default resource upload mode is false

add parent_name to edge device id

.github/workflows/multi-platform-build.yml

@@ -0,0 +1,132 @@
+name: Multi-Platform Conda Build
+
+on:
+  push:
+    branches: [ main, dev ]
+    tags: [ 'v*' ]
+  pull_request:
+    branches: [ main, dev ]
+  workflow_dispatch:
+    inputs:
+      platforms:
+        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
+        required: false
+        default: 'osx-arm64'
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - os: ubuntu-latest
+          platform: linux-64
+          env_file: unilabos-linux-64.yaml
+        - os: macos-13 # Intel
+          platform: osx-64
+          env_file: unilabos-osx-64.yaml
+        - os: macos-latest # ARM64
+          platform: osx-arm64
+          env_file: unilabos-osx-arm64.yaml
+        - os: windows-latest
+          platform: win-64
+          env_file: unilabos-win64.yaml
+
+    runs-on: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Check if platform should be built
+      id: should_build
+      run: |
+        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        else
+          echo "should_build=false" >> $GITHUB_OUTPUT
+        fi
+
+    - name: Setup Miniconda
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: conda-incubator/setup-miniconda@v3
+      with:
+        miniconda-version: "latest"
+        channels: conda-forge,robostack-staging,defaults
+        channel-priority: strict
+        activate-environment: build-env
+        auto-activate-base: false
+        auto-update-conda: false
+        show-channel-urls: true
+
+    - name: Install boa and build tools
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda install -c conda-forge boa conda-build
+
+    - name: Show environment info
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda info
+        conda list | grep -E "(boa|conda-build)"
+        echo "Platform: ${{ matrix.platform }}"
+        echo "OS: ${{ matrix.os }}"
+
+    - name: Build conda package
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
+        else
+          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
+        fi
+
+    - name: List built packages
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        echo "Built packages in conda-bld:"
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
+        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
+        echo "CONDA_PREFIX: $CONDA_PREFIX"
+        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
+
+    - name: Prepare artifacts for upload
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        mkdir -p ${{ runner.temp }}/conda-packages
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
+        echo "Copied files to temp directory:"
+        ls -la ${{ runner.temp }}/conda-packages/
+
+    - name: Upload conda package artifacts
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: actions/upload-artifact@v4
+      with:
+        name: conda-package-${{ matrix.platform }}
+        path: ${{ runner.temp }}/conda-packages
+        if-no-files-found: warn
+        retention-days: 30
+
+    - name: Create release assets (on tags)
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      run: |
+        mkdir -p release-assets
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
+
+    - name: Upload to release
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      uses: softprops/action-gh-release@v1
+      with:
+        files: release-assets/*
+        draft: false
+        prerelease: false

.gitignore

@@ -233,3 +233,8 @@ CATKIN_IGNORE
 /**/local_config.py
 
 *.graphml
+unilabos/device_mesh/view_robot.rviz
+
+
+# Certs
+**/.certs

MANIFEST.in

@@ -1,3 +1,5 @@
 recursive-include unilabos/registry *.yaml
 recursive-include unilabos/app/web *.html
 recursive-include unilabos/app/web *.css
+recursive-include unilabos/device_mesh/devices *
+recursive-include unilabos/device_mesh/resources *

README.md

@@ -12,7 +12,11 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab Operating System is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+
+## 🏆 Competition
+
+Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
 
 ## Key Features
 
@@ -45,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.6-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -12,7 +12,11 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+
+## 🏆 比赛
+
+欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
 
 ## 核心特点
 
@@ -45,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.6-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/macos_sdk_config.yaml

@@ -0,0 +1,7 @@
+CONDA_BUILD_SYSROOT:
+  - /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
+MACOSX_DEPLOYMENT_TARGET:
+  - "11.0"
+CONDA_SUBDIR:
+  - osx-arm64
+# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.1
+  version: 0.9.6
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work
@@ -50,12 +50,12 @@ requirements:
     - robostack-staging::ros-humble-rosidl-default-generators
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
+    - robostack-staging::ros2-distro-mutex=0.5.*
   run:
     - robostack-staging::ros-humble-action-msgs
     - robostack-staging::ros-humble-ros-workspace
     - robostack-staging::ros-humble-rosidl-default-runtime
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
+#    - robostack-staging::ros2-distro-mutex=0.6.*
     - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.1"
+  version: "0.9.6"
 
 source:
   path: ../..

setup.cfg

@@ -1,4 +1,2 @@
-[develop]
-script_dir=$base/lib/unilabos
 [install]
 install_scripts=$base/lib/unilabos

