Merge remote-tracking branch 'origin/dev' into dev

unilabos/app/web/client.py

@@ -3,7 +3,7 @@ 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
@@ -290,10 +290,17 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
+        compressed_body = gzip.compress(
+            json.dumps(registry_data, ensure_ascii=False, default=str).encode("utf-8")
+        )
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
+            data=compressed_body,
+            headers={
+                "Authorization": f"Lab {self.auth}",
+                "Content-Type": "application/json",
+                "Content-Encoding": "gzip",
+            },
             timeout=30,
         )
         if response.status_code not in [200, 201]:

unilabos/device_mesh/resource_visalization.py

@@ -201,42 +201,17 @@ class ResourceVisualization:
                 self.moveit_controllers_yaml['moveit_simple_controller_manager'][f"{name}_{controller_name}"] = moveit_dict['moveit_simple_controller_manager'][controller_name]
 
 
-    @staticmethod
-    def _ensure_ros2_env() -> dict:
-        """确保 ROS2 环境变量正确设置，返回可用于子进程的 env dict"""
-        import sys
-        env = dict(os.environ)
-        conda_prefix = os.path.dirname(os.path.dirname(sys.executable))
-
-        if "AMENT_PREFIX_PATH" not in env or not env["AMENT_PREFIX_PATH"].strip():
-            candidate = os.pathsep.join([conda_prefix, os.path.join(conda_prefix, "Library")])
-            env["AMENT_PREFIX_PATH"] = candidate
-            os.environ["AMENT_PREFIX_PATH"] = candidate
-
-        extra_bin_dirs = [
-            os.path.join(conda_prefix, "Library", "bin"),
-            os.path.join(conda_prefix, "Library", "lib"),
-            os.path.join(conda_prefix, "Scripts"),
-            conda_prefix,
-        ]
-        current_path = env.get("PATH", "")
-        for d in extra_bin_dirs:
-            if d not in current_path:
-                current_path = d + os.pathsep + current_path
-        env["PATH"] = current_path
-        os.environ["PATH"] = current_path
-
-        return env
-
     def create_launch_description(self) -> LaunchDescription:
         """
         创建launch描述，包含robot_state_publisher和move_group节点
 
+        Args:
+            urdf_str: URDF文本
+
         Returns:
             LaunchDescription: launch描述对象
         """
-        launch_env = self._ensure_ros2_env()
-
+        # 检查ROS 2环境变量
         if "AMENT_PREFIX_PATH" not in os.environ:
             raise OSError(
                 "ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n"
@@ -315,7 +290,7 @@ class ResourceVisualization:
                         {"robot_description": robot_description},
                         ros2_controllers,
                     ],
-                    env=launch_env,
+                    env=dict(os.environ)
                 )
             )
             for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
@@ -325,7 +300,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=[f"{controller}", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=launch_env,
+                        env=dict(os.environ)
                     )
                 )
             controllers.append(
@@ -334,7 +309,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=launch_env,
+                        env=dict(os.environ)
                 )
             )
             for i in controllers:
@@ -342,6 +317,7 @@ class ResourceVisualization:
         else:
             ros2_controllers = None
 
+        # 创建robot_state_publisher节点
         robot_state_publisher = nd(
             package='robot_state_publisher',
             executable='robot_state_publisher',
@@ -351,8 +327,9 @@ class ResourceVisualization:
                 'robot_description': robot_description,
                 'use_sim_time': False
             },
+            # kinematics_dict
             ],
-            env=launch_env,
+            env=dict(os.environ)
         )
 
 
@@ -384,7 +361,7 @@ class ResourceVisualization:
             executable='move_group',
             output='screen',
             parameters=moveit_params,
-            env=launch_env,
+            env=dict(os.environ)
         )
 
 
@@ -402,11 +379,13 @@ class ResourceVisualization:
                 arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
                 output='screen',
                 parameters=[
-                    {'robot_description_kinematics': kinematics_dict},
+                    {'robot_description_kinematics': kinematics_dict,
+                     },
                     robot_description_planning,
                     planning_pipelines,
+
                 ],
-                env=launch_env,
+                env=dict(os.environ)
             )
             self.launch_description.add_action(rviz_node)
 

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck):
 
     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=name)
+        super().__init__(size_x, size_y, size_z, name)
         if sites is not None:
             self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
         else:
@@ -120,7 +120,6 @@ class PRCXI9300Deck(Deck):
         self._ordering = collections.OrderedDict(
             (site["label"], None) for site in self.sites
         )
-        self.root = self.get_root()
 
     def _get_site_location(self, idx: int) -> Coordinate:
         pos = self.sites[idx]["position"]
@@ -163,10 +162,7 @@ class PRCXI9300Deck(Deck):
             raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
 
         if not reassign and self._get_site_resource(idx) is not None:
-            existing = self.root.get_resource(resource.name)
-            if existing is not resource and existing.parent is not None:
-                existing.parent.unassign_child_resource(existing)
-
+            raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
 
         loc = self._get_site_location(idx)
         super().assign_child_resource(resource, location=loc, reassign=reassign)
@@ -798,7 +794,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         touch_tip: bool = False,
         liquid_height: Optional[List[Optional[float]]] = None,
         blow_out_air_volume: Optional[List[Optional[float]]] = None,
-        blow_out_air_volume_before: Optional[List[Optional[float]]] = None,
         spread: Literal["wide", "tight", "custom"] = "wide",
         is_96_well: bool = False,
         mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
@@ -809,9 +804,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
-        if self.step_mode:
-            await self.create_protocol(f"transfer_liquid{time.time()}")
-        res =  await super().transfer_liquid(
+        return await super().transfer_liquid(
             sources,
             targets,
             tip_racks,
@@ -824,7 +817,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             touch_tip=touch_tip,
             liquid_height=liquid_height,
             blow_out_air_volume=blow_out_air_volume,
-            blow_out_air_volume_before=blow_out_air_volume_before,
             spread=spread,
             is_96_well=is_96_well,
             mix_stage=mix_stage,
@@ -835,9 +827,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             delays=delays,
             none_keys=none_keys,
         )
-        if self.step_mode:
-            await self.run_protocol()
-        return res
 
