数
+                  type: integer
+                uploaded_files:
+                  description: 成功上传的文件详情列表
+                  items:
+                    properties:
+                      Battery_Code:
+                        description: 电池编码
+                        type: string
+                      Electrolyte_Code:
+                        description: 电解液编码
+                        type: string
+                      filename:
+                        description: 文件名
+                        type: string
+                      url:
+                        description: OSS下载链接
+                        type: string
+                    required:
+                    - filename
+                    - url
+                    - Battery_Code
+                    - Electrolyte_Code
+                    type: object
+                  type: array
+              required:
+              - return_info
+              - success
+              - uploaded_count
+              - total_count
+              - failed_files
+              - uploaded_files
              type: object
          required:
          - goal
-          title: upload_backup_to_oss参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
    status_types:
-      channel_status: Dict[int, Dict]
-      connection_info: Dict[str, str]
+      channel_status: dict
+      connection_info: dict
      device_summary: dict
+      plate_status: dict
      status: str
      total_channels: int
    type: python
@@ -366,24 +517,23 @@ neware_battery_test_system:
    data:
      properties:
        channel_status:
-          additionalProperties:
-            type: object
          type: object
        connection_info:
-          additionalProperties:
-            type: string
          type: object
        device_summary:
          type: object
+        plate_status:
+          type: object
        status:
          type: string
        total_channels:
          type: integer
      required:
+      - status
      - channel_status
      - connection_info
-      - device_summary
-      - status
      - total_channels
+      - plate_status
+      - device_summary
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/opcua_example.yaml
+++ b/unilabos/registry/devices/opcua_example.yaml
@@ -142,7 +142,8 @@ opcua_example:
          type: object
        type: UniLabJsonCommand
    module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types: {}
+    status_types:
+      node_value: String
    type: python
  config_info: []
  description: null
@@ -166,7 +167,10 @@ opcua_example:
      - url
      type: object
    data:
-      properties: {}
-      required: []
+      properties:
+        node_value:
+          type: string
+      required:
+      - node_value
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/opsky_ATR30007.yaml
+++ b/unilabos/registry/devices/opsky_ATR30007.yaml
@@ -80,8 +80,7 @@ opsky_ATR30007:
                  type: string
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: run_once参数
--- a/unilabos/registry/devices/organic_miscellaneous.yaml
+++ b/unilabos/registry/devices/organic_miscellaneous.yaml
@@ -100,41 +100,42 @@ rotavap.one:
          type: object
        type: UniLabJsonCommand
      set_timer:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -249,13 +250,9 @@ separator.homemade:
        feedback:
          status: status
        goal:
-          event: event
          settling_time: settling_time
          stir_speed: stir_speed
-          stir_time: stir_time
-          time: time
-          time_spec: time_spec
-          vessel: vessel
+          stir_time: stir_time,
        goal_default:
          event: ''
          settling_time: ''
@@ -284,42 +281,34 @@ separator.homemade:
            sample_id: ''
            type: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          message: message
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: Stir_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                event:
                  type: string
                settling_time:
                  type: string
                stir_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                stir_time:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                time:
                  type: string
                time_spec:
                  type: string
                vessel:
-                  additionalProperties: false
                  properties:
                    category:
                      type: string
@@ -338,26 +327,16 @@ separator.homemade:
                    parent:
                      type: string
                    pose:
-                      additionalProperties: false
                      properties:
                        orientation:
-                          additionalProperties: false
                          properties:
                            w:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -367,19 +346,12 @@ separator.homemade:
                          title: orientation
                          type: object
                        position:
-                          additionalProperties: false
                          properties:
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -409,10 +381,17 @@ separator.homemade:
                  - data
                  title: vessel
                  type: object
+              required:
+              - vessel
+              - time
+              - event
+              - time_spec
+              - stir_time
+              - stir_speed
+              - settling_time
              title: Stir_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                message:
                  type: string
@@ -420,6 +399,10 @@ separator.homemade:
                  type: string
                success:
                  type: boolean
+              required:
+              - success
+              - message
+              - return_info
              title: Stir_Result
              type: object
          required:
@@ -435,34 +418,36 @@ separator.homemade:
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
--- a/unilabos/registry/devices/post_process_station.yaml
+++ b/unilabos/registry/devices/post_process_station.yaml
@@ -28,6 +28,31 @@ post_process_station:
          title: load_config参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-print_cache_stats:
        feedback: {}
        goal: {}
@@ -79,41 +104,42 @@ post_process_station:
          type: object
        type: UniLabJsonCommand
      disconnect:
-        feedback:
-          status: status
+        feedback: {}
        goal:
-          command: command
+          command: {}
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -123,41 +149,42 @@ post_process_station:
        type: SendCmd
      read_node:
        feedback:
-          status: status
+          result: result
        goal:
-          command: command
-          node_name: node_name
+          command: node_name
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -256,19 +283,17 @@ post_process_station:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: PostProcessTriggerClean_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                acetone_inner_wall_cleaning_count:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                acetone_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                acetone_inner_wall_cleaning_waste_time:
                  maximum: 2147483647
@@ -279,8 +304,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                acetone_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                acetone_outer_wall_cleaning_wait_time:
                  maximum: 2147483647
@@ -299,8 +322,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                acetone_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                acetone_stirrer_cleaning_wait_time:
                  maximum: 2147483647
@@ -327,8 +348,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                nmp_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                nmp_inner_wall_cleaning_waste_time:
                  maximum: 2147483647
@@ -339,8 +358,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                nmp_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                nmp_outer_wall_cleaning_wait_time:
                  maximum: 2147483647
@@ -359,8 +376,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                nmp_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                nmp_stirrer_cleaning_wait_time:
                  maximum: 2147483647
@@ -379,8 +394,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                water_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                water_inner_wall_cleaning_waste_time:
                  maximum: 2147483647
@@ -391,8 +404,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                water_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                water_outer_wall_cleaning_wait_time:
                  maximum: 2147483647
@@ -411,8 +422,6 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                water_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                water_stirrer_cleaning_wait_time:
                  maximum: 2147483647
@@ -422,13 +431,55 @@ post_process_station:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
+              required:
+              - nmp_outer_wall_cleaning_injection
+              - nmp_outer_wall_cleaning_count
+              - nmp_outer_wall_cleaning_wait_time
+              - nmp_outer_wall_cleaning_waste_time
+              - nmp_inner_wall_cleaning_injection
+              - nmp_inner_wall_cleaning_count
+              - nmp_pump_cleaning_suction_count
+              - nmp_inner_wall_cleaning_waste_time
+              - nmp_stirrer_cleaning_injection
+              - nmp_stirrer_cleaning_count
+              - nmp_stirrer_cleaning_wait_time
+              - nmp_stirrer_cleaning_waste_time
+              - water_outer_wall_cleaning_injection
+              - water_outer_wall_cleaning_count
+              - water_outer_wall_cleaning_wait_time
+              - water_outer_wall_cleaning_waste_time
+              - water_inner_wall_cleaning_injection
+              - water_inner_wall_cleaning_count
+              - water_pump_cleaning_suction_count
+              - water_inner_wall_cleaning_waste_time
+              - water_stirrer_cleaning_injection
+              - water_stirrer_cleaning_count
+              - water_stirrer_cleaning_wait_time
+              - water_stirrer_cleaning_waste_time
+              - acetone_outer_wall_cleaning_injection
+              - acetone_outer_wall_cleaning_count
+              - acetone_outer_wall_cleaning_wait_time
+              - acetone_outer_wall_cleaning_waste_time
+              - acetone_inner_wall_cleaning_injection
+              - acetone_inner_wall_cleaning_count
+              - acetone_pump_cleaning_suction_count
+              - acetone_inner_wall_cleaning_waste_time
+              - acetone_stirrer_cleaning_injection
+              - acetone_stirrer_cleaning_count
+              - acetone_stirrer_cleaning_wait_time
+              - acetone_stirrer_cleaning_waste_time
+              - pipe_blowing_time
+              - injection_pump_forward_empty_suction_count
+              - injection_pump_reverse_empty_suction_count
+              - filtration_liquid_selection
              title: PostProcessTriggerClean_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: PostProcessTriggerClean_Result
              type: object
          required:
@@ -451,11 +502,11 @@ post_process_station:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: PostProcessGrab_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                raw_tank_number:
                  maximum: 2147483647
@@ -465,13 +516,17 @@ post_process_station:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
+              required:
+              - reaction_tank_number
+              - raw_tank_number
              title: PostProcessGrab_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: PostProcessGrab_Result
              type: object
          required:
@@ -518,15 +573,13 @@ post_process_station:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: PostProcessTriggerPostPro_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                atomization_fast_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                atomization_pressure_kpa:
                  maximum: 2147483647
@@ -541,12 +594,8 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                first_wash_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                initial_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                injection_pump_push_speed:
                  maximum: 2147483647
@@ -573,20 +622,32 @@ post_process_station:
                  minimum: -2147483648
                  type: integer
                second_wash_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                wash_slow_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
+              required:
+              - atomization_fast_speed
+              - wash_slow_speed
+              - injection_pump_suction_speed
+              - injection_pump_push_speed
+              - raw_liquid_suction_count
+              - first_wash_water_amount
+              - second_wash_water_amount
+              - first_powder_mixing_tim
+              - second_powder_mixing_time
+              - first_powder_wash_count
+              - second_powder_wash_count
+              - initial_water_amount
+              - pre_filtration_mixing_time
+              - atomization_pressure_kpa
              title: PostProcessTriggerPostPro_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: PostProcessTriggerPostPro_Result
              type: object
          required:
@@ -608,26 +669,30 @@ post_process_station:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -637,7 +702,8 @@ post_process_station:
        type: SendCmd
    module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
    status_types:
-      cache_stats: Dict[str, Any]
+      cache_stats: dict
+      node_value: String
    type: python
  config_info: []
  description: 后处理站
@@ -652,9 +718,7 @@ post_process_station:
        config_path:
          type: string
        deck:
-          anyOf:
-          - type: object
-          - type: object
+          type: string
        password:
          type: string
        subscription_interval:
@@ -674,7 +738,10 @@ post_process_station:
      properties:
        cache_stats:
          type: object
+        node_value:
+          type: string
      required:
+      - node_value