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.1',
+    version='0.9.6',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/commands/resource_add.md

@@ -3,3 +3,9 @@
 ```bash
 ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', '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': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
 ```
+
+使用mock_all.json启动，重新捕获MockContainerForChiller1
+
+```bash
+ros2 action send_goal /devices/host_node/create_resource unilabos_msgs/action/_resource_create_from_outer_easy/ResourceCreateFromOuterEasy "{ 'res_id': 'MockContainerForChiller1', 'device_id': 'MockChiller1', 'class_name': 'container', 'parent': 'MockChiller1', 'bind_locations': { 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'liquid_input_slot': [ -1 ], 'liquid_type': [ 'CuCl2' ], 'liquid_volume': [ 100.0 ], 'slot_on_deck': '' }"
+```

test/experiments/biomek.json

@@ -0,0 +1,22 @@
+{
+    "nodes": [
+        {
+            "id": "BIOMEK",
+            "name": "BIOMEK",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler.biomek",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {},
+            "children": [
+            ]
+        }
+    ],
+    "links": []
+}

test/experiments/comprehensive_protocol/checklist.md

@@ -0,0 +1,32 @@
+1. 用到的仪器
+                virtual_multiway_valve()                                                        八通阀门
+                virtual_transfer_pump()                                                         转移泵
+                virtual_centrifuge()                                                            离心机
+                virtual_rotavap()                                                               旋蒸仪
+                virtual_heatchill()                                                             加热器
+                virtual_stirrer()                                                               搅拌器
+                virtual_solenoid_valve()                                                        电磁阀
+                vacuum_pump()                       vacuum_pump.mock                            真空泵
+                gas_source()                                                                    气源
+                virtual_filter()                                                                过滤器
+                virtual_column(√)                                                               层析柱
+                separator()                         homemade_grbl_conductivity                  分液漏斗
+2. 用到的protocol
+                AddProtocol()
+                TransferProtocol()                  应该用pump_protocol.py删掉transfer
+                StartStirProtocol()
+                StopStirProtocol()
+                StirProtocol()
+                RunColumnProtocol()
+                CentrifugeProtocol()
+                FilterProtocol()
+                CleanVesselProtocol()
+                DissolveProtocol()
+                FilterThroughProtocol()
+                WashSolidProtocol()
+                SeparateProtocol(√)
+                EvaporateProtocol(√)
+                HeatChillProtocol()
+                HeatChillStartProtocol()
+                HeatChillStopProtocol()
+                EvacuateAndRefillProtocol(√)