     async def custom_delay(self, seconds=0, msg=None):
         return await super().custom_delay(seconds, msg)
@@ -854,10 +843,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
-        use_channels: Optional[List[int]] = [0],
     ):
         return await self._unilabos_backend.mix(
-            targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys, use_channels
+            targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys
         )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
@@ -1286,15 +1274,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
-        use_channels: Optional[List[int]] = [0],
     ):
         """Mix liquid in the specified resources."""
-        if use_channels == [0]:
-            axis = "Left"
-        elif use_channels == [1]:
-            axis = "Right"
-        else:
-            raise ValueError("Invalid use channels: " + str(use_channels))
+
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent.parent

unilabos/devices/liquid_handling/rviz_backend.py

@@ -59,7 +59,6 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.total_height = total_height
     self.joint_config = kwargs.get("joint_config", None)
     self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
-    self.simulate_rviz = kwargs.get("simulate_rviz", False)
     if not rclpy.ok():
         rclpy.init()
     self.joint_state_publisher = None
@@ -70,7 +69,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.joint_state_publisher = LiquidHandlerJointPublisher(
                                 joint_config=self.joint_config,
                                 lh_device_id=self.lh_device_id,
-                                simulate_rviz=self.simulate_rviz)
+                                simulate_rviz=True)
 
     # 启动ROS executor
     self.executor = rclpy.executors.MultiThreadedExecutor()

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

@@ -42,7 +42,6 @@ class LiquidHandlerJointPublisher(Node):
             while self.resource_action is None:
                 self.resource_action = self.check_tf_update_actions()
                 time.sleep(1)
-                self.get_logger().info(f'Waiting for TfUpdate server: {self.resource_action}')
 
             self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
             while not self.resource_action_client.wait_for_server(timeout_sec=1.0):