      - cache_stats
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/pump_and_valve.yaml
+++ b/unilabos/registry/devices/pump_and_valve.yaml
@@ -136,36 +136,36 @@ solenoid_valve:
      set_valve_position:
        feedback: {}
        goal:
-          position: position
-          string: string
+          string: position
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -278,25 +278,26 @@ solenoid_valve.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -309,25 +310,26 @@ solenoid_valve.mock:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -420,27 +422,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
          title: initialize参数
          type: object
        type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
      auto-pull_plunger:
        feedback: {}
        goal: {}
@@ -714,10 +695,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
            goal:
              properties:
                position:
-                  anyOf:
-                  - type: integer
-                  - type: string
-                  - type: number
+                  type: string
              required:
              - position
              type: object
@@ -742,9 +720,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
            goal:
              properties:
                velocity:
-                  anyOf:
-                  - type: integer
-                  - type: string
+                  type: string
              required:
              - velocity
              type: object
@@ -804,13 +780,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
    status_types:
      max_velocity: float
      mode: int
-      plunger_position: ''
+      plunger_position: String
      position: float
      status: str
      valve_position: str
-      velocity_end: ''
-      velocity_grade: ''
-      velocity_init: ''
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
    type: python
  config_info: []
  description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -909,15 +885,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
        velocity_init:
          type: string
      required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
      - status
-      - valve_position
-      - velocity_end
+      - mode
+      - max_velocity
      - velocity_grade
      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
      type: object
  version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -967,27 +943,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
          title: initialize参数
          type: object
        type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
      auto-pull_plunger:
        feedback: {}
        goal: {}
@@ -1261,10 +1216,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
            goal:
              properties:
                position:
-                  anyOf:
-                  - type: integer
-                  - type: string
-                  - type: number
+                  type: string
              required:
              - position
              type: object
@@ -1289,9 +1241,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
            goal:
              properties:
                velocity:
-                  anyOf:
-                  - type: integer
-                  - type: string
+                  type: string
              required:
              - velocity
              type: object
@@ -1351,13 +1301,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
    status_types:
      max_velocity: float
      mode: int
-      plunger_position: ''
+      plunger_position: String
      position: float
      status: str
      valve_position: str
-      velocity_end: ''
-      velocity_grade: ''
-      velocity_init: ''
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
    type: python
  config_info: []
  description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1472,14 +1422,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
        velocity_init:
          type: string
      required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
      - status
-      - valve_position
-      - velocity_end
+      - mode
+      - max_velocity
      - velocity_grade
      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
@@ -13,13 +13,12 @@ reaction_station.bioyond:
          start_point: start_point
          start_step_key: start_step_key
        goal_default:
-          duration: null
+          duration: 0
          end_point: 0
          end_step_key: ''
          start_point: 0
          start_step_key: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -31,19 +30,23 @@ reaction_station.bioyond:
                  description: 时间(秒)
                  type: integer
                end_point:
-                  default: 0
+                  default: Start
                  description: 终点计时点 (Start=开始前, End=结束后)
-                  type: integer
+                  enum:
+                  - Start
+                  - End
+                  type: string
                end_step_key:
-                  default: ''
                  description: 终点步骤Key (可选, 默认为空则自动选择)
                  type: string
                start_point:
-                  default: 0
+                  default: Start
                  description: 起点计时点 (Start=开始前, End=结束后)
-                  type: integer
+                  enum:
+                  - Start
+                  - End
+                  type: string
                start_step_key:
-                  default: ''
                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                  type: string
              required:
@@ -95,8 +98,7 @@ reaction_station.bioyond:
              required:
              - json_str
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: create_order参数
@@ -123,8 +125,7 @@ reaction_station.bioyond:
              required:
              - workflow_ids
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: hard_delete_merged_workflows参数
@@ -149,8 +150,7 @@ reaction_station.bioyond:
              required:
              - json_str
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: merge_workflow_with_parameters参数
@@ -175,8 +175,7 @@ reaction_station.bioyond:
              required:
              - report_request
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: process_temperature_cutoff_report参数
@@ -201,12 +200,7 @@ reaction_station.bioyond:
              required:
              - web_workflow_json
              type: object
-            result:
-              items:
-                additionalProperties:
-                  type: string
-                type: object
-              type: array
+            result: {}
          required:
          - goal
          title: process_web_workflows参数
@@ -235,8 +229,7 @@ reaction_station.bioyond:
              - reactor_id
              - temperature
              type: object
-            result:
-              type: string
+            result: {}
          required:
          - goal
          title: set_reactor_temperature参数
@@ -261,8 +254,7 @@ reaction_station.bioyond:
              required:
              - preintake_id
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: skip_titration_steps参数
@@ -283,8 +275,7 @@ reaction_station.bioyond:
              properties: {}
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: sync_workflow_sequence_from_bioyond参数
@@ -316,8 +307,7 @@ reaction_station.bioyond:
                  type: integer
              required: []
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: wait_for_multiple_orders_and_get_reports参数
@@ -369,8 +359,7 @@ reaction_station.bioyond:
              required:
              - workflow_id
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: workflow_step_query参数
@@ -381,8 +370,9 @@ reaction_station.bioyond:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          code: code
+          message: message
        schema:
          description: 清空服务端所有非核心工作流 (保留核心流程)
          properties:
@@ -392,6 +382,13 @@ reaction_station.bioyond:
              required: []
              type: object
            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功)
+                  type: integer
+                message:
+                  description: 结果描述
+                  type: string
              type: object
          required:
          - goal
@@ -408,14 +405,13 @@ reaction_station.bioyond:
          torque_variation: torque_variation
          volume: volume
        goal_default:
-          assign_material_name: null
-          temperature: 25.0
-          time: '90'
-          titration_type: '1'
-          torque_variation: 2
-          volume: null
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 滴回去
@@ -427,27 +423,33 @@ reaction_station.bioyond:
                  description: 物料名称（不能为空）
                  type: string
                temperature:
-                  default: 25.0
                  description: 温度设定(°C)
-                  type: number
+                  type: string
                time:
-                  default: '90'
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  default: '1'
                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: 2
                  description: 是否观察 (NO=否, YES=是)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                volume:
                  description: 分液公式(mL)
                  type: string
              required:
-              - assign_material_name
              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
              type: object
            result: {}
          required:
@@ -460,7 +462,7 @@ reaction_station.bioyond:
        goal:
          batch_reports_result: batch_reports_result
        goal_default:
-          batch_reports_result: null
+          batch_reports_result: ''
        handles:
          input:
          - data_key: batch_reports_result
@@ -476,8 +478,8 @@ reaction_station.bioyond:
            handler_key: ACTUALS_EXTRACTED
            io_type: sink
            label: Extracted Actuals
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
          properties:
@@ -491,6 +493,13 @@ reaction_station.bioyond:
              - batch_reports_result
              type: object
            result:
+              properties:
+                return_info:
+                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
+                    actualVolume
+                  type: string
+              required:
+              - return_info
              title: extract_actuals_from_batch_reports结果
              type: object
          required:
@@ -508,14 +517,13 @@ reaction_station.bioyond:
          torque_variation: torque_variation
          volume: volume
        goal_default:
-          assign_material_name: BAPP
-          temperature: 25.0
-          time: '0'
-          titration_type: '1'
-          torque_variation: 1
-          volume: '350'
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 液体进料烧杯
@@ -524,30 +532,36 @@ reaction_station.bioyond:
            goal:
              properties:
                assign_material_name:
-                  default: BAPP
                  description: 物料名称
                  type: string
                temperature:
-                  default: 25.0
                  description: 温度设定(°C)
-                  type: number
+                  type: string
                time:
-                  default: '0'
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  default: '1'
                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: 1
                  description: 是否观察 (NO=否, YES=是)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                volume:
-                  default: '350'
                  description: 分液公式(mL)
                  type: string
-              required: []
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
              type: object
            result: {}
          required:
@@ -566,13 +580,13 @@ reaction_station.bioyond:
          torque_variation: torque_variation
          volume: volume
        goal_default:
-          assign_material_name: null
-          solvents: null
-          temperature: 25.0
+          assign_material_name: ''
+          solvents: ''
+          temperature: '25.00'
          time: '360'
          titration_type: '1'
-          torque_variation: 2
-          volume: null
+          torque_variation: '2'
+          volume: ''
        handles:
          input:
          - data_key: solvents
@@ -581,7 +595,6 @@ reaction_station.bioyond:
            handler_key: solvents
            io_type: source
            label: Solvents Data From Calculation Node
-        placeholder_keys: {}
        result: {}
        schema:
          description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -596,21 +609,27 @@ reaction_station.bioyond:
                  description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                  type: string
                temperature:
-                  default: 25.0
+                  default: '25.00'
                  description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                time:
                  default: '360'
                  description: 观察时间(分钟),默认360
                  type: string
                titration_type:
-                  default: '1'
+                  default: 'NO'
                  description: 是否滴定(NO=否, YES=是),默认NO
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: 2
+                  default: 'YES'
                  description: 是否观察 (NO=否, YES=是),默认YES
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                volume:
                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                  type: string
@@ -636,15 +655,15 @@ reaction_station.bioyond:
          volume_formula: volume_formula
          x_value: x_value
        goal_default:
-          assign_material_name: null
-          extracted_actuals: null
-          feeding_order_data: null
-          temperature: 25.0
+          assign_material_name: ''
+          extracted_actuals: ''
+          feeding_order_data: ''
+          temperature: '25.00'
          time: '90'
          titration_type: '2'
-          torque_variation: 2
-          volume_formula: null
-          x_value: null
+          torque_variation: '2'
+          volume_formula: ''
+          x_value: ''
        handles:
          input:
          - data_key: extracted_actuals
@@ -659,7 +678,6 @@ reaction_station.bioyond:
            handler_key: feeding_order
            io_type: source
            label: Feeding Order Data From Calculation Node
-        placeholder_keys: {}
        result: {}
        schema:
          description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -678,21 +696,27 @@ reaction_station.bioyond:
                    {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                  type: string
                temperature:
-                  default: 25.0
+                  default: '25.00'
                  description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                time:
                  default: '90'
                  description: 观察时间(分钟),默认90
                  type: string
                titration_type:
-                  default: '2'
+                  default: 'YES'
                  description: 是否滴定(NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: 2
+                  default: 'YES'
                  description: 是否观察 (NO=否, YES=是),默认YES
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                volume_formula:
                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                  type: string
@@ -718,14 +742,13 @@ reaction_station.bioyond:
          torque_variation: torque_variation
          volume_formula: volume_formula
        goal_default:
-          assign_material_name: null
-          temperature: 25.0
-          time: '0'
-          titration_type: '1'
-          torque_variation: 1
-          volume_formula: null
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume_formula: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 液体进料小瓶(非滴定)
@@ -737,27 +760,33 @@ reaction_station.bioyond:
                  description: 物料名称
                  type: string
                temperature:
-                  default: 25.0
                  description: 温度设定(°C)
-                  type: number
+                  type: string
                time:
-                  default: '0'
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  default: '1'
                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: 1
                  description: 是否观察 (NO=否, YES=是)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
                volume_formula:
                  description: 分液公式(mL)
                  type: string
              required:
              - volume_formula
              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
              type: object
            result: {}
          required:
@@ -771,10 +800,9 @@ reaction_station.bioyond:
          task_name: task_name
          workflow_name: workflow_name
        goal_default:
-          task_name: null
-          workflow_name: null
+          task_name: ''
+          workflow_name: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 处理并执行工作流
@@ -792,8 +820,7 @@ reaction_station.bioyond:
              - workflow_name
              - task_name
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: process_and_execute_workflow参数
@@ -806,11 +833,10 @@ reaction_station.bioyond:
          cutoff: cutoff
          temperature: temperature
        goal_default:
-          assign_material_name: null
-          cutoff: '900000'
-          temperature: -10.0
+          assign_material_name: ''
+          cutoff: ''
+          temperature: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -822,14 +848,14 @@ reaction_station.bioyond:
                  description: 物料名称
                  type: string
                cutoff:
-                  default: '900000'
                  description: 粘度上限
                  type: string
                temperature:
-                  default: -10.0
                  description: 温度设定(°C)
-                  type: number
+                  type: string
              required:
+              - cutoff
+              - temperature
              - assign_material_name
              type: object
            result: {}
@@ -843,7 +869,6 @@ reaction_station.bioyond:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -853,7 +878,15 @@ reaction_station.bioyond:
              properties: {}
              required: []
              type: object
-            result: {}
+            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功,0表示失败)
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
          required:
          - goal
          title: reactor_taken_out参数
@@ -864,8 +897,8 @@ reaction_station.bioyond:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
        schema:
          description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
          properties:
@@ -875,6 +908,12 @@ reaction_station.bioyond:
              required: []
              type: object
            result:
+              properties:
+                return_info:
+                  description: 调度器启动结果，成功返回1，失败返回0
+                  type: integer
+              required:
+              - return_info
              title: scheduler_start结果
              type: object
          required:
@@ -891,13 +930,12 @@ reaction_station.bioyond:
          time: time
          torque_variation: torque_variation
        goal_default:
-          assign_material_name: null
-          material_id: null
-          temperature: 25.0
-          time: '0'
-          torque_variation: 1
+          assign_material_name: ''
+          material_id: ''
+          temperature: ''
+          time: ''
+          torque_variation: ''
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -910,21 +948,29 @@ reaction_station.bioyond:
                  type: string
                material_id:
                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
+                  enum:
+                  - Salt
+                  - Flour
+                  - BTDA
                  type: string
                temperature:
-                  default: 25.0
                  description: 温度设定(°C)
-                  type: number
+                  type: string
                time:
-                  default: '0'
                  description: 观察时间(分钟)
                  type: string
                torque_variation:
-                  default: 1
                  description: 是否观察 (NO=否, YES=是)
-                  type: integer
+                  enum:
+                  - 'NO'
+                  - 'YES'
+                  type: string
              required:
+              - assign_material_name
              - material_id
+              - time
+              - torque_variation
+              - temperature
              type: object
            result: {}
          required:
--- a/unilabos/registry/devices/robot_agv.yaml
+++ b/unilabos/registry/devices/robot_agv.yaml
@@ -37,41 +37,42 @@ agv.SEER:
          type: object
        type: UniLabJsonCommand
      send_nav_task:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
--- a/unilabos/registry/devices/robot_arm.yaml
+++ b/unilabos/registry/devices/robot_arm.yaml
@@ -122,6 +122,31 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
          title: moveit_task参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-resource_manager:
        feedback: {}
        goal: {}
@@ -173,41 +198,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
          type: object
        type: UniLabJsonCommand
      pick_and_place:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -216,41 +241,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
          type: object
        type: SendCmd
      set_position:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -259,41 +284,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
          type: object
        type: SendCmd
      set_status:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -430,41 +455,42 @@ robotic_arm.UR:
          type: object
        type: UniLabJsonCommand
      move_pos_task:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -506,8 +532,8 @@ robotic_arm.UR:
          type: string
      required:
      - arm_pose
-      - arm_status
      - gripper_pose
+      - arm_status
      - gripper_status
      type: object
  version: 1.0.0
@@ -700,41 +726,41 @@ robotic_arm.elite:
          type: object
        type: UniLabJsonCommand
      modbus_task_cmd:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -744,8 +770,8 @@ robotic_arm.elite:
        type: SendCmd
    module: unilabos.devices.arm.elite_robot:EliteRobot
    status_types:
-      actual_joint_positions: ''
-      arm_pose: list[float]
+      actual_joint_positions: String
+      arm_pose: String
    type: python
  config_info: []
  description: Elite robot arm
@@ -771,8 +797,8 @@ robotic_arm.elite:
            type: number
          type: array
      required:
-      - actual_joint_positions
      - arm_pose
+      - actual_joint_positions
      type: object
  model:
    mesh: elite_robot
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ b/unilabos/registry/devices/robot_gripper.yaml
@@ -114,12 +114,11 @@ gripper.misumi_rz:
            goal:
              properties:
                data:
-                  type: object
+                  type: string
              required:
              - data
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: modbus_crc参数
@@ -399,26 +398,30 @@ gripper.misumi_rz:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -501,82 +504,71 @@ gripper.mock:
        type: UniLabJsonCommand
      push_to:
        feedback:
-          effort: effort
+          effort: torque
          position: position
-          reached_goal: reached_goal
-          stalled: stalled
        goal:
-          command: command
-          position: position
-          torque: torque
-          velocity: velocity
+          command.max_effort: torque
+          command.position: position
        goal_default:
          command:
            max_effort: 0.0
            position: 0.0
        handles: {}
-        placeholder_keys: {}
        result:
-          effort: effort
+          effort: torque
          position: position
-          reached_goal: reached_goal
-          stalled: stalled
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                effort:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                reached_goal:
                  type: boolean
                stalled:
                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
              title: GripperCommand_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
-                  additionalProperties: false
                  properties:
                    max_effort:
-                      maximum: 1.7976931348623157e+308
-                      minimum: -1.7976931348623157e+308
                      type: number
                    position:
-                      maximum: 1.7976931348623157e+308
-                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - position
                  - max_effort
                  title: command
                  type: object
+              required:
+              - command
              title: GripperCommand_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                effort:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                reached_goal:
                  type: boolean
                stalled:
                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
              title: GripperCommand_Result
              type: object
          required:
@@ -612,8 +604,8 @@ gripper.mock:
          type: number
      required:
      - position
-      - status
-      - torque
      - velocity
+      - torque
+      - status
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/robot_linear_motion.yaml
+++ b/unilabos/registry/devices/robot_linear_motion.yaml
@@ -24,27 +24,6 @@ linear_motion.grbl:
          title: initialize参数
          type: object
        type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
@@ -114,39 +93,44 @@ linear_motion.grbl:
        type: UniLabJsonCommandAsync
      move_through_points:
        feedback:
-          current_pose: current_pose
-          distance_remaining: distance_remaining
-          estimated_time_remaining: estimated_time_remaining
-          navigation_time: navigation_time
-          number_of_poses_remaining: number_of_poses_remaining
-          number_of_recoveries: number_of_recoveries
+          current_pose.pose.position: position
+          estimated_time_remaining.sec: time_remaining
+          navigation_time.sec: time_spent
+          number_of_poses_remaining: pose_number_remaining
        goal:
-          behavior_tree: behavior_tree
-          poses: poses
-          positions: positions
+          poses[].pose.position: positions[]
        goal_default:
          behavior_tree: ''
-          poses: []
+          poses:
+          - header:
+              frame_id: ''
+              stamp:
+                nanosec: 0
+                sec: 0
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
        handles: {}
-        placeholder_keys: {}
-        result:
-          result: result
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                current_pose:
-                  additionalProperties: false
                  properties:
                    header:
-                      additionalProperties: false
                      properties:
                        frame_id:
                          type: string
                        stamp:
-                          additionalProperties: false
                          properties:
                            nanosec:
                              maximum: 4294967295
@@ -167,26 +151,16 @@ linear_motion.grbl:
                      title: header
                      type: object
                    pose:
-                      additionalProperties: false
                      properties:
                        orientation:
-                          additionalProperties: false
                          properties:
                            w:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -196,19 +170,12 @@ linear_motion.grbl:
                          title: orientation
                          type: object
                        position:
-                          additionalProperties: false
                          properties:
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -227,11 +194,8 @@ linear_motion.grbl:
                  title: current_pose
                  type: object
                distance_remaining:
-                  maximum: 3.4028235e+38
-                  minimum: -3.4028235e+38
                  type: number
                estimated_time_remaining:
-                  additionalProperties: false
                  properties:
                    nanosec:
                      maximum: 4294967295
@@ -247,7 +211,6 @@ linear_motion.grbl:
                  title: estimated_time_remaining
                  type: object
                navigation_time:
-                  additionalProperties: false
                  properties:
                    nanosec:
                      maximum: 4294967295
@@ -270,10 +233,16 @@ linear_motion.grbl:
                  maximum: 32767
                  minimum: -32768
                  type: integer
+              required:
+              - current_pose
+              - navigation_time
+              - estimated_time_remaining
+              - number_of_recoveries
+              - distance_remaining
+              - number_of_poses_remaining
              title: NavigateThroughPoses_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                behavior_tree:
                  type: string
@@ -287,8 +256,12 @@ linear_motion.grbl:
                          stamp:
                            properties:
                              nanosec:
+                                maximum: 4294967295
+                                minimum: 0
                                type: integer
                              sec:
+                                maximum: 2147483647
+                                minimum: -2147483648
                                type: integer
                            required:
                            - sec
@@ -341,17 +314,23 @@ linear_motion.grbl:
                    required:
                    - header
                    - pose
+                    title: poses
                    type: object
                  type: array
+              required:
+              - poses
+              - behavior_tree
              title: NavigateThroughPoses_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                result:
-                  additionalProperties: true
+                  properties: {}
+                  required: []
                  title: result
                  type: object
+              required:
+              - result
              title: NavigateThroughPoses_Result
              type: object
          required:
@@ -361,15 +340,9 @@ linear_motion.grbl:
        type: NavigateThroughPoses
      set_spindle_speed:
        feedback:
-          error: error
-          header: header
-          position: position
-          velocity: velocity
+          position: spindle_speed
        goal:
-          max_velocity: max_velocity
-          min_duration: min_duration
-          position: position
-          spindle_speed: spindle_speed
+          position: spindle_speed
        goal_default:
          max_velocity: 0.0
          min_duration:
@@ -377,25 +350,19 @@ linear_motion.grbl:
            sec: 0
          position: 0.0
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                error:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                header:
-                  additionalProperties: false
                  properties:
                    frame_id:
                      type: string
                    stamp:
-                      additionalProperties: false
                      properties:
                        nanosec:
                          maximum: 4294967295
@@ -416,24 +383,21 @@ linear_motion.grbl:
                  title: header
                  type: object
                position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                velocity:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
+              required:
+              - header
+              - position
+              - velocity
+              - error
              title: SingleJointPosition_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                max_velocity:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                min_duration:
-                  additionalProperties: false
                  properties:
                    nanosec:
                      maximum: 4294967295
@@ -449,13 +413,16 @@ linear_motion.grbl:
                  title: min_duration
                  type: object
                position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
+              required:
+              - position
+              - min_duration
+              - max_velocity
              title: SingleJointPosition_Goal
              type: object
            result:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: SingleJointPosition_Result
              type: object
          required:
@@ -465,7 +432,7 @@ linear_motion.grbl:
        type: SingleJointPosition
    module: unilabos.devices.cnc.grbl_sync:GrblCNC
    status_types:
-      position: Point3D
+      position: unilabos.messages:Point3D
      spindle_speed: float
      status: str
    type: python
@@ -504,9 +471,9 @@ linear_motion.grbl:
        status:
          type: string
      required:
+      - status
      - position
      - spindle_speed
-      - status
      type: object
  version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -633,6 +600,31 @@ linear_motion.toyo_xyz.sim:
          title: moveit_task参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-resource_manager:
        feedback: {}
        goal: {}
@@ -684,41 +676,41 @@ linear_motion.toyo_xyz.sim:
          type: object
        type: UniLabJsonCommand
      pick_and_place:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -727,41 +719,41 @@ linear_motion.toyo_xyz.sim:
          type: object
        type: SendCmd
      set_position:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -770,41 +762,41 @@ linear_motion.toyo_xyz.sim:
          type: object
        type: SendCmd
      set_status:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -947,26 +939,30 @@ motor.iCL42:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -1004,8 +1000,8 @@ motor.iCL42:
        success:
          type: boolean
      required:
-      - is_executing_run
      - motor_position
+      - is_executing_run
      - success
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/solid_dispenser.yaml
+++ b/unilabos/registry/devices/solid_dispenser.yaml
@@ -14,24 +14,19 @@ solid_dispenser.laiyu:
          powder_tube_number: 0
          target_tube_position: ''
        handles: {}
-        placeholder_keys: {}
        result:
          actual_mass_mg: actual_mass_mg
-          return_info: return_info
-          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: SolidDispenseAddPowderTube_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                compound_mass:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                powder_tube_number:
                  maximum: 2147483647
@@ -39,19 +34,24 @@ solid_dispenser.laiyu:
                  type: integer
                target_tube_position:
                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
              title: SolidDispenseAddPowderTube_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                actual_mass_mg:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - actual_mass_mg
+              - success
              title: SolidDispenseAddPowderTube_Result
              type: object
          required:
@@ -74,12 +74,11 @@ solid_dispenser.laiyu:
            goal:
              properties:
                data:
-                  type: object
+                  type: string
              required:
              - data
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: calculate_crc参数
@@ -100,12 +99,11 @@ solid_dispenser.laiyu:
            goal:
              properties:
                command:
-                  type: object
+                  type: string
              required:
              - command
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: send_command参数
@@ -114,37 +112,36 @@ solid_dispenser.laiyu:
      discharge:
        feedback: {}
        goal:
-          float_in: float_in
+          float_input: float_input
        goal_default:
          float_in: 0.0
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: FloatSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                float_in:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
+              required:
+              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: FloatSingleInput_Result
              type: object
          required:
@@ -159,31 +156,32 @@ solid_dispenser.laiyu:
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -202,41 +200,38 @@ solid_dispenser.laiyu:
          y: 0.0
          z: 0.0
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: Point3DSeparateInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                x:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                y:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                z:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
+              required:
+              - x
+              - y
+              - z
              title: Point3DSeparateInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: Point3DSeparateInput_Result
              type: object
          required:
@@ -251,33 +246,34 @@ solid_dispenser.laiyu:
        goal_default:
          int_input: 0
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: IntSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                int_input:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
+              required:
+              - int_input
              title: IntSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: IntSingleInput_Result
              type: object
          required:
@@ -292,33 +288,34 @@ solid_dispenser.laiyu:
        goal_default:
          int_input: 0
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: IntSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                int_input:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
+              required:
+              - int_input
              title: IntSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: IntSingleInput_Result
              type: object
          required:
@@ -331,25 +328,26 @@ solid_dispenser.laiyu:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
--- a/unilabos/registry/devices/temperature.yaml
+++ b/unilabos/registry/devices/temperature.yaml
@@ -34,8 +34,7 @@ chiller:
              - register_address
              - value
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: build_modbus_frame参数
@@ -64,8 +63,7 @@ chiller:
              required:
              - temperature
              type: object
-            result:
-              type: integer
+            result: {}
          required:
          - goal
          title: convert_temperature_to_modbus_value参数
@@ -86,12 +84,11 @@ chiller:
            goal:
              properties:
                data:
-                  type: object
+                  type: string
              required:
              - data
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: modbus_crc参数
@@ -119,41 +116,42 @@ chiller:
          type: object
        type: UniLabJsonCommand
      set_temperature:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -268,15 +266,9 @@ heaterstirrer.dalong:
        feedback:
          status: status
        goal:
-          pressure: pressure
          purpose: purpose
-          reflux_solvent: reflux_solvent
-          stir: stir
-          stir_speed: stir_speed
          temp: temp
-          temp_spec: temp_spec
          time: time
-          time_spec: time_spec
          vessel: vessel
        goal_default:
          pressure: ''
@@ -309,23 +301,20 @@ heaterstirrer.dalong:
            sample_id: ''
            type: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          message: message
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: HeatChill_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                pressure:
                  type: string
@@ -336,12 +325,8 @@ heaterstirrer.dalong:
                stir:
                  type: boolean
                stir_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                temp:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                  type: number
                temp_spec:
                  type: string
@@ -350,7 +335,6 @@ heaterstirrer.dalong:
                time_spec:
                  type: string
                vessel:
-                  additionalProperties: false
                  properties:
                    category:
                      type: string
@@ -369,26 +353,16 @@ heaterstirrer.dalong:
                    parent:
                      type: string
                    pose:
-                      additionalProperties: false
                      properties:
                        orientation:
-                          additionalProperties: false
                          properties:
                            w:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -398,19 +372,12 @@ heaterstirrer.dalong:
                          title: orientation
                          type: object
                        position:
-                          additionalProperties: false
                          properties:
                            x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
@@ -440,10 +407,20 @@ heaterstirrer.dalong:
                  - data
                  title: vessel
                  type: object
+              required:
+              - vessel
+              - temp
+              - time
+              - temp_spec
+              - time_spec
+              - pressure
+              - reflux_solvent
+              - stir
+              - stir_speed
+              - purpose
              title: HeatChill_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                message:
                  type: string
@@ -451,6 +428,10 @@ heaterstirrer.dalong:
                  type: string
                success:
                  type: boolean
+              required:
+              - success
+              - message
+              - return_info
              title: HeatChill_Result
              type: object
          required:
@@ -459,42 +440,42 @@ heaterstirrer.dalong:
          type: object
        type: HeatChill
      set_temp_target:
-        feedback:
-          status: status
+        feedback: {}
        goal:
-          command: command
-          temp: temp
+          command: temp
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -503,42 +484,42 @@ heaterstirrer.dalong:
          type: object
        type: SendCmd
      set_temp_warning:
-        feedback:
-          status: status
+        feedback: {}
        goal:
-          command: command
-          temp: temp
+          command: temp
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
@@ -588,8 +569,8 @@ heaterstirrer.dalong:
      - status
      - stir_speed
      - temp
-      - temp_target
      - temp_warning
+      - temp_target
      type: object
  version: 1.0.0
 tempsensor:
@@ -710,41 +691,42 @@ tempsensor:
          type: object
        type: UniLabJsonCommand
      set_warning:
-        feedback:
-          status: status
+        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: {}