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -0,0 +1,882 @@
+{
+    "nodes": [
+        {
+            "id": "ComprehensiveProtocolStation",
+            "name": "综合协议测试工作站",
+            "children": [
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "reagent_bottle_1",
+                "reagent_bottle_2",
+                "reagent_bottle_3",
+                "reagent_bottle_4",
+                "reagent_bottle_5",
+                "centrifuge_1",
+                "rotavap_1",
+                "main_reactor",
+                "heater_1",
+                "stirrer_1",
+                "stirrer_2",
+                "waste_bottle_1",
+                "waste_bottle_2",
+                "solenoid_valve_1",
+                "solenoid_valve_2",
+                "vacuum_pump_1",
+                "gas_source_1",
+                "filter_1",
+                "column_1",
+                "separator_1",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "collection_bottle_3"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 600,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "AddProtocol",
+                    "TransferProtocol",
+                    "StartStirProtocol",
+                    "StopStirProtocol",
+                    "StirProtocol",
+                    "RunColumnProtocol",
+                    "CentrifugeProtocol",
+                    "FilterProtocol",
+                    "CleanVesselProtocol",
+                    "DissolveProtocol",
+                    "FilterThroughProtocol",
+                    "WashSolidProtocol",
+                    "SeparateProtocol",
+                    "EvaporateProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol",
+                    "EvacuateAndRefillProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀门1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "positions": 8
+            },
+            "data": {
+                "valve_state": "Ready",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "八通阀门2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "positions": 8
+            },
+            "data": {
+                "valve_state": "Ready",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 350,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 25.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 850,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 25.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "reagent_bottle_1",
+            "name": "试剂瓶1-DMF",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "DMF"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "DMF"
+            }
+        },
+        {
+            "id": "reagent_bottle_2",
+            "name": "试剂瓶2-乙酸乙酯",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "ethyl_acetate"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "ethyl_acetate"
+            }
+        },
+        {
+            "id": "reagent_bottle_3",
+            "name": "试剂瓶3-己烷",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "hexane"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "hexane"
+            }
+        },
+        {
+            "id": "reagent_bottle_4",
+            "name": "试剂瓶4-甲醇",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "methanol"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "methanol"
+            }
+        },
+        {
+            "id": "reagent_bottle_5",
+            "name": "试剂瓶5-水",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "water"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "water"
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "current_speed": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "rotavap_1",
+            "name": "旋转蒸发仪",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_rotavap",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 180.0,
+                "max_rotation_speed": 280.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "volume": 500.0,
+                "max_temp": 200.0,
+                "min_temp": -20.0,
+                "has_stirrer": true,
+                "has_heater": true
+            },
+            "data": {
+                "current_volume": 0.0,
+                "current_temp": 25.0
+            }
+        },
+        {
+            "id": "heater_1",
+            "name": "加热器",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 450,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 200.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 350,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 2000.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_speed": 0.0
+            }
+        },
+                {
+            "id": "stirrer_2",
+            "name": "搅拌器2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 351,
+                "y": 451,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 2000.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_speed": 0.0
+            }
+        },
+        {
+            "id": "waste_bottle_1",
+            "name": "废液瓶1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 500,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "volume": 2000.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "waste_bottle_2",
+            "name": "废液瓶2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 2000.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "solenoid_valve_1",
+            "name": "电磁阀1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 700,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "voltage": 12.0,
+                "response_time": 0.1
+            },
+            "data": {
+                "valve_state": "Closed",
+                "is_open": false
+            }
+        },
+        {
+            "id": "solenoid_valve_2",
+            "name": "电磁阀2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 700,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "voltage": 12.0,
+                "response_time": 0.1
+            },
+            "data": {
+                "valve_state": "Closed",
+                "is_open": false
+            }
+        },
+        {
+            "id": "vacuum_pump_1",
+            "name": "真空泵",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_vacuum_pump",
+            "position": {
+                "x": 650,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "max_vacuum": 0.1,
+                "pump_rate": 50.0
+            },
+            "data": {
+                "status": "Off",
+                "current_vacuum": 1.0
+            }
+        },
+        {
+            "id": "gas_source_1",
+            "name": "气源",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 650,
+                "y": 150,
+                "z": 0
+            },
+            "config": {},
+            "data": {
+                "gas_type": "nitrogen",
+                "max_pressure": 5.0
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 900,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "filter_type": "membrane",
+                "max_pressure": 5.0
+            },
+            "data": {
+                "status": "Ready",
+                "pressure": 0.0
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "洗脱柱",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 950,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "column_type": "silica_gel",