unilabos/registry/devices/liquid_handler.yaml

@@ -4976,13 +4976,13 @@ liquid_handler.biomek:
             handler_key: tip_rack
             label: tip_rack
           output:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: targets
-            data_source: handle
+          - data_key: liquid
+            data_source: executor
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -7656,43 +7656,6 @@ liquid_handler.prcxi:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
-      auto-magnetic_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          height: null
-          is_wait: null
-          module_no: null
-          time: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                height:
-                  type: integer
-                is_wait:
-                  type: boolean
-                module_no:
-                  type: integer
-                time:
-                  type: integer
-              required:
-              - time
-              - module_no
-              - height
-              - is_wait
-              type: object
-            result: {}
-          required:
-          - goal
-          title: magnetic_action参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-move_to:
         feedback: {}
         goal: {}
@@ -7726,31 +7689,6 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-plr_pos_to_prcxi:
-        feedback: {}
-        goal: {}
-        goal_default:
-          resource: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                resource:
-                  type: object
-              required:
-              - resource
-              type: object
-            result: {}
-          required:
-          - goal
-          title: plr_pos_to_prcxi参数
-          type: object
-        type: UniLabJsonCommand
       auto-post_init:
         feedback: {}
         goal: {}
@@ -7871,47 +7809,6 @@ liquid_handler.prcxi:
           title: shaker_action参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-shaking_incubation_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          amplitude: null
-          is_wait: null
-          module_no: null
-          temperature: null
-          time: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                amplitude:
-                  type: integer
-                is_wait:
-                  type: boolean
-                module_no:
-                  type: integer
-                temperature:
-                  type: integer
-                time:
-                  type: integer
-              required:
-              - time
-              - module_no
-              - amplitude
-              - is_wait
-              - temperature
-              type: object
-            result: {}
-          required:
-          - goal
-          title: shaking_incubation_action参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -10137,28 +10034,116 @@ liquid_handler.prcxi:
         type: Transfer
       transfer_liquid:
         feedback: {}
-        goal: {}
+        goal:
+          asp_flow_rates: asp_flow_rates
+          asp_vols: asp_vols
+          blow_out_air_volume: blow_out_air_volume
+          delays: delays
+          dis_flow_rates: dis_flow_rates
+          dis_vols: dis_vols
+          is_96_well: is_96_well
+          liquid_height: liquid_height
+          mix_liquid_height: mix_liquid_height
+          mix_rate: mix_rate
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          none_keys: none_keys
+          offsets: offsets
+          sources: sources
+          spread: spread
+          targets: targets
+          tip_racks: tip_racks
+          touch_tip: touch_tip
+          use_channels: use_channels
         goal_default:
-          asp_flow_rates: null
-          asp_vols: null
-          blow_out_air_volume: null
-          blow_out_air_volume_before: null
-          delays: null
-          dis_flow_rates: null
-          dis_vols: null
+          asp_flow_rates:
+          - 0.0
+          asp_vols:
+          - 0.0
+          blow_out_air_volume:
+          - 0.0
+          delays:
+          - 0
+          dis_flow_rates:
+          - 0.0
+          dis_vols:
+          - 0.0
           is_96_well: false
-          liquid_height: null
-          mix_liquid_height: null
-          mix_rate: null
-          mix_stage: none
-          mix_times: null
-          mix_vol: null
-          none_keys: []
-          offsets: null
-          sources: null
-          spread: wide
-          targets: null
-          tip_racks: null
+          liquid_height:
+          - 0.0
+          mix_liquid_height: 0.0
+          mix_rate: 0
+          mix_stage: ''
+          mix_times: 0
+          mix_vol: 0
+          none_keys:
+          - ''
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          sources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          targets:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          tip_racks:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
           touch_tip: false
           use_channels:
           - 0
@@ -10174,7 +10159,7 @@ liquid_handler.prcxi:
             data_type: resource
             handler_key: targets_identifier
             label: 转移目标
-          - data_key: tip_racks
+          - data_key: tip_rack
             data_source: handle
             data_type: resource
             handler_key: tip_rack_identifier
@@ -10198,7 +10183,11 @@ liquid_handler.prcxi:
         schema:
           description: ''
           properties:
-            feedback: {}
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerTransfer_Feedback
+              type: object
             goal:
               properties:
                 asp_flow_rates:
@@ -10213,10 +10202,6 @@ liquid_handler.prcxi:
                   items:
                     type: number
                   type: array
-                blow_out_air_volume_before:
-                  items:
-                    type: number
-                  type: array
                 delays:
                   items:
                     maximum: 2147483647
@@ -10232,7 +10217,6 @@ liquid_handler.prcxi:
                     type: number
                   type: array
                 is_96_well:
-                  default: false
                   type: boolean
                 liquid_height:
                   items:
@@ -10245,7 +10229,6 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 mix_stage:
-                  default: none
                   type: string
                 mix_times:
                   maximum: 2147483647
@@ -10256,7 +10239,6 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 none_keys:
-                  default: []
                   items:
                     type: string
                   type: array
@@ -10352,7 +10334,6 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 spread:
-                  default: wide
                   type: string
                 targets:
                   items:
@@ -10505,7 +10486,6 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 touch_tip:
-                  default: false
                   type: boolean
                 use_channels:
                   items:
@@ -10514,221 +10494,45 @@ liquid_handler.prcxi:
                     type: integer
                   type: array
               required:
+              - asp_vols
+              - dis_vols
               - sources
               - targets
               - tip_racks
-              - asp_vols
-              - dis_vols
+              - use_channels
+              - asp_flow_rates
+              - dis_flow_rates
+              - offsets
+              - touch_tip
+              - liquid_height
+              - blow_out_air_volume
+              - spread
+              - is_96_well
+              - mix_stage
+              - mix_times
+              - mix_vol
+              - mix_rate
+              - mix_liquid_height
+              - delays
+              - none_keys
+              title: LiquidHandlerTransfer_Goal
               type: object
             result:
-              $defs:
-                ResourceDict:
-                  properties:
-                    class:
-                      description: Resource class name
-                      title: Class
-                      type: string
-                    config:
-                      additionalProperties: true
-                      description: Resource configuration
-                      title: Config
-                      type: object
-                    data:
-                      additionalProperties: true
-                      description: 'Resource data, eg: container liquid data'
-                      title: Data
-                      type: object
-                    description:
-                      default: ''
-                      description: Resource description
-                      title: Description
-                      type: string
-                    extra:
-                      additionalProperties: true
-                      description: 'Extra data, eg: slot index'
-                      title: Extra
-                      type: object
-                    icon:
-                      default: ''
-                      description: Resource icon
-                      title: Icon
-                      type: string
-                    id:
-                      description: Resource ID
-                      title: Id
-                      type: string
-                    model:
-                      additionalProperties: true
-                      description: Resource model
-                      title: Model
-                      type: object
-                    name:
-                      description: Resource name
-                      title: Name
-                      type: string
-                    parent:
-                      anyOf:
-                      - $ref: '#/$defs/ResourceDict'
-                      - type: 'null'
-                      default: null
-                      description: Parent resource object
-                    parent_uuid:
-                      anyOf:
-                      - type: string
-                      - type: 'null'
-                      default: null
-                      description: Parent resource uuid
-                      title: Parent Uuid
-                    pose:
-                      $ref: '#/$defs/ResourceDictPosition'
-                      description: Resource position
-                    schema:
-                      additionalProperties: true
-                      description: Resource schema
-                      title: Schema
-                      type: object
-                    type:
-                      anyOf:
-                      - const: device
-                        type: string
-                      - type: string
-                      description: Resource type
-                      title: Type
-                    uuid:
-                      description: Resource UUID
-                      title: Uuid
-                      type: string
-                  required:
-                  - id
-                  - uuid
-                  - name
-                  - type
-                  - class
-                  - config
-                  - data
-                  - extra
-                  title: ResourceDict
-                  type: object
-                ResourceDictPosition:
-                  properties:
-                    cross_section_type:
-                      default: rectangle
-                      description: Cross section type
-                      enum:
-                      - rectangle
-                      - circle
-                      - rounded_rectangle
-                      title: Cross Section Type
-                      type: string
-                    layout:
-                      default: x-y
-                      description: Resource layout
-                      enum:
-                      - 2d
-                      - x-y
-                      - z-y
-                      - x-z
-                      title: Layout
-                      type: string
-                    position:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource position
-                    position3d:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource position in 3D space
-                    rotation:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource rotation
-                    scale:
-                      $ref: '#/$defs/ResourceDictPositionScale'
-                      description: Resource scale
-                    size:
-                      $ref: '#/$defs/ResourceDictPositionSize'
-                      description: Resource size
-                  title: ResourceDictPosition
-                  type: object
-                ResourceDictPositionObject:
-                  properties:
-                    x:
-                      default: 0.0
-                      description: X coordinate
-                      title: X
-                      type: number
-                    y:
-                      default: 0.0
-                      description: Y coordinate
-                      title: Y
-                      type: number
-                    z:
-                      default: 0.0
-                      description: Z coordinate
-                      title: Z
-                      type: number
-                  title: ResourceDictPositionObject
-                  type: object
-                ResourceDictPositionScale:
-                  properties:
-                    x:
-                      default: 0.0
-                      description: x scale
-                      title: X
-                      type: number
-                    y:
-                      default: 0.0
-                      description: y scale
-                      title: Y
-                      type: number
-                    z:
-                      default: 0.0
-                      description: z scale
-                      title: Z
-                      type: number
-                  title: ResourceDictPositionScale
-                  type: object
-                ResourceDictPositionSize:
-                  properties:
-                    depth:
-                      default: 0.0
-                      description: Depth
-                      title: Depth
-                      type: number
-                    height:
-                      default: 0.0
-                      description: Height
-                      title: Height
-                      type: number
-                    width:
-                      default: 0.0
-                      description: Width
-                      title: Width
-                      type: number
-                  title: ResourceDictPositionSize
-                  type: object
               properties:
-                sources:
-                  items:
-                    items:
-                      $ref: '#/$defs/ResourceDict'
-                    type: array
-                  title: Sources
-                  type: array
-                targets:
-                  items:
-                    items:
-                      $ref: '#/$defs/ResourceDict'
-                    type: array
-                  title: Targets
-                  type: array
+                return_info:
+                  type: string
+                success:
+                  type: boolean
               required:
-              - sources
-              - targets
-              title: TransferLiquidReturn
+              - return_info
+              - success
+              title: LiquidHandlerTransfer_Result
               type: object
           required:
           - goal
-          title: transfer_liquid参数
+          title: LiquidHandlerTransfer
           type: object
-        type: UniLabJsonCommandAsync
+        type: LiquidHandlerTransfer
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool
@@ -10751,12 +10555,6 @@ liquid_handler.prcxi:
           type: string
         deck:
           type: object
-        deck_y:
-          default: 400
-          type: string
-        deck_z:
-          default: 300
-          type: string
         host:
           type: string
         is_9320:
@@ -10767,44 +10565,17 @@ liquid_handler.prcxi:
           type: string
         port:
           type: integer
-        rail_interval:
-          default: 0
-          type: string
-        rail_nums:
-          default: 4
-          type: string
-        rail_width:
-          default: 27.5
-          type: string
         setup:
           default: true
           type: string
         simulator:
           default: false
           type: string
-        start_rail:
-          default: 2
-          type: string
         step_mode:
           default: false
           type: string
         timeout:
           type: number
-        x_increase:
-          default: -0.003636
-          type: string
-        x_offset:
-          default: -0.8
-          type: string
-        xy_coupling:
-          default: -0.0045
-          type: string
-        y_increase:
-          default: -0.003636
-          type: string
-        y_offset:
-          default: -37.98
-          type: string
       required:
       - deck
       - host