-        placeholder_keys: {}
        result:
-          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: false
              properties:
                status:
                  type: string
+              required:
+              - status
              title: SendCmd_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                command:
                  type: string
+              required:
+              - command
              title: SendCmd_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: SendCmd_Result
              type: object
          required:
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
--- a/unilabos/registry/devices/xrd_d7mate.yaml
+++ b/unilabos/registry/devices/xrd_d7mate.yaml
@@ -45,6 +45,31 @@ xrd_d7mate:
          title: connect参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      auto-start_from_string:
        feedback: {}
        goal: {}
@@ -60,14 +85,11 @@ xrd_d7mate:
            goal:
              properties:
                params:
-                  anyOf:
-                  - type: string
-                  - type: object
+                  type: string
              required:
              - params
              type: object
-            result:
-              type: object
+            result: {}
          required:
          - goal
          title: start_from_string参数
@@ -83,18 +105,21 @@ xrd_d7mate:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -105,38 +130,38 @@ xrd_d7mate:
      get_sample_down:
        feedback: {}
        goal:
-          int_input: int_input
-          sample_station: sample_station
+          sample_station: 1
        goal_default:
          int_input: 0
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: IntSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                int_input:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
+              required:
+              - int_input
              title: IntSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: IntSingleInput_Result
              type: object
          required:
@@ -154,18 +179,21 @@ xrd_d7mate:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -183,18 +211,21 @@ xrd_d7mate:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -207,25 +238,26 @@ xrd_d7mate:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -242,35 +274,42 @@ xrd_d7mate:
          sample_id: ''
          start_theta: 10.0
        goal_default:
-          end_theta: null
-          exp_time: null
-          increment: null
-          sample_id: null
-          start_theta: null
+          end_theta: 80.0
+          exp_time: 0.5
+          increment: 0.02
+          sample_id: Sample001
+          start_theta: 10.0
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 送样完成后，发送样品信息和采集参数
          properties:
            feedback:
+              properties: {}
+              required: []
              title: SampleReadyInput_Feedback
+              type: object
            goal:
              properties:
                end_theta:
                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  minimum: 5.5
                  type: number
                exp_time:
                  description: 曝光时间（0.1-5.0秒）
+                  maximum: 5.0
+                  minimum: 0.1
                  type: number
                increment:
                  description: 角度增量（≥0.005）
+                  minimum: 0.005
                  type: number
                sample_id:
                  description: 样品标识符
                  type: string
                start_theta:
                  description: 起始角度（≥5°）
+                  minimum: 5.0
                  type: number
              required:
              - sample_id
@@ -281,11 +320,19 @@ xrd_d7mate:
              title: SampleReadyInput_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
              title: SampleReadyInput_Result
              type: object
          required:
          - goal
-          title: send_sample_ready参数
+          title: SampleReadyInput
          type: object
        type: UniLabJsonCommand
      set_power_off:
@@ -293,25 +340,26 @@ xrd_d7mate:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -324,25 +372,26 @@ xrd_d7mate:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -356,16 +405,18 @@ xrd_d7mate:
          current: 30.0
          voltage: 40.0
        goal_default:
-          current: null
-          voltage: null
+          current: 30.0
+          voltage: 40.0
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 设置高压电源电压和电流
          properties:
            feedback:
+              properties: {}
+              required: []
              title: VoltageCurrentInput_Feedback
+              type: object
            goal:
              properties:
                current:
@@ -380,11 +431,19 @@ xrd_d7mate:
              title: VoltageCurrentInput_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
              title: VoltageCurrentInput_Result
              type: object
          required:
          - goal
-          title: set_voltage_current参数
+          title: VoltageCurrentInput
          type: object
        type: UniLabJsonCommand
      start:
@@ -394,12 +453,11 @@ xrd_d7mate:
          end_theta: 80.0
          exp_time: 0.1
          increment: 0.05
-          sample_id: ''
+          sample_id: 样品名称
          start_theta: 10.0
          string: ''
          wait_minutes: 3.0
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -408,42 +466,54 @@ xrd_d7mate:
            goal:
              properties:
                end_theta:
-                  default: 80.0
                  description: 结束角度（≥5.5°，且必须大于start_theta）
-                  type: number
+                  minimum: 5.5
+                  type: string
                exp_time:
-                  default: 0.1
                  description: 曝光时间（0.1-5.0秒）
-                  type: number
+                  maximum: 5.0
+                  minimum: 0.1
+                  type: string
                increment:
-                  default: 0.05
                  description: 角度增量（≥0.005）
-                  type: number
+                  minimum: 0.005
+                  type: string
                sample_id:
-                  default: ''
                  description: 样品标识符
                  type: string
                start_theta:
-                  default: 10.0
                  description: 起始角度（≥5°）
-                  type: number
+                  minimum: 5.0
+                  type: string
                string:
-                  default: ''
                  description: 字符串格式的参数输入，如果提供则优先解析使用
                  type: string
                wait_minutes:
-                  default: 3.0
                  description: 允许上样后等待分钟数
+                  minimum: 0.0
                  type: number
-              required: []
+              required:
+              - sample_id
+              - start_theta
+              - end_theta
+              - increment
+              - exp_time
              title: StartWorkflow_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
              title: StartWorkflow_Result
              type: object
          required:
          - goal
-          title: start参数
+          title: StartWorkflow
          type: object
        type: UniLabJsonCommand
      start_auto_mode:
@@ -451,15 +521,17 @@ xrd_d7mate:
        goal:
          status: true
        goal_default:
-          status: null
+          status: true
        handles: {}
-        placeholder_keys: {}
        result: {}
        schema:
          description: 启动或停止自动模式
          properties:
            feedback:
+              properties: {}
+              required: []
              title: BoolSingleInput_Feedback
+              type: object
            goal:
              properties:
                status:
@@ -470,16 +542,25 @@ xrd_d7mate:
              title: BoolSingleInput_Goal
              type: object
            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
              title: BoolSingleInput_Result
              type: object
          required:
          - goal
-          title: start_auto_mode参数
+          title: BoolSingleInput
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
    status_types:
      current_acquire_data: dict
+      sample_down: dict
      sample_request: dict
      sample_status: dict
    type: python
@@ -505,13 +586,16 @@ xrd_d7mate:
      properties:
        current_acquire_data:
          type: object
+        sample_down:
+          type: object
        sample_request:
          type: object
        sample_status:
          type: object
      required:
-      - current_acquire_data
      - sample_request
+      - current_acquire_data
      - sample_status
+      - sample_down
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/zhida_gcms.yaml
+++ b/unilabos/registry/devices/zhida_gcms.yaml
@@ -8,25 +8,26 @@ zhida_gcms:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -76,6 +77,31 @@ zhida_gcms:
          title: connect参数
          type: object
        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
      get_methods:
        feedback: {}
        goal: {}
@@ -86,18 +112,21 @@ zhida_gcms:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -115,18 +144,21 @@ zhida_gcms:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -144,18 +176,21 @@ zhida_gcms:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -168,25 +203,26 @@ zhida_gcms:
        goal: {}
        goal_default: {}
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: EmptyIn_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
+              required:
+              - return_info
              title: EmptyIn_Result
              type: object
          required:
@@ -198,35 +234,35 @@ zhida_gcms:
        feedback: {}
        goal:
          string: string
-          text: text
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -237,36 +273,36 @@ zhida_gcms:
      start_with_csv_file:
        feedback: {}
        goal:
-          csv_file_path: csv_file_path
          string: string
        goal_default:
          string: ''
        handles: {}
-        placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
        schema:
          description: ''
          properties:
            feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
-              additionalProperties: false
              properties:
                string:
                  type: string
+              required:
+              - string
              title: StrSingleInput_Goal
              type: object
            result:
-              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
+              required:
+              - return_info
+              - success
              title: StrSingleInput_Result
              type: object
          required:
@@ -307,8 +343,8 @@ zhida_gcms:
        version:
          type: object
      required:
-      - methods
      - status
+      - methods
      - version
      type: object
  version: 1.0.0
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
--- a/unilabos/registry/resources/bioyond/YB_bottle.yaml
+++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml
@@ -9,6 +9,7 @@ YB_20ml_fenyeping:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_5ml_fenyeping:
  category:
@@ -21,6 +22,7 @@ YB_5ml_fenyeping:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_jia_yang_tou_da:
  category:
@@ -33,6 +35,7 @@ YB_jia_yang_tou_da:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_pei_ye_da_Bottle:
  category:
@@ -45,6 +48,7 @@ YB_pei_ye_da_Bottle:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_pei_ye_xiao_Bottle:
  category:
@@ -57,6 +61,7 @@ YB_pei_ye_xiao_Bottle:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_qiang_tou:
  category:
@@ -69,6 +74,7 @@ YB_qiang_tou:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_ye_Bottle:
  category:
@@ -82,4 +88,5 @@ YB_ye_Bottle:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml
+++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml
@@ -9,6 +9,7 @@ YB_100ml_yeti:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_20ml_fenyepingban:
  category:
@@ -21,6 +22,7 @@ YB_20ml_fenyepingban:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_5ml_fenyepingban:
  category:
@@ -33,6 +35,7 @@ YB_5ml_fenyepingban:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_6StockCarrier:
  category:
@@ -45,6 +48,7 @@ YB_6StockCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_6VialCarrier:
  category:
@@ -57,6 +61,7 @@ YB_6VialCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_gao_nian_ye_Bottle:
  category:
@@ -69,6 +74,7 @@ YB_gao_nian_ye_Bottle:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_gaonianye:
  category:
@@ -81,6 +87,7 @@ YB_gaonianye:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
  category:
@@ -93,6 +100,7 @@ YB_jia_yang_tou_da_Carrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_peiyepingdaban:
  category:
@@ -105,6 +113,7 @@ YB_peiyepingdaban:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_peiyepingxiaoban:
  category:
@@ -117,6 +126,7 @@ YB_peiyepingxiaoban:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_qiang_tou_he:
  category:
@@ -129,6 +139,7 @@ YB_qiang_tou_he:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_shi_pei_qi_kuai:
  category:
@@ -141,6 +152,7 @@ YB_shi_pei_qi_kuai:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_ye:
  category:
@@ -153,6 +165,7 @@ YB_ye:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 YB_ye_100ml_Bottle:
  category:
@@ -165,4 +178,5 @@ YB_ye_100ml_Bottle:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml
+++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml
@@ -8,6 +8,7 @@ BIOYOND_PolymerStation_1BottleCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 BIOYOND_PolymerStation_1FlaskCarrier:
  category:
@@ -19,6 +20,7 @@ BIOYOND_PolymerStation_1FlaskCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
  category:
@@ -30,6 +32,7 @@ BIOYOND_PolymerStation_6StockCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 BIOYOND_PolymerStation_8StockCarrier:
  category:
@@ -41,4 +44,5 @@ BIOYOND_PolymerStation_8StockCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/deck.yaml
+++ b/unilabos/registry/resources/bioyond/deck.yaml
@@ -8,6 +8,7 @@ BIOYOND_PolymerPreparationStation_Deck:
  handles: []
  icon: 配液站.webp
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 BIOYOND_PolymerReactionStation_Deck:
  category:
@@ -19,6 +20,7 @@ BIOYOND_PolymerReactionStation_Deck:
  handles: []
  icon: 反应站.webp
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 BIOYOND_YB_Deck:
  category:
@@ -30,6 +32,7 @@ BIOYOND_YB_Deck:
  handles: []
  icon: 配液站.webp
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 CoincellDeck:
  category:
@@ -41,4 +44,5 @@ CoincellDeck:
  handles: []
  icon: koudian.webp
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/common/resource_container.yaml
+++ b/unilabos/registry/resources/common/resource_container.yaml
@@ -1,3 +1,24 @@
+disposal:
+  category:
+  - disposal
+  - waste
+  - resource_container
+  class:
+    module: unilabos.resources.disposal:Disposal
+    type: unilabos
+  description: 废料处理位置，用于处理实验废料
+  handles:
+  - data_key: disposal_access
+    data_source: handle
+    data_type: fluid
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 hplc_plate:
  category:
  - resource_container
@@ -19,6 +40,56 @@ hplc_plate:
    - 3.1416
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
    type: resource
+  registry_type: resource
+  version: 1.0.0
+maintenance:
+  category:
+  - maintenance
+  - position
+  - resource_container
+  class:
+    module: unilabos.resources.maintenance:Maintenance
+    type: unilabos
+  description: 维护位置，用于设备维护和校准
+  handles:
+  - data_key: maintenance_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+plate:
+  category:
+  - plate
+  - labware
+  - resource_container
+  class:
+    module: unilabos.resources.plate:Plate
+    type: unilabos
+  description: 实验板，用于放置样品和试剂
+  handles:
+  - data_key: plate_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  - data_key: sample_wells
+    data_source: handle
+    data_type: fluid
+    handler_key: wells
+    io_type: target
+    label: wells
+    side: CENTER
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 plate_96:
  category:
@@ -41,6 +112,7 @@ plate_96:
    - 0
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 plate_96_high:
  category:
@@ -63,6 +135,35 @@ plate_96_high:
    - 1.5708
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
    type: resource
+  registry_type: resource
+  version: 1.0.0
+tip_rack:
+  category:
+  - tip_rack
+  - labware
+  - resource_container
+  class:
+    module: unilabos.resources.tip_rack:TipRack
+    type: unilabos
+  description: 枪头架资源，用于存放和管理移液器枪头
+  handles:
+  - data_key: tip_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  - data_key: tip_pickup
+    data_source: handle
+    data_type: mechanical
+    handler_key: pickup
+    io_type: target
+    label: pickup
+    side: SOUTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 tiprack_96_high:
  category:
@@ -94,6 +195,7 @@ tiprack_96_high:
    - 1.5708
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 tiprack_box:
  category:
@@ -125,4 +227,5 @@ tiprack_box:
    - 0
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/laiyu/container.yaml
+++ b/unilabos/registry/resources/laiyu/container.yaml
@@ -29,6 +29,7 @@ bottle_container:
    - 0
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 tube_container:
  category:
@@ -61,4 +62,5 @@ tube_container:
    - 0
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/laiyu/deck.yaml
+++ b/unilabos/registry/resources/laiyu/deck.yaml
@@ -12,4 +12,5 @@ TransformXYZDeck:
    mesh: liquid_transform_xyz
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
    type: device
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/opentrons/deck.yaml
+++ b/unilabos/registry/resources/opentrons/deck.yaml
@@ -12,6 +12,7 @@ OTDeck:
    mesh: opentrons_liquid_handler
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
    type: device
+  registry_type: resource
  version: 1.0.0
 hplc_station:
  category:
@@ -27,4 +28,5 @@ hplc_station:
    mesh: hplc_station
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
    type: device
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/opentrons/plate_adapters.yaml
+++ b/unilabos/registry/resources/opentrons/plate_adapters.yaml
@@ -8,4 +8,5 @@ Opentrons_96_adapter_Vb:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/opentrons/plates.yaml
+++ b/unilabos/registry/resources/opentrons/plates.yaml
@@ -8,6 +8,7 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 biorad_384_wellplate_50ul:
  category:
@@ -19,6 +20,7 @@ biorad_384_wellplate_50ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
  category:
@@ -30,6 +32,7 @@ biorad_96_wellplate_200ul_pcr:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
  category:
@@ -41,6 +44,7 @@ corning_12_wellplate_6point9ml_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
  category:
@@ -52,6 +56,7 @@ corning_24_wellplate_3point4ml_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_384_wellplate_112ul_flat:
  category:
@@ -63,6 +68,7 @@ corning_384_wellplate_112ul_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
  category:
@@ -74,6 +80,7 @@ corning_48_wellplate_1point6ml_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
  category:
@@ -85,6 +92,7 @@ corning_6_wellplate_16point8ml_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 corning_96_wellplate_360ul_flat:
  category:
@@ -96,6 +104,7 @@ corning_96_wellplate_360ul_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 nest_96_wellplate_100ul_pcr_full_skirt:
  category:
@@ -127,6 +136,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
    - 1.5708
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 nest_96_wellplate_200ul_flat:
  category:
@@ -138,6 +148,7 @@ nest_96_wellplate_200ul_flat:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 nest_96_wellplate_2ml_deep:
  category:
@@ -160,6 +171,7 @@ nest_96_wellplate_2ml_deep:
    - 1.5708
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:
  category:
@@ -171,6 +183,7 @@ thermoscientificnunc_96_wellplate_1300ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
  category:
@@ -182,6 +195,7 @@ thermoscientificnunc_96_wellplate_2000ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
  category:
@@ -193,4 +207,5 @@ usascientific_96_wellplate_2point4ml_deep:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/opentrons/reservoirs.yaml
+++ b/unilabos/registry/resources/opentrons/reservoirs.yaml
@@ -8,6 +8,7 @@ agilent_1_reservoir_290ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 axygen_1_reservoir_90ml:
  category:
@@ -19,6 +20,7 @@ axygen_1_reservoir_90ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 nest_12_reservoir_15ml:
  category:
@@ -30,6 +32,7 @@ nest_12_reservoir_15ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 nest_1_reservoir_195ml:
  category:
@@ -41,6 +44,7 @@ nest_1_reservoir_195ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 nest_1_reservoir_290ml:
  category:
@@ -52,6 +56,7 @@ nest_1_reservoir_290ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 usascientific_12_reservoir_22ml:
  category:
@@ -63,4 +68,5 @@ usascientific_12_reservoir_22ml:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/opentrons/tip_racks.yaml
+++ b/unilabos/registry/resources/opentrons/tip_racks.yaml
@@ -8,6 +8,7 @@ eppendorf_96_tiprack_1000ul_eptips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
  category:
@@ -19,6 +20,7 @@ eppendorf_96_tiprack_10ul_eptips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 geb_96_tiprack_1000ul:
  category:
@@ -30,6 +32,7 @@ geb_96_tiprack_1000ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 geb_96_tiprack_10ul:
  category:
@@ -41,6 +44,7 @@ geb_96_tiprack_10ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
  category:
@@ -71,6 +75,7 @@ opentrons_96_filtertiprack_1000ul:
    - 1.5708
    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
    type: resource
+  registry_type: resource
  version: 1.0.0
 opentrons_96_filtertiprack_10ul:
  category:
@@ -82,6 +87,7 @@ opentrons_96_filtertiprack_10ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_filtertiprack_200ul:
  category:
@@ -93,6 +99,7 @@ opentrons_96_filtertiprack_200ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_filtertiprack_20ul:
  category:
@@ -104,6 +111,7 @@ opentrons_96_filtertiprack_20ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_tiprack_1000ul:
  category:
@@ -115,6 +123,7 @@ opentrons_96_tiprack_1000ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_tiprack_10ul:
  category:
@@ -126,6 +135,7 @@ opentrons_96_tiprack_10ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_tiprack_20ul:
  category:
@@ -137,6 +147,7 @@ opentrons_96_tiprack_20ul:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_tiprack_300ul:
  category:
--- a/unilabos/registry/resources/opentrons/tube_racks.yaml
+++ b/unilabos/registry/resources/opentrons/tube_racks.yaml
@@ -8,6 +8,7 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
  category:
@@ -19,6 +20,7 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
  category:
@@ -30,6 +32,7 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_15_tuberack_falcon_15ml_conical:
  category:
@@ -41,6 +44,7 @@ opentrons_15_tuberack_falcon_15ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_15_tuberack_nest_15ml_conical:
  category:
@@ -52,6 +56,7 @@ opentrons_15_tuberack_nest_15ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_aluminumblock_generic_2ml_screwcap:
  category:
@@ -63,6 +68,7 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_aluminumblock_nest_1point5ml_snapcap:
  category:
@@ -74,6 +80,7 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
  category:
@@ -85,6 +92,7 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
  category:
@@ -96,6 +104,7 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
  category:
@@ -107,6 +116,7 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
  category:
@@ -118,6 +128,7 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_generic_2ml_screwcap:
  category:
@@ -129,6 +140,7 @@ opentrons_24_tuberack_generic_2ml_screwcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_nest_0point5ml_screwcap:
  category:
@@ -140,6 +152,7 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_screwcap:
  category:
@@ -151,6 +164,7 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_snapcap:
  category:
@@ -162,6 +176,7 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_nest_2ml_screwcap:
  category:
@@ -173,6 +188,7 @@ opentrons_24_tuberack_nest_2ml_screwcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_24_tuberack_nest_2ml_snapcap:
  category:
@@ -184,6 +200,7 @@ opentrons_24_tuberack_nest_2ml_snapcap:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_6_tuberack_falcon_50ml_conical:
  category:
@@ -195,6 +212,7 @@ opentrons_6_tuberack_falcon_50ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_6_tuberack_nest_50ml_conical:
  category:
@@ -206,6 +224,7 @@ opentrons_6_tuberack_nest_50ml_conical:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 opentrons_96_well_aluminum_block:
  category:
@@ -217,4 +236,5 @@ opentrons_96_well_aluminum_block:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/organic/container.yaml
+++ b/unilabos/registry/resources/organic/container.yaml
@@ -29,4 +29,5 @@ container:
    side: WEST
  icon: Flask.webp
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/post_process/bottle_carriers.yaml
+++ b/unilabos/registry/resources/post_process/bottle_carriers.yaml
@@ -8,6 +8,7 @@ POST_PROCESS_Raw_1BottleCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 POST_PROCESS_Reaction_1BottleCarrier:
  category:
@@ -19,4 +20,5 @@ POST_PROCESS_Reaction_1BottleCarrier:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/post_process/deck.yaml
+++ b/unilabos/registry/resources/post_process/deck.yaml
@@ -9,4 +9,5 @@ post_process_deck:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/prcxi/plate_adapters.yaml
+++ b/unilabos/registry/resources/prcxi/plate_adapters.yaml
@@ -9,6 +9,7 @@ PRCXI_30mm_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Adapter:
  category:
@@ -21,6 +22,7 @@ PRCXI_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Deep10_Adapter:
  category:
@@ -33,6 +35,7 @@ PRCXI_Deep10_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Deep300_Adapter:
  category:
@@ -45,6 +48,7 @@ PRCXI_Deep300_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_PCR_Adapter:
  category:
@@ -57,6 +61,7 @@ PRCXI_PCR_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Reservoir_Adapter:
  category:
@@ -69,6 +74,7 @@ PRCXI_Reservoir_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Tip10_Adapter:
  category:
@@ -81,6 +87,7 @@ PRCXI_Tip10_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Tip1250_Adapter:
  category:
@@ -93,6 +100,7 @@ PRCXI_Tip1250_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_Tip300_Adapter:
  category:
@@ -105,4 +113,5 @@ PRCXI_Tip300_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/prcxi/plates.yaml
+++ b/unilabos/registry/resources/prcxi/plates.yaml
@@ -9,6 +9,7 @@ PRCXI_48_DeepWell:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_96_DeepWell:
  category:
@@ -21,6 +22,7 @@ PRCXI_96_DeepWell:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_AGenBio_4_troughplate:
  category:
@@ -33,6 +35,7 @@ PRCXI_AGenBio_4_troughplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_BioER_96_wellplate:
  category:
@@ -45,6 +48,7 @@ PRCXI_BioER_96_wellplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_BioRad_384_wellplate:
  category:
@@ -57,6 +61,7 @@ PRCXI_BioRad_384_wellplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_CellTreat_96_wellplate:
  category:
@@ -69,6 +74,7 @@ PRCXI_CellTreat_96_wellplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_PCR_Plate_200uL_nonskirted:
  category:
@@ -81,6 +87,7 @@ PRCXI_PCR_Plate_200uL_nonskirted:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_PCR_Plate_200uL_semiskirted:
  category:
@@ -93,6 +100,7 @@ PRCXI_PCR_Plate_200uL_semiskirted:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_PCR_Plate_200uL_skirted:
  category:
@@ -105,6 +113,7 @@ PRCXI_PCR_Plate_200uL_skirted:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_nest_12_troughplate:
  category:
@@ -117,6 +126,7 @@ PRCXI_nest_12_troughplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_nest_1_troughplate:
  category:
@@ -129,4 +139,5 @@ PRCXI_nest_1_troughplate:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/prcxi/tip_racks.yaml
+++ b/unilabos/registry/resources/prcxi/tip_racks.yaml
@@ -9,6 +9,7 @@ PRCXI_1000uL_Tips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_10uL_Tips:
  category:
@@ -21,6 +22,7 @@ PRCXI_10uL_Tips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_10ul_eTips:
  category:
@@ -33,6 +35,7 @@ PRCXI_10ul_eTips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_1250uL_Tips:
  category:
@@ -45,6 +48,7 @@ PRCXI_1250uL_Tips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_200uL_Tips:
  category:
@@ -57,6 +61,7 @@ PRCXI_200uL_Tips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
 PRCXI_300ul_Tips:
  category:
@@ -69,4 +74,5 @@ PRCXI_300ul_Tips:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/prcxi/trash.yaml
+++ b/unilabos/registry/resources/prcxi/trash.yaml
@@ -9,4 +9,5 @@ PRCXI_trash:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/prcxi/tube_racks.yaml
+++ b/unilabos/registry/resources/prcxi/tube_racks.yaml
@@ -9,4 +9,5 @@ PRCXI_EP_Adapter:
  handles: []
  icon: ''
  init_param_schema: {}
+  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/utils.py
+++ b/unilabos/registry/utils.py
@@ -1,724 +0,0 @@
-"""
-注册表工具函数
-
-从 registry.py 中提取的纯工具函数，包括：
- docstring 解析
- 类型字符串 → JSON Schema 转换
- AST 类型节点解析
- TypedDict / Slot / Handle 等辅助检测
-"""
-
-import inspect
-import logging
-import re
-import typing
-from typing import Any, Dict, List, Optional, Tuple, Union
-
-from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
-
-from unilabos.utils.cls_creator import import_class
-
-_logger = logging.getLogger(__name__)
-
-
-# ---------------------------------------------------------------------------
-# 异常
-# ---------------------------------------------------------------------------
-
-
-class ROSMsgNotFound(Exception):
-    pass
-
-
-# ---------------------------------------------------------------------------
-# Docstring 解析 (Google-style)
-# ---------------------------------------------------------------------------
-
-_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
-
-
-def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
-    """
-    解析 Google-style docstring，提取描述和参数说明。
-
-    Returns:
-        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
-    """
-    result: Dict[str, Any] = {"description": "", "params": {}}
-    if not docstring:
-        return result
-
-    lines = docstring.strip().splitlines()
-    if not lines:
-        return result
-
-    result["description"] = lines[0].strip()
-
-    in_args = False
-    current_param: Optional[str] = None
-    current_desc_parts: list = []
-
-    for line in lines[1:]:
-        stripped = line.strip()
-        section_match = _SECTION_RE.match(stripped)
-        if section_match:
-            if current_param is not None:
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
-                current_param = None
-                current_desc_parts = []
-            section_name = section_match.group(1).lower()
-            in_args = section_name in ("args", "arguments", "parameters", "params")
-            continue
-
-        if not in_args:
-            continue
-
-        if ":" in stripped and not stripped.startswith(" "):
-            if current_param is not None:
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
-            param_part, _, desc_part = stripped.partition(":")
-            param_name = param_part.strip().split("(")[0].strip()
-            current_param = param_name
-            current_desc_parts = [desc_part.strip()]
-        elif current_param is not None:
-            aline = line
-            if aline.startswith("    "):
-                aline = aline[4:]
-            elif aline.startswith("\t"):
-                aline = aline[1:]
-            current_desc_parts.append(aline.strip())
-
-    if current_param is not None:
-        result["params"][current_param] = "\n".join(current_desc_parts).strip()
-
-    return result
-
-
-# ---------------------------------------------------------------------------
-# 类型常量
-# ---------------------------------------------------------------------------
-
-SIMPLE_TYPE_MAP = {
-    "str": "string",
-    "string": "string",
-    "int": "integer",
-    "integer": "integer",
-    "float": "number",
-    "number": "number",
-    "bool": "boolean",
-    "boolean": "boolean",
-    "list": "array",
-    "array": "array",
-    "dict": "object",
-    "object": "object",
-}
-
-ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
-OBJECT_TYPES = {"dict", "Dict", "Mapping"}
-WRAPPER_TYPES = {"Optional"}
-SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
-
-
-# ---------------------------------------------------------------------------
-# 简单类型映射
-# ---------------------------------------------------------------------------
-
-
-def get_json_schema_type(type_str: str) -> str:
-    """简单类型名 -> JSON Schema type"""
-    return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
-
-
-# ---------------------------------------------------------------------------
-# AST 类型解析
-# ---------------------------------------------------------------------------
-
-
-def parse_type_node(type_str: str):
-    """将类型注解字符串解析为 AST 节点，失败返回 None。"""
-    import ast as _ast
-
-    try:
-        return _ast.parse(type_str.strip(), mode="eval").body
-    except Exception:
-        return None
-
-
-def _collect_bitor(node, out: list):
-    """递归收集 X | Y | Z 的所有分支。"""
-    import ast as _ast
-
-    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
-        _collect_bitor(node.left, out)
-        _collect_bitor(node.right, out)
-    else:
-        out.append(node)
-
-
-def type_node_to_schema(
-    node,
-    import_map: Optional[Dict[str, str]] = None,
-) -> Dict[str, Any]:
-    """将 AST 类型注解节点递归转换为 JSON Schema dict。
-
-    当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
-    然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
-
-    映射规则:
-    - Optional[X]                    → X 的 schema (剥掉 Optional)
-    - Union[X, Y]                    → {"anyOf": [X_schema, Y_schema]}
-    - List[X] / Tuple[X] / Set[X]   → {"type": "array", "items": X_schema}
-    - Dict[K, V]                     → {"type": "object", "additionalProperties": V_schema}
-    - Literal["a", "b"]             → {"type": "string", "enum": ["a", "b"]}
-    - TypedDict (via import_map)     → {"type": "object", "properties": {...}}
-    - 基本类型 str/int/...          → {"type": "string"/"integer"/...}
-    """
-    import ast as _ast
-
-    # --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
-    if isinstance(node, _ast.Name):
-        name = node.id
-        if name in SLOT_TYPES:
-            return {"$slot": name}
-        json_type = SIMPLE_TYPE_MAP.get(name.lower())
-        if json_type:
-            return {"type": json_type}
-        # 尝试通过 import_map 解析并 import 真实类型
-        if import_map and name in import_map:
-            type_obj = resolve_type_object(import_map[name])
-            if type_obj is not None:
-                return type_to_schema(type_obj)
-        # 未知类名 → 无法转 schema 的自定义类型默认当 object
-        return {"type": "object"}
-
-    if isinstance(node, _ast.Constant):
-        if isinstance(node.value, str):
-            return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
-        return {"type": "string"}
-
-    # --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
-    if isinstance(node, _ast.Subscript):
-        base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
-
-        # Optional[X] → 剥掉
-        if base_name in WRAPPER_TYPES:
-            return type_node_to_schema(node.slice, import_map)
-
-        # Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
-        if base_name == "Union":
-            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
-            non_none = [
-                e
-                for e in elts
-                if not (isinstance(e, _ast.Constant) and e.value is None)
-                and not (isinstance(e, _ast.Name) and e.id == "None")
-            ]
-            if len(non_none) == 1:
-                return type_node_to_schema(non_none[0], import_map)
-            if len(non_none) > 1:
-                return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
-            return {"type": "string"}
-
-        # Literal["a", "b", 1] → enum
-        if base_name == "Literal":
-            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
-            values = []
-            for e in elts:
-                if isinstance(e, _ast.Constant):
-                    values.append(e.value)
-                elif isinstance(e, _ast.Name):
-                    values.append(e.id)
-            if values:
-                return {"type": "string", "enum": values}
-            return {"type": "string"}
-
-        # List / Tuple / Set → array
-        if base_name in ARRAY_TYPES:
-            if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
-                inner_node = node.slice.elts[0]
-            else:
-                inner_node = node.slice
-            return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
-
-        # Dict → object
-        if base_name in OBJECT_TYPES:
-            schema: Dict[str, Any] = {"type": "object"}
-            if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
-                val_node = node.slice.elts[1]
-                # Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
-                is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
-                    isinstance(val_node, _ast.Constant) and val_node.value is None
-                )
-                if not is_any:
-                    val_schema = type_node_to_schema(val_node, import_map)
-                    schema["additionalProperties"] = val_schema
-            return schema
-
-    # --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
-    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
-        parts: list = []
-        _collect_bitor(node, parts)
-        non_none = [
-            p
-            for p in parts
-            if not (isinstance(p, _ast.Constant) and p.value is None)
-            and not (isinstance(p, _ast.Name) and p.id == "None")
-        ]
-        if len(non_none) == 1:
-            return type_node_to_schema(non_none[0], import_map)
-        if len(non_none) > 1:
-            return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
-        return {"type": "string"}
-
-    return {"type": "string"}
-
-
-# ---------------------------------------------------------------------------
-# 真实类型对象解析 (import-based)
-# ---------------------------------------------------------------------------
-
-
-def resolve_type_object(type_ref: str) -> Optional[Any]:
-    """通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
-
-    对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
-    import 失败时静默返回 None。
-    """
-    if ":" not in type_ref:
-        return None
-    try:
-        return import_class(type_ref)
-    except Exception:
-        return None
-
-
-def is_typed_dict_class(obj: Any) -> bool:
-    """检查对象是否是 TypedDict 类。"""
-    if obj is None:
-        return False
-    try:
-        from typing_extensions import is_typeddict
-
-        return is_typeddict(obj)
-    except ImportError:
-        if isinstance(obj, type):
-            return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
-        return False
-
-
-def type_to_schema(tp: Any) -> Dict[str, Any]:
-    """将真实 typing 对象递归转换为 JSON Schema dict。
-
-    支持:
-    - 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
-    - typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
-    - TypedDict → {"type": "object", "properties": {...}, "required": [...]}
-    - 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
-    """
-    origin = getattr(tp, "__origin__", None)
-    args = getattr(tp, "__args__", None)
-
-    # --- None / NoneType ---
-    if tp is type(None):
-        return {"type": "null"}
-
-    # --- 基本类型 ---
-    if tp is str:
-        return {"type": "string"}
-    if tp is int:
-        return {"type": "integer"}
-    if tp is float:
-        return {"type": "number"}
-    if tp is bool:
-        return {"type": "boolean"}
-
-    # --- TypedDict ---
-    if is_typed_dict_class(tp):
-        try:
-            return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
-        except Exception:
-            return {"type": "object"}
-
-    # --- Literal ---
-    if origin is typing.Literal:
-        values = list(args) if args else []
-        return {"type": "string", "enum": values}
-
-    # --- Optional / Union ---
-    if origin is typing.Union:
-        non_none = [a for a in (args or ()) if a is not type(None)]
-        if len(non_none) == 1:
-            return type_to_schema(non_none[0])
-        if len(non_none) > 1:
-            return {"anyOf": [type_to_schema(a) for a in non_none]}
-        return {"type": "string"}
-
-    # --- List / Sequence / Set / Tuple / Iterable ---
-    if origin in (list, tuple, set, frozenset) or (
-        origin is not None
-        and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
-    ):
-        if args:
-            return {"type": "array", "items": type_to_schema(args[0])}
-        return {"type": "array"}
-
-    # --- Dict / Mapping ---
-    if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
-        schema: Dict[str, Any] = {"type": "object"}
-        if args and len(args) >= 2:
-            schema["additionalProperties"] = type_to_schema(args[1])
-        return schema
-
-    # --- Slot 类型 ---
-    if isinstance(tp, type):
-        name = tp.__name__
-        if name in SLOT_TYPES:
-            return {"$slot": name}
-
-    # --- 其他未知类型 fallback ---
-    if isinstance(tp, type):
-        return {"type": "object"}
-    return {"type": "string"}
-
-
-# ---------------------------------------------------------------------------
-# Slot / Placeholder 检测
-# ---------------------------------------------------------------------------
-
-
-def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
-    """检测参数类型是否为 ResourceSlot / DeviceSlot。
-
-    兼容多种格式:
-    - runtime: "unilabos.registry.placeholder_type:ResourceSlot"
-    - runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
-    - AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
-
-    Returns: (slot_name | None, is_list)
-    """
-    ptype_str = str(ptype)
-
-    # 快速路径: 字符串里根本没有 Slot
-    if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
-        return (None, False)
-
-    # runtime 格式: 完整模块路径
-    if isinstance(ptype, str):
-        if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
-            return ("ResourceSlot", False)
-        if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
-            return ("DeviceSlot", False)
-        # AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
-        if "[" in ptype:
-            node = parse_type_node(ptype)
-            if node is not None:
-                schema = type_node_to_schema(node)
-                # 直接是 slot
-                if "$slot" in schema:
-                    return (schema["$slot"], False)
-                # array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
-                items = schema.get("items", {})
-                if isinstance(items, dict) and "$slot" in items:
-                    return (items["$slot"], True)
-        return (None, False)
-
-    # runtime tuple 格式
-    if isinstance(ptype, tuple) and len(ptype) == 2:
-        inner_str = str(ptype[1])
-        if "ResourceSlot" in inner_str:
-            return ("ResourceSlot", True)
-        if "DeviceSlot" in inner_str:
-            return ("DeviceSlot", True)
-
-    return (None, False)
-
-
-def detect_placeholder_keys(params: list) -> Dict[str, str]:
-    """Detect parameters that reference ResourceSlot or DeviceSlot."""
-    result: Dict[str, str] = {}
-    for p in params:
-        ptype = p.get("type", "")
-        if "ResourceSlot" in str(ptype):
-            result[p["name"]] = "unilabos_resources"
-        elif "DeviceSlot" in str(ptype):
-            result[p["name"]] = "unilabos_devices"
-    return result
-
-
-# ---------------------------------------------------------------------------
-# Handle 规范化
-# ---------------------------------------------------------------------------
-
-
-def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
-    """Convert AST-parsed handle structures to the standard registry format."""
-    if not handles_raw:
-        return []
-
-    # handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
-    _HANDLE_TYPE_TO_IO_TYPE = {
-        "input": "target",
-        "output": "source",
-        "action_input": "action_target",
-        "action_output": "action_source",
-    }
-
-    result: List[Dict[str, Any]] = []
-    for h in handles_raw:
-        if isinstance(h, dict):
-            call = h.get("_call", "")
-            if "InputHandle" in call:
-                handle_type = "input"
-            elif "OutputHandle" in call:
-                handle_type = "output"
-            elif "ActionInputHandle" in call:
-                handle_type = "action_input"
-            elif "ActionOutputHandle" in call:
-                handle_type = "action_output"
-            else:
-                handle_type = h.get("handle_type", "unknown")
-
-            io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
-
-            entry: Dict[str, Any] = {
-                "handler_key": h.get("key", ""),
-                "data_type": h.get("data_type", ""),
-                "io_type": io_type,
-            }
-            side = h.get("side")
-            if side:
-                if isinstance(side, str) and "." in side:
-                    val = side.rsplit(".", 1)[-1]
-                    side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
-                entry["side"] = side
-            label = h.get("label")
-            if label:
-                entry["label"] = label
-            data_key = h.get("data_key")
-            if data_key:
-                entry["data_key"] = data_key
-            data_source = h.get("data_source")
-            if data_source:
-                if isinstance(data_source, str) and "." in data_source:
-                    val = data_source.rsplit(".", 1)[-1]
-                    data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
-                entry["data_source"] = data_source
-            description = h.get("description")
-            if description:
-                entry["description"] = description
-
-            result.append(entry)
-    return result
-
-
-def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
-    """Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
-
-    Mirrors the runtime behavior of decorators._action_handles_to_dict:
-      - ActionInputHandle  => grouped under "input"
-      - ActionOutputHandle => grouped under "output"
-    Field mapping: key -> handler_key (matches Pydantic serialization_alias).
-    """
-    if not handles_raw or not isinstance(handles_raw, list):
-        return {}
-
-    input_list: List[Dict[str, Any]] = []
-    output_list: List[Dict[str, Any]] = []
-
-    for h in handles_raw:
-        if not isinstance(h, dict):
-            continue
-        call = h.get("_call", "")
-        is_input = "ActionInputHandle" in call or "InputHandle" in call
-        is_output = "ActionOutputHandle" in call or "OutputHandle" in call
-
-        entry: Dict[str, Any] = {
-            "handler_key": h.get("key", ""),
-            "data_type": h.get("data_type", ""),
-            "label": h.get("label", ""),
-        }
-        for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
-            val = h.get(opt_key)
-            if val is not None:
-                # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
-                # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
-                if (
-                    isinstance(val, str)
-                    and "." in val
-                    and opt_key not in ("io_type", "data_key")
-                ):
-                    val = val.rsplit(".", 1)[-1].lower()
-                entry[opt_key] = val
-
-        # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
-        if "io_type" not in entry and is_input:
-            entry["io_type"] = "source"
-
-        if is_input:
-            input_list.append(entry)
-        elif is_output:
-            output_list.append(entry)
-
-    result: Dict[str, Any] = {}
-    if input_list:
-        result["input"] = input_list
-    # Always include output (empty list when no outputs) to match YAML
-    result["output"] = output_list
-    return result
-
-
-# ---------------------------------------------------------------------------
-# Schema 辅助
-# ---------------------------------------------------------------------------
-
-
-def wrap_action_schema(
-    goal_schema: Dict[str, Any],
-    action_name: str,
-    description: str = "",
-    result_schema: Optional[Dict[str, Any]] = None,
-    feedback_schema: Optional[Dict[str, Any]] = None,
-) -> Dict[str, Any]:
-    """
-    将 goal 参数 schema 包装为标准的 action schema 格式:
-    { "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
-    """
-    # 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
-    display_name = action_name.removeprefix("auto-")
-    return {
-        "title": f"{display_name}参数",
-        "description": description or f"{display_name}的参数schema",
-        "type": "object",
-        "properties": {
-            "goal": goal_schema,
-            "feedback": feedback_schema or {},
-            "result": result_schema or {},
-        },
-        "required": ["goal"],
-    }
-
-
-def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
-    """递归保留之前 schema 中各字段的 description / title。
-
-    覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
-    """
-    if not prev_schema or not new_schema:
-        return
-    prev_props = prev_schema.get("properties", {})
-    new_props = new_schema.get("properties", {})
-    for field_name, prev_field in prev_props.items():
-        if field_name not in new_props:
-            continue
-        new_field = new_props[field_name]
-        if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
-            continue
-        if "title" in prev_field:
-            new_field.setdefault("title", prev_field["title"])
-        if "description" in prev_field:
-            new_field.setdefault("description", prev_field["description"])
-        if "properties" in prev_field and "properties" in new_field:
-            preserve_field_descriptions(new_field, prev_field)
-
-
-def strip_ros_descriptions(schema: Any):
-    """递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
-    if isinstance(schema, dict):
-        desc = schema.get("description", "")
-        if isinstance(desc, str) and "rosidl_parser" in desc:
-            del schema["description"]
-        for v in schema.values():
-            strip_ros_descriptions(v)
-    elif isinstance(schema, list):
-        for item in schema:
-            strip_ros_descriptions(item)
-
-
-# ---------------------------------------------------------------------------
-# 深度对比
-# ---------------------------------------------------------------------------
-
-
-def _short(val, limit=120):
-    """截断过长的值用于日志显示。"""
-    s = repr(val)
-    return s if len(s) <= limit else s[:limit] + "..."
-
-
-def deep_diff(old, new, path="", max_depth=10) -> list:
-    """递归对比两个对象，返回所有差异的描述列表。"""
-    diffs = []
-    if max_depth <= 0:
-        if old != new:
-            diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
-        return diffs
-
-    if type(old) != type(new):
-        diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
-        return diffs
-
-    if isinstance(old, dict):
-        old_keys = set(old.keys())
-        new_keys = set(new.keys())
-        for k in sorted(new_keys - old_keys):
-            diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
-        for k in sorted(old_keys - new_keys):
-            diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
-        for k in sorted(old_keys & new_keys):
-            diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
-    elif isinstance(old, (list, tuple)):
-        if len(old) != len(new):
-            diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
-        for i in range(min(len(old), len(new))):
-            diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
-        if len(new) > len(old):
-            for i in range(len(old), len(new)):
-                diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
-        elif len(old) > len(new):
-            for i in range(len(new), len(old)):
-                diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
-    else:
-        if old != new:
-            diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
-    return diffs
-
-
-# ---------------------------------------------------------------------------
-# MRO 方法参数解析
-# ---------------------------------------------------------------------------
-
-
-def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
-    """当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
-
-    返回 identity mapping {param_name: param_name}.
-    """
-    if not module_str or ":" not in module_str:
-        return {}
-    try:
-        cls = import_class(module_str)
-    except Exception as e:
-        _logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
-        return {}
-
-    try:
-        for base_cls in cls.__mro__:
-            if method_name not in base_cls.__dict__:
-                continue
-            method = base_cls.__dict__[method_name]
-            actual = getattr(method, "__wrapped__", method)
-            if isinstance(actual, (staticmethod, classmethod)):
-                actual = actual.__func__
-            if not callable(actual):
-                continue
-            sig = inspect.signature(actual, follow_wrapped=True)
-            params = [
-                p.name for p in sig.parameters.values()
-                if p.name not in ("self", "cls")
-                and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
-            ]
-            if params:
-                return {p: p for p in params}
-    except Exception as e:
-        _logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
-    return {}
--- a/unilabos/resources/container.py
+++ b/unilabos/resources/container.py
@@ -1,6 +1,10 @@
+import json
 from typing import Dict, Any

 from pylabrobot.resources import Container
+from unilabos_msgs.msg import Resource
+
+from unilabos.ros.msgs.message_converter import convert_from_ros_msg


 class RegularContainer(Container):
@@ -12,14 +16,12 @@ class RegularContainer(Container):
            kwargs["size_y"] = 0
        if "size_z" not in kwargs:
            kwargs["size_z"] = 0
-        if "category" not in kwargs:
-            kwargs["category"] = "container"
-
        self.kwargs = kwargs
-        super().__init__(*args, **kwargs)
+        self.state = {}
+        super().__init__(*args, category="container", **kwargs)

    def load_state(self, state: Dict[str, Any]):
-        super().load_state(state)
+        self.state = state


 def get_regular_container(name="container"):
@@ -27,6 +29,7 @@ def get_regular_container(name="container"):
    r.category = "container"
    return r

+#
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入
 #     # noinspection PyShadowingBuiltins
@@ -86,4 +89,4 @@ def get_regular_container(name="container"):
 #         return to_dict
 #
 #     def __str__(self):
-#         return f"{self.id}"
+#         return f"{self.id}"
--- a/Show More
+++ b/Show More