+                "length": 30.0,
+                "diameter": 2.5
+            },
+            "data": {
+                "status": "Ready",
+                "loaded": false
+            }
+        },
+        {
+            "id": "separator_1",
+            "name": "分液器",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "device",
+            "class": "virtual_separator",
+            "position": {
+                "x": 1000,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0,
+                "has_phases": true
+            },
+            "data": {
+                "status": "Ready",
+                "phase_separation": false
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "接收瓶1",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "接收瓶2",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "collection_bottle_3",
+            "name": "接收瓶3",
+            "children": [],
+            "parent": "ComprehensiveProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1050,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_valve1_pump1",
+            "source": "multiway_valve_1",
+            "target": "transfer_pump_1",
+            "source_port": "port_0",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_0"
+            }
+        },
+        {
+            "id": "link_valve1_reagent1",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_1",
+            "source_port": "port_1",
+            "target_port": "outlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_1"
+            }
+        },
+        {
+            "id": "link_valve1_reagent2",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_2",
+            "source_port": "port_2",
+            "target_port": "outlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_2"
+            }
+        },
+        {
+            "id": "link_valve1_reagent3",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_3",
+            "source_port": "port_3",
+            "target_port": "outlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_3"
+            }
+        },
+        {
+            "id": "link_valve1_centrifuge",
+            "source": "multiway_valve_1",
+            "target": "centrifuge_1",
+            "source_port": "port_4",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_4"
+            }
+        },
+        {
+            "id": "link_valve1_rotavap",
+            "source": "multiway_valve_1",
+            "target": "rotavap_1",
+            "source_port": "port_5",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_5"
+            }
+        },
+        {
+            "id": "link_valve1_reactor",
+            "source": "multiway_valve_1",
+            "target": "main_reactor",
+            "source_port": "port_6",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_6"
+            }
+        },
+        {
+            "id": "link_valve1_waste1",
+            "source": "multiway_valve_1",
+            "target": "waste_bottle_1",
+            "source_port": "port_7",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_7"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "source_port": "port_8",
+            "target_port": "port_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "port_8",
+                "multiway_valve_2": "port_1"
+            }
+        },
+        {
+            "id": "link_valve2_pump2",
+            "source": "multiway_valve_2",
+            "target": "transfer_pump_2",
+            "source_port": "port_0",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_0"
+            }
+        },
+        {
+            "id": "link_valve2_solenoid1",
+            "source": "multiway_valve_2",
+            "target": "solenoid_valve_1",
+            "source_port": "port_2",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_2"
+            }
+        },
+        {
+            "id": "link_solenoid1_vacuum",
+            "source": "solenoid_valve_1",
+            "target": "vacuum_pump_1",
+            "source_port": "outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_valve2_solenoid2",
+            "source": "multiway_valve_2",
+            "target": "solenoid_valve_2",
+            "source_port": "port_3",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_3"
+            }
+        },
+        {
+            "id": "link_solenoid2_gas",
+            "source": "solenoid_valve_2",
+            "target": "gas_source_1",
+            "source_port": "outlet",
+            "target_port": "outlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_valve2_filter",
+            "source": "multiway_valve_2",
+            "target": "filter_1",
+            "source_port": "port_4",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_4"
+            }
+        },
+        {
+            "id": "link_filter_collection1",
+            "source": "filter_1",
+            "target": "collection_bottle_1",
+            "source_port": "filtrate_outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_valve2_column",
+            "source": "multiway_valve_2",
+            "target": "column_1",
+            "source_port": "port_5",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_5"
+            }
+        },
+        {
+            "id": "link_column_collection2",
+            "source": "column_1",
+            "target": "collection_bottle_2",
+            "source_port": "outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_valve2_separator",
+            "source": "multiway_valve_2",
+            "target": "separator_1",
+            "source_port": "port_6",
+            "target_port": "inlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_6"
+            }
+        },
+        {
+            "id": "link_separator_collection3",
+            "source": "separator_1",
+            "target": "collection_bottle_3",
+            "source_port": "top_outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+      {
+            "id": "link_separator_stirrer_2",
+            "source": "separator_1",
+            "target": "stirrer_2",
+            "source_port": "top_outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_separator_waste2",
+            "source": "separator_1",
+            "target": "waste_bottle_2",
+            "source_port": "bottom_outlet",
+            "target_port": "inlet",
+            "type": "fluid"
+        },
+        {
+            "id": "link_valve2_reagent4",
+            "source": "multiway_valve_2",
+            "target": "reagent_bottle_4",
+            "source_port": "port_7",
+            "target_port": "outlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_7"
+            }
+        },
+        {
+            "id": "link_valve2_reagent5",
+            "source": "multiway_valve_2",
+            "target": "reagent_bottle_5",
+            "source_port": "port_8",
+            "target_port": "outlet",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "port_8"
+            }
+        },
+        {
+            "id": "mech_stirrer_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "fluid"
+        },
+        {
+            "id": "thermal_heater_reactor",
+            "source": "heater_1",
+            "target": "main_reactor",
+            "type": "fluid"
+        }
+    ]
+}