unilabos/resources/resource_tracker.py

@@ -75,14 +75,6 @@ class ResourceDictPositionObject(BaseModel):
     z: float = Field(description="Z coordinate", default=0.0)
 
 
-class ResourceDictPoseExtraObjectType(BaseModel):
-    z_index: int
-
-
-class ResourceDictPoseExtraObject(BaseModel):
-    z_index: Optional[int] = Field(alias="zIndex", default=None)
-
-
 class ResourceDictPositionType(TypedDict):
     size: ResourceDictPositionSizeType
     scale: ResourceDictPositionScaleType
@@ -109,7 +101,7 @@ class ResourceDictPosition(BaseModel):
     cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
         description="Cross section type", default="rectangle"
     )
-    extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None)
+    extra: Optional[Dict[str, Any]] = Field(description="Extra data", default=None)
 
 
 class ResourceDictType(TypedDict):
@@ -534,17 +526,10 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(
-        self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
-    ) -> List["PLRResource"]:
+    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
-        Args:
-            skip_devices: 是否跳过 device 类型节点
-            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
-                否则返回各树的根节点列表
-
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -600,71 +585,6 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
-        # deserialize 会单独处理的元数据 key，不传给构造函数
-        _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
-        # deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
-        _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
-
-        def remove_incompatible_params(plr_d: dict) -> None:
-            """递归移除 PLR 类不接受的参数，避免 deserialize 报错。
-            - 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
-            - 对 TubeRack：将 ordering 转为 ordered_items
-            - 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
-            """
-            if "type" in plr_d:
-                sub_cls = find_subclass(plr_d["type"], PLRResource)
-                if sub_cls is not None:
-                    spec = inspect.signature(sub_cls)
-                    valid_params = set(spec.parameters.keys())
-                    # TubeRack 特殊处理：先转换 ordering，再参与后续过滤
-                    if "ordering" not in valid_params and "ordering" in plr_d:
-                        ordering = plr_d.pop("ordering", None)
-                        if sub_cls.__name__ == "TubeRack":
-                            plr_d["ordered_items"] = (
-                                _ordering_to_ordered_items(plr_d, ordering)
-                                if ordering
-                                else {}
-                            )
-                    # 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
-                    for key in list(plr_d.keys()):
-                        if (
-                            key not in _META_KEYS
-                            and key not in _DESERIALIZE_PRESERVED_KEYS
-                            and key not in valid_params
-                        ):
-                            plr_d.pop(key, None)
-            for child in plr_d.get("children", []):
-                remove_incompatible_params(child)
-
-        def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
-            """将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
-            from pylabrobot.resources import Tube, Coordinate
-            from pylabrobot.serializer import deserialize as plr_deserialize
-
-            children = plr_d.get("children", [])
-            ordered_items = {}
-            for idx, (ident, child_name) in enumerate(ordering.items()):
-                child_data = children[idx] if idx < len(children) else None
-                if child_data is None:
-                    continue
-                loc_data = child_data.get("location")
-                loc = (
-                    plr_deserialize(loc_data)
-                    if loc_data
-                    else Coordinate(0, 0, 0)
-                )
-                tube = Tube(
-                    name=child_data.get("name", child_name or ident),
-                    size_x=child_data.get("size_x", 10),
-                    size_y=child_data.get("size_y", 10),
-                    size_z=child_data.get("size_z", 50),
-                    max_volume=child_data.get("max_volume", 1000),
-                )
-                tube.location = loc
-                ordered_items[ident] = tube
-            plr_d["children"] = []  # 已并入 ordered_items，避免重复反序列化
-            return ordered_items
-
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -684,7 +604,9 @@ class ResourceTreeSet(object):
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
-                remove_incompatible_params(plr_dict)
+                spec = inspect.signature(sub_cls)
+                if "category" not in spec.parameters:
+                    plr_dict.pop("category", None)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
@@ -698,47 +620,12 @@ class ResourceTreeSet(object):
                 plr_resources.append(plr_resource)
 
             except Exception as e:
-                logger.error(f"转换 PLR 资源失败: {e}")
+                logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
                 import traceback
 