test/experiments/mock_devices/mock_all.json

@@ -0,0 +1,314 @@
+{
+    "nodes": [
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [
+                "MockContainerForChiller1"
+            ],
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        },
+        {
+            "id": "MockContainerForChiller1",
+            "name": "模拟容器",
+            "type": "container",
+            "parent": "MockChiller1",
+            "position": {
+                "x": 5,
+                "y": 0,
+                "z": 0
+            },
+            "data": {
+                "liquid_type": "CuCl2",
+                "liquid_volume": "100"
+            },
+            "children": []
+        },
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        },
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        },
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        },
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        },
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        },
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        },
+        {  
+            "id": "MockStirrer1NEW",  
+            "name": "模拟搅拌器(new)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        },
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        },
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_chiller.json

@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_filter.json

@@ -0,0 +1,36 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_heater.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_pump.json

@@ -0,0 +1,44 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_rotavap.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_separator.json

@@ -0,0 +1,43 @@
+{
+    "nodes": [
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_solenoid_valve.json

@@ -0,0 +1,25 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer_new.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1COPY",  
+            "name": "模拟搅拌器(Copy)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_vacuum.json

@@ -0,0 +1,31 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_protocol/addteststation.json

@@ -0,0 +1,376 @@
+{
+    "nodes": [
+        {
+            "id": "AddTestStation",
+            "name": "添加试剂测试工作站",
+            "children": [
+                "transfer_pump",
+                "multiway_valve", 
+                "stirrer",
+                "flask_reagent1",
+                "flask_reagent2",
+                "flask_reagent3",
+                "flask_reagent4",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing",
+                "flask_buffer"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump",
+            "name": "注射器泵",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve",
+            "name": "八通阀门",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 420,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "status": "Idle",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 720,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_reagent1",
+            "name": "试剂瓶1 (甲醇)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "甲醇",
+                        "volume": 800.0,
+                        "concentration": "99.9%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent2",
+            "name": "试剂瓶2 (乙醇)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 180,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "乙醇",
+                        "volume": 750.0,
+                        "concentration": "95%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent3",
+            "name": "试剂瓶3 (丙酮)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 260,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "丙酮",
+                        "volume": 900.0,
+                        "concentration": "99.5%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent4",
+            "name": "试剂瓶4 (二氯甲烷)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 340,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "二氯甲烷",
+                        "volume": 850.0,
+                        "concentration": "99.8%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 720,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "去离子水",
+                        "volume": 800.0,
+                        "concentration": "纯净"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "磷酸盐缓冲液",
+                        "volume": 700.0,
+                        "concentration": "0.1M, pH 7.4"
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump",
+            "target": "multiway_valve",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "syringe-port",
+                "multiway_valve": "multiway-valve-inlet"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent1",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-1",
+                "flask_reagent1": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent2",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-2",
+                "flask_reagent2": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent3",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-3",
+                "flask_reagent3": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent4",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-4",
+                "flask_reagent4": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-6",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-7",
+                "flask_rinsing": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-8",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "stirrer-vessel",
+                "reactor": "bottom"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/centrifugeteststation.json

@@ -0,0 +1,271 @@
+{
+    "nodes": [
+        {
+            "id": "CentrifugeTestStation",
+            "name": "离心机测试工作站",
+            "children": [
+                "pump_add",
+                "flask_1",
+                "flask_2", 
+                "flask_3",
+                "reactor",
+                "stirrer",
+                "centrifuge_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "CentrifugeProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_1",
+            "name": "样品瓶1",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_2",
+            "name": "样品瓶2",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_3",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_1",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_3",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_3": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_1",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_1": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_2",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_2": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/cleanvesselteststation.json

@@ -0,0 +1,362 @@
+{
+    "nodes": [
+        {
+            "id": "CleanVesselTestStation",
+            "name": "容器清洗测试工作站",
+            "children": [
+                "transfer_pump_cleaner",
+                "heatchill_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_waste",
+                "reactor",
+                "flask_buffer",
+                "flask_sample",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["CleanVesselProtocol", "TransferProtocol", "AddProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_cleaner",
+            "name": "清洗转移泵",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 1800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "residue",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "4",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "8",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/dissolveteststation.json

@@ -0,0 +1,343 @@
+{
+    "nodes": [
+        {
+            "id": "DissolveTestStation",
+            "name": "溶解测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_dmso",
+                "reactor",
+                "flask_sample",
+                "flask_buffer"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["DissolveProtocol", "TransferProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_dmso",
+            "name": "DMSO溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "dmso",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_sample",
+                        "volume": 10.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_dmso",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_dmso": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterteststation.json

@@ -0,0 +1,270 @@
+{
+    "nodes": [
+        {
+            "id": "FilterTestStation",
+            "name": "过滤器测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_filtrate", 
+                "flask_buffer",
+                "reactor",
+                "stirrer",
+                "filter_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_filtrate",
+            "name": "滤液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_filtrate",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_filtrate": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "flask_sample": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_filtrate",
+            "type": "logical",
+            "port": {
+                "filter_1": "output",
+                "flask_filtrate": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterthroughteststation.json

@@ -0,0 +1,388 @@
+{
+    "nodes": [
+        {
+            "id": "FilterThroughTestStation",
+            "name": "过滤通过测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "flask_celite",
+                "flask_silica"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["FilterThroughProtocol", "TransferProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_product",
+                        "volume": 200.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "sample_mixture",
+                        "volume": 100.0,
+                        "concentration": 50.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_celite",
+            "name": "硅藻土容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "celite",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_silica",
+            "name": "硅胶容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "silica",
+                        "volume": 30.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/heatchillteststation.json

@@ -0,0 +1,262 @@
+{
+    "nodes": [
+        {
+            "id": "HeatChillTestStation",
+            "name": "加热冷却测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "heatchill_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/runcolumnteststation.json

@@ -0,0 +1,412 @@
+{
+    "nodes": [
+        {
+            "id": "RunColumnTestStation",
+            "name": "柱层析测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "column_1",
+                "flask_sample",
+                "flask_hexane",
+                "flask_ethyl_acetate",
+                "flask_methanol",
+                "collection_flask_1",
+                "collection_flask_2",
+                "collection_flask_3",
+                "waste_flask",
+                "reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["RunColumnProtocol", "TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "柱层析设备",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5
+            },
+            "data": {
+                "status": "Idle",
+                "column_state": "Ready",
+                "current_flow_rate": 0.0,
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5,
+                "processed_volume": 0.0,
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_mixture",
+                        "volume": 200.0,
+                        "concentration": 70.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "hexane",
+                        "volume": 1500.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethyl_acetate",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 750,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1050,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1200,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "reaction_mixture",
+                        "volume": 300.0,
+                        "concentration": 85.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_hexane",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_hexane": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethyl_acetate",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_ethyl_acetate": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "column_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "column_1": "inlet"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "collection_flask_3": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "10",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_3": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/stirteststation.json

@@ -0,0 +1,250 @@
+{
+    "nodes": [
+        {
+            "id": "StirTestStation",
+            "name": "搅拌测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "flask_waste",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "添加泵",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/transferteststation.json

@@ -0,0 +1,249 @@
+{
+    "nodes": [
+        {
+            "id": "TransferTestStation",
+            "name": "液体转移测试工作站",
+            "children": [
+                "transfer_pump",
+                "flask_source1",
+                "flask_source2",
+                "flask_target1",
+                "flask_target2",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump",
+            "name": "转移泵",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_source1",
+            "name": "源容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_source2",
+            "name": "源容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target1",
+            "name": "目标容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target2",
+            "name": "目标容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump",
+            "target": "flask_source1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_source2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_rinsing": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/washsolidteststation.json

@@ -0,0 +1,494 @@
+{
+    "nodes": [
+        {
+            "id": "WashSolidTestStation",
+            "name": "固体清洗测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_acetone",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "filtrate_flask"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["WashSolidProtocol", "TransferProtocol", "FilterProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 850.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 800.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_product",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_solid",
+                        "volume": 30.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filtrate_flask",
+            "name": "滤液收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "filtrate_flask": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "filtrate_flask": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_reactor.json

@@ -30,14 +30,17 @@
             "children": [],
             "parent": "ReactorX",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
                 "z": 0
             },
             "config": {
-                "max_volume": 5000.0
+                "max_volume": 5000.0,
+                "size_x": 200.0,
+                "size_y": 200.0,
+                "size_z": 200.0
             },
             "data": {
                 "liquid": [
@@ -71,7 +74,7 @@
             "type": "device",
             "class": "solenoid_valve.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 780,
                 "y": 171,
                 "z": 0
             },
@@ -89,7 +92,7 @@
             "type": "device",
             "class": "vacuum_pump.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 500,
                 "y": 171,
                 "z": 0
             },
@@ -107,7 +110,7 @@
             "type": "device",
             "class": "gas_source.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 900,
                 "y": 171,
                 "z": 0
             },

test/experiments/test_moveit.json

@@ -0,0 +1,35 @@
+{
+    "nodes": [
+
+        {
+            "id": "benyao",
+            "name": "benyao",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "moveit.arm_slider",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "moveit_type": "arm_slider",
+                "joint_poses": {
+                    "arm": {
+                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
+                        "pick": [1.2, 0.0, 0.0, 0.0, 0.0]
+                    }
+                },
+                "device_config": {
+                }
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

unilabos/app/backend.py

@@ -8,6 +8,7 @@ def start_backend(
     backend: str,
     devices_config: dict = {},
     resources_config: list = [],
+    resources_edge_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
@@ -31,7 +32,7 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
         name="backend_thread",
         daemon=True,
     )

unilabos/app/main.py

@@ -10,6 +10,8 @@ from copy import deepcopy
 
 import yaml
 
+from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -134,29 +136,30 @@ def main():
 
     # 注册表
     build_registry(args_dict["registry_path"])
-
+    resource_edge_info = []
     devices_and_resources = None
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
-        graph_res.physical_setup_graph = (
+        if args_dict["graph"].endswith(".json"):
-            read_node_link_json(args_dict["graph"])
+            graph, data = read_node_link_json(args_dict["