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
-        if requested_uuids:
-            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
-            # 优先使用 tracker.uuid_to_resources；若映射缺失，再递归遍历 PLR 树兜底搜索。
-            def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]:
-                stack = list(roots)
-                while stack:
-                    node = stack.pop()
-                    node_uid = getattr(node, "unilabos_uuid", None)
-                    if node_uid == uid:
-                        return node
-                    children = getattr(node, "children", None) or []
-                    stack.extend(children)
-                return None
-
-            result = []
-            missing_uuids = []
-            for uid in requested_uuids:
-                found = tracker.uuid_to_resources.get(uid)
-                if found is None:
-                    found = _find_plr_by_uuid(plr_resources, uid)
-                    if found is not None:
-                        # 回填缓存，后续相同 uuid 可直接命中
-                        tracker.uuid_to_resources[uid] = found
-                if found is None:
-                    missing_uuids.append(uid)
-                else:
-                    result.append(found)
-
-            if missing_uuids:
-                raise ValueError(
-                    f"请求的 UUID 未在资源树中找到: {missing_uuids}。"
-                    f"可用 UUID 数量: {len(tracker.uuid_to_resources)}，"
-                    f"资源树数量: {len(self.trees)}"
-                )
-            return result
         return plr_resources
 
     @classmethod
@@ -953,14 +840,27 @@ class ResourceTreeSet(object):
                                 f"从远端同步了 {added_count} 个物料子树"
                             )
                     else:
-                        # 情况2: 二级是物料（不是 device）
-                        if remote_child_name not in local_children_map:
-                            # 引入整个子树
-                            remote_child.res_content.parent = local_device.res_content
-                            local_device.children.append(remote_child)
-                            logger.info(f"Device '{remote_root_id}': 从远端同步物料子树 '{remote_child_name}'")
-                        else:
-                            logger.info(f"物料 '{remote_root_id}/{remote_child_name}' 已存在，跳过")
+                        # 二级物料已存在，比较三级子节点是否缺失
+                        local_material = local_children_map[remote_child_name]
+                        local_material_children_map = {child.res_content.name: child for child in
+                                                       local_material.children}
+                        added_count = 0
+                        for remote_sub in remote_child.children:
+                            remote_sub_name = remote_sub.res_content.name
+                            if remote_sub_name not in local_material_children_map:
+                                remote_sub.res_content.parent = local_material.res_content
+                                local_material.children.append(remote_sub)
+                                added_count += 1
+                            else:
+                                logger.info(
+                                    f"物料 '{remote_root_id}/{remote_child_name}/{remote_sub_name}' "
+                                    f"已存在，跳过"
+                                )
+                        if added_count > 0:
+                            logger.info(
+                                f"物料 '{remote_root_id}/{remote_child_name}': "
+                                f"从远端同步了 {added_count} 个子物料"
+                            )
             else:
                 # 情况1: 一级节点是物料（不是 device）
                 # 检查是否已存在

unilabos/ros/main_slave_run.py

@@ -51,7 +51,6 @@ def main(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
-    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 15.0,
 ) -> None:
@@ -78,12 +77,12 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
-        if resources_mesh_resource_list:
-            resources_list = resources_mesh_resource_list
-        else:
-            # fallback: 从 ResourceTreeSet 获取
-            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+            if resources_config
+            else []
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,
@@ -91,7 +90,7 @@ def main(
             device_id="resource_mesh_manager",
             device_uuid=str(uuid.uuid4()),
         )
-        joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker)
+        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
         # lh_joint_pub = LiquidHandlerJointPublisher(
         #     resources_config=resources_list, resource_tracker=host_node.resource_tracker
         # )
@@ -115,7 +114,6 @@ def slave(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
-    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
@@ -210,12 +208,12 @@ def slave(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
-        if resources_mesh_resource_list:
-            resources_list = resources_mesh_resource_list
-        else:
-            # fallback: 从 ResourceTreeSet 获取
-            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+            if resources_config
+            else []
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -23,32 +23,17 @@ from unilabos_msgs.action import SendCmd
 from rclpy.action.server import ServerGoalHandle
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker
 from unilabos.resources.graphio import initialize_resources
-from unilabos.resources.resource_tracker import EXTRA_CLASS
 from unilabos.registry.registry import lab_registry
 
 class ResourceMeshManager(BaseROS2DeviceNode):
-    def __init__(
-        self,
-        resource_model: Optional[dict] = None,
-        resource_config: Optional[list] = None,
-        resource_tracker=None,
-        device_id: str = "resource_mesh_manager",
-        registry_name: str = "",
-        rate=50,
-        **kwargs,
-    ):
+    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
         """初始化资源网格管理器节点
-
+        
         Args:
-            resource_model: 资源模型字典（可选，为 None 时自动从 registry 构建）
-            resource_config: 资源配置列表（可选，为 None 时启动后通过 ActionServer 或 load_from_resource_tree 加载）
-            resource_tracker: 资源追踪器
-            device_id: 节点名称
-            rate: TF 发布频率
+            resource_model (dict): 资源模型字典,包含资源的3D模型信息
+            resource_config (dict): 资源配置字典,包含资源的配置信息
+            device_id (str): 节点名称
         """
-        if resource_tracker is None:
-            resource_tracker = DeviceNodeResourceTracker()
-
         super().__init__(
             driver_instance=self,
             device_id=device_id,
@@ -57,14 +42,12 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             action_value_mappings={},
             hardware_interface={},
             print_publish=False,
-            resource_tracker=resource_tracker,
+            resource_tracker=resource_tracker, 
             device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
-        )
+        ) 
 
-        self.resource_model         = resource_model if resource_model is not None else {}
-        self.resource_config_dict   = (
-            {item['uuid']: item for item in resource_config} if resource_config else {}
-        )
+        self.resource_model         = resource_model
+        self.resource_config_dict   = {item['uuid']: item for item in resource_config}
         self.move_group_ready       = False
         self.resource_tf_dict       = {}
         self.tf_broadcaster         = TransformBroadcaster(self)
@@ -80,7 +63,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute()
         self.msg_type = 'resource_status'
         self.resource_status_dict = {}
-
+        
         callback_group = ReentrantCallbackGroup()
         self._get_planning_scene_service = self.create_client(
             srv_type=GetPlanningScene,
@@ -93,7 +76,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             ),
             callback_group=callback_group,
         )
-
+        
+        # Create a service for applying the planning scene
         self._apply_planning_scene_service = self.create_client(
             srv_type=ApplyPlanningScene,
             srv_name="/apply_planning_scene",
@@ -119,36 +103,27 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             AttachedCollisionObject, "/attached_collision_object", 0
         )
 
+        # 创建一个Action Server用于修改resource_tf_dict
         self._action_server = ActionServer(
             self,
             SendCmd,
             f"tf_update",
             self.tf_update,
-            callback_group=callback_group,
+            callback_group=callback_group
         )
 
+        # 创建一个Action Server用于添加新的资源模型与resource_tf_dict
         self._add_resource_mesh_action_server = ActionServer(
             self,
             SendCmd,
             f"add_resource_mesh",
             self.add_resource_mesh_callback,
-            callback_group=callback_group,
+            callback_group=callback_group
         )
 
-        self._reload_resource_mesh_action_server = ActionServer(
-            self,
-            SendCmd,
-            f"reload_resource_mesh",
-            self._reload_resource_mesh_callback,
-            callback_group=callback_group,
-        )
-
-        if self.resource_config_dict:
-            self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
-        else:
-            self.get_logger().info("未提供 resource_config，将通过 ActionServer 或 load_from_resource_tree 加载")
-        self.create_timer(1 / self.rate, self.publish_resource_tf)
-        self.create_timer(1 / self.rate, self.check_resource_pose_changes)
+        self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
+        self.create_timer(1/self.rate, self.publish_resource_tf)
+        self.create_timer(1/self.rate, self.check_resource_pose_changes)
 
     def check_move_group_ready(self):
         """检查move_group节点是否已初始化完成"""
@@ -165,156 +140,56 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             self.add_resource_collision_meshes(self.resource_tf_dict)
 
        
-    def _build_resource_model_for_config(self, resource_config_dict: dict):
-        """从 registry 中为给定的资源配置自动构建 resource_model（mesh 信息）"""
-        registry = lab_registry
-        for _uuid, res_cfg in resource_config_dict.items():
-            resource_id = res_cfg.get('id', '')
-            resource_class = res_cfg.get('class', '')
-            if not resource_class:
-                continue
-            if resource_class not in registry.resource_type_registry:
-                continue
-            reg_entry = registry.resource_type_registry[resource_class]
-            if 'model' not in reg_entry:
-                continue
-            model_config = reg_entry['model']
-            if model_config.get('type') != 'resource':
-                continue
-            if resource_id in self.resource_model:
-                continue
-            self.resource_model[resource_id] = {
-                'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                'mesh_tf': model_config['mesh_tf'],
-            }
-            if model_config.get('children_mesh') is not None:
-                self.resource_model[f"{resource_id}_"] = {
-                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                    'mesh_tf': model_config['children_mesh_tf'],
-                }
-
-    def load_from_resource_tree(self):
-        """从 resource_tracker 中读取资源树，自动构建 resource_config_dict / resource_model 并刷新 TF"""
-        new_config_dict: dict = {}
-
-        def _collect_plr_resource(res, parent_uuid: Optional[str] = None):
-            res_uuid = getattr(res, 'unilabos_uuid', None)
-            if not res_uuid:
-                res_uuid = str(uuid.uuid4())
-            extra = getattr(res, 'unilabos_extra', {}) or {}
-            resource_class = extra.get(EXTRA_CLASS, '')
-
-            location = getattr(res, 'location', None)
-            pos_x = float(location.x) if location else 0.0
-            pos_y = float(location.y) if location else 0.0
-            pos_z = float(location.z) if location else 0.0
-
-            rotation = extra.get('rotation', {'x': 0, 'y': 0, 'z': 0})
-
-            new_config_dict[res_uuid] = {
-                'id': res.name,
-                'uuid': res_uuid,
-                'class': resource_class,
-                'parent_uuid': parent_uuid,
-                'pose': {
-                    'position': {'x': pos_x, 'y': pos_y, 'z': pos_z},
-                    'rotation': rotation,
-                },
-            }
-
-            for child in getattr(res, 'children', []) or []:
-                _collect_plr_resource(child, res_uuid)
-
-        for resource in self.resource_tracker.resources:
-            root_parent_uuid = None
-            plr_parent = getattr(resource, 'parent', None)
-            if plr_parent is not None:
-                root_parent_uuid = getattr(plr_parent, 'unilabos_uuid', None)
-            _collect_plr_resource(resource, root_parent_uuid)
-
-        if not new_config_dict:
-            self.get_logger().warning("resource_tracker 中没有找到任何资源")
-            return
-
-        self.resource_config_dict = {**self.resource_config_dict, **new_config_dict}
-        self._build_resource_model_for_config(new_config_dict)
-
-        tf_dict = self.resource_mesh_setup(new_config_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
-        self.publish_resource_tf()
-        if self.move_group_ready:
-            self.add_resource_collision_meshes(tf_dict)
-        self.get_logger().info(f"从资源树加载了 {len(new_config_dict)} 个资源")
-
-    def _reload_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
-        """ActionServer 回调：重新从资源树加载所有 mesh"""
-        try:
-            self.load_from_resource_tree()
-        except Exception as e:
-            self.get_logger().error(f"重新加载资源失败: {e}")
-            goal_handle.abort()
-            return SendCmd.Result(success=False)
-        goal_handle.succeed()
-        return SendCmd.Result(success=True)
-
-    def add_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
+    def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle):
         tf_update_msg = goal_handle.request
-        try:
-            parsed = json.loads(tf_update_msg.command.replace("'", '"'))
-            if 'resources' in parsed:
-                for res_config in parsed['resources']:
-                    self.add_resource_mesh(json.dumps(res_config))
-            else:
-                self.add_resource_mesh(tf_update_msg.command)
+        try:    
+            self.add_resource_mesh(tf_update_msg.command)
         except Exception as e:
             self.get_logger().error(f"添加资源失败: {e}")
             goal_handle.abort()
             return SendCmd.Result(success=False)
         goal_handle.succeed()
         return SendCmd.Result(success=True)
+    
+    def add_resource_mesh(self,resource_config_str:str):
+        """刷新资源配置"""
 
-    def add_resource_mesh(self, resource_config_str: str):
-        """添加单个资源的 mesh 配置"""
         registry = lab_registry
-        resource_config = json.loads(resource_config_str.replace("'", '"'))
-
+        resource_config = json.loads(resource_config_str.replace("'",'"'))
+        
         if resource_config['id'] in self.resource_config_dict:
             self.get_logger().info(f'资源 {resource_config["id"]} 已存在')
             return
-        resource_class = resource_config.get('class', '')
-        if resource_class and resource_class in registry.resource_type_registry:
-            reg_entry = registry.resource_type_registry[resource_class]
-            if 'model' in reg_entry:
-                model_config = reg_entry['model']
-                if model_config.get('type') == 'resource':
-                    self.resource_model[resource_config['id']] = {
-                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                        'mesh_tf': model_config['mesh_tf'],
+        if resource_config['class'] in registry.resource_type_registry.keys():
+            model_config = registry.resource_type_registry[resource_config['class']]['model']
+            if model_config['type'] == 'resource':
+                self.resource_model[resource_config['id']] = {
+                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                    'mesh_tf': model_config['mesh_tf']}
+                if 'children_mesh' in model_config.keys():
+                    self.resource_model[f"{resource_config['id']}_"] = {
+                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                        'mesh_tf': model_config['children_mesh_tf']
                     }
-                    if model_config.get('children_mesh') is not None:
-                        self.resource_model[f"{resource_config['id']}_"] = {
-                            'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                            'mesh_tf': model_config['children_mesh_tf'],
-                        }
         resources = initialize_resources([resource_config])
         resource_dict = {item['id']: item for item in resources}
-        self.resource_config_dict = {**self.resource_config_dict, **resource_dict}
+        self.resource_config_dict = {**self.resource_config_dict,**resource_dict}
         tf_dict = self.resource_mesh_setup(resource_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
+        self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict}
         self.publish_resource_tf()
         self.add_resource_collision_meshes(tf_dict)
 
-    def resource_mesh_setup(self, resource_config_dict: dict):
-        """根据资源配置字典设置 TF 关系"""
+
+    def resource_mesh_setup(self, resource_config_dict:dict):
+        """move_group初始化完成后的设置"""
         self.get_logger().info('开始设置资源网格管理器')
+        #遍历resource_config中的资源配置，判断panent是否在resource_model中，
         resource_tf_dict = {}
         for resource_uuid, resource_config in resource_config_dict.items():
             parent = None
             resource_id = resource_config['id']
-            parent_uuid = resource_config.get('parent_uuid')
-            if parent_uuid is not None and parent_uuid != "":
-                parent_entry = resource_config_dict.get(parent_uuid) or self.resource_config_dict.get(parent_uuid)
-                parent = parent_entry['id'] if parent_entry else None
+            if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
+                parent = resource_config_dict[resource_config['parent_uuid']]['id']
 
             parent_link = 'world'
             if parent in self.resource_model:

unilabos/workflow/common.py

@@ -51,7 +51,6 @@
 --------------------------------------------------------------------------------
 - 遍历 workflow 数组，为每个动作创建步骤节点
 - 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
-- 参数输入转换: liquid_height（按 wells 扩展）；mix_stage/mix_times/mix_vol/mix_rate/mix_liquid_height 保持标量
 - 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
     例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
 - 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
@@ -120,14 +119,11 @@ DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动
 # 节点类型
 NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
 
-CLASS_NAMES_MAPPING = {
-    "plate": "PRCXI_BioER_96_wellplate",
-    "tip_rack": "PRCXI_300ul_Tips",
-}
 # create_resource 节点默认参数
 CREATE_RESOURCE_DEFAULTS = {
     "device_id": "/PRCXI",
     "parent_template": "/PRCXI/PRCXI_Deck",
+    "class_name": "PRCXI_BioER_96_wellplate",
 }
 
 # 默认液体体积 (uL)
@@ -371,10 +367,11 @@ def build_protocol_graph(
     """统一的协议图构建函数，根据设备类型自动选择构建逻辑
 
     Args:
-        labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
+        labware_info: reagent 信息字典，格式为 {name: {slot, well}, ...}，用于 set_liquid 和 well 查找
         protocol_steps: 协议步骤列表
         workstation_name: 工作站名称
         action_resource_mapping: action 到 resource_name 的映射字典，可选
+        labware_defs: labware 定义列表，格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...]
     """
     G = WorkflowGraph()
     resource_last_writer = {}  # reagent_name -> "node_id:port"
@@ -382,21 +379,7 @@ def build_protocol_graph(
 
     protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
 
-    # ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
-    # 收集所有唯一的 slot
-    slots_info = {}  # slot -> {labware, res_id}
-    for labware_id, item in labware_info.items():
-        slot = str(item.get("slot", ""))
-        labware = item.get("labware", "")
-        if slot and slot not in slots_info:
-            res_id = f"{labware}_slot_{slot}"
-            slots_info[slot] = {
-                "labware": labware,
-                "res_id": res_id,
-                "labware_id": labware_id,
-                "object": item.get("object", ""),
-            }
-
+    # ==================== 第一步：按 slot 创建 create_resource 节点 ====================
     # 创建 Group 节点，包含所有 create_resource 节点
     group_node_id = str(uuid.uuid4())
     G.add_node(
@@ -412,44 +395,41 @@ def build_protocol_graph(
         param=None,
     )
 
-    trash_create_node_id = None  # 记录 trash 的 create_resource 节点
+    # 直接使用 JSON 中的 labware 定义，每个 slot 一条记录，type 即 class_name
+    res_index = 0
+    for lw in (labware_defs or []):
+        slot = str(lw.get("slot", ""))
+        if not slot or slot in slot_to_create_resource:
+            continue  # 跳过空 slot 或已处理的 slot
 
-    # 为每个唯一的 slot 创建 create_resource 节点
-    for slot, info in slots_info.items():
+        lw_name = lw.get("name", f"slot {slot}")
+        lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"])
+        res_id = f"plate_slot_{slot}"
+
+        res_index += 1
         node_id = str(uuid.uuid4())
-        res_id = info["res_id"]
-        res_type_name = info["labware"].lower().replace(".", "point")
-        object_type = info.get("object", "")
-        res_type_name = f"lab_{res_type_name}"
-        if object_type == "trash":
-            res_type_name = "PRCXI_trash"
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=f"{res_type_name}_slot{slot}",
-            description=f"Create plate on slot {slot}",
+            name=lw_name,
+            description=f"Create {lw_name}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
             device_name=DEVICE_NAME_HOST,
             type=NODE_TYPE_DEFAULT,
-            parent_uuid=group_node_id,  # 指向 Group 节点
-            minimized=True,  # 折叠显示
+            parent_uuid=group_node_id,
+            minimized=True,
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
-                "class_name": res_type_name,
-                "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
+                "class_name": lw_type,
+                "parent": CREATE_RESOURCE_DEFAULTS["parent_template"],
                 "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
                 "slot_on_deck": slot,
             },
         )
         slot_to_create_resource[slot] = node_id
-        if object_type == "tiprack":
-            resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
-        if object_type == "trash":
-            trash_create_node_id = node_id
-        # create_resource 之间不需要 ready 连接
 
     # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
     # 创建 Group 节点，包含所有 set_liquid_from_plate 节点
@@ -484,8 +464,6 @@ def build_protocol_graph(
         # res_id 不能有空格
         res_id = str(labware_id).replace(" ", "_")
         well_count = len(wells)
-        object_type = item.get("object", "")
-        liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
 
         node_id = str(uuid.uuid4())
         set_liquid_index += 1
@@ -506,7 +484,7 @@ def build_protocol_graph(
                 "plate": [],  # 通过连接传递
                 "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
                 "liquid_names": [res_id] * well_count,
-                "volumes": [liquid_volume] * well_count,
+                "volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
             },
         )
 
@@ -520,8 +498,8 @@ def build_protocol_graph(
         # set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
         resource_last_writer[labware_id] = f"{node_id}:output_wells"
 
-    # transfer_liquid 之间通过 ready 串联；若存在 trash 节点，第一个 transfer_liquid 从 trash 的 ready 开始
-    last_control_node_id = trash_create_node_id
+    # transfer_liquid 之间通过 ready 串联，从 None 开始
+    last_control_node_id = None
 
     # 端口名称映射：JSON 字段名 -> 实际 handle key
     INPUT_PORT_MAPPING = {
@@ -533,7 +511,6 @@ def build_protocol_graph(
         "reagent": "reagent",
         "solvent": "solvent",
         "compound": "compound",
-        "tip_racks": "tip_rack_identifier",
     }
 
     OUTPUT_PORT_MAPPING = {
@@ -548,17 +525,8 @@ def build_protocol_graph(
         "compound": "compound",
     }
 
-    # 需要根据 wells 数量扩展的参数列表：
-    # - 复数参数（asp_vols 等）支持单值自动扩展
-    # - liquid_height 按 wells 扩展为数组
-    # - mix_* 参数保持标量，避免被转换为 list
-    EXPAND_BY_WELLS_PARAMS = [
-        "asp_vols",
-        "dis_vols",
-        "asp_flow_rates",
-        "dis_flow_rates",
-        "liquid_height",
-    ]
+    # 需要根据 wells 数量扩展的参数列表（复数形式）
+    EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
 
     # 处理协议步骤
     for step in protocol_steps:
@@ -572,57 +540,6 @@ def build_protocol_graph(
             if old_name in params:
                 params[new_name] = params.pop(old_name)
 
-        # touch_tip 输入归一化：
-        # - 支持 bool / 0/1 / "true"/"false" / 单元素 list
-        # - 最终统一为 bool 标量，避免被下游误当作序列处理
-        if "touch_tip" in params:
-            touch_tip_value = params.get("touch_tip")
-            if isinstance(touch_tip_value, list):
-                if len(touch_tip_value) == 1:
-                    touch_tip_value = touch_tip_value[0]
-                elif len(touch_tip_value) == 0:
-                    touch_tip_value = False
-                else:
-                    warnings.append(f"touch_tip 期望标量，但收到长度为 {len(touch_tip_value)} 的列表，使用首个值")
-                    touch_tip_value = touch_tip_value[0]
-            if isinstance(touch_tip_value, str):
-                norm = touch_tip_value.strip().lower()
-                if norm in {"true", "1", "yes", "y", "on"}:
-                    touch_tip_value = True
-                elif norm in {"false", "0", "no", "n", "off", ""}:
-                    touch_tip_value = False
-                else:
-                    warnings.append(f"touch_tip 字符串值无法识别: {touch_tip_value}，按 True 处理")
-                    touch_tip_value = True
-            elif isinstance(touch_tip_value, (int, float)):
-                touch_tip_value = bool(touch_tip_value)
-            elif touch_tip_value is None:
-                touch_tip_value = False
-            else:
-                touch_tip_value = bool(touch_tip_value)
-            params["touch_tip"] = touch_tip_value
-
-        # delays 输入归一化：
-        # - 支持标量（int/float/字符串数字）与 list
-        # - 最终统一为数字列表，供下游按 delays[0]/delays[1] 使用
-        if "delays" in params:
-            delays_value = params.get("delays")
-            if delays_value is None or delays_value == "":
-                params["delays"] = []
-            else:
-                raw_list = delays_value if isinstance(delays_value, list) else [delays_value]
-                normalized_delays = []
-                for delay_item in raw_list:
-                    if isinstance(delay_item, str):
-                        delay_item = delay_item.strip()
-                        if delay_item == "":
-                            continue
-                    try:
-                        normalized_delays.append(float(delay_item))
-                    except (TypeError, ValueError):
-                        warnings.append(f"delays 包含无法转换为数字的值: {delay_item}，已忽略")
-                params["delays"] = normalized_delays
-
         # 处理输入连接
         for param_key, target_port in INPUT_PORT_MAPPING.items():
             resource_name = params.get(param_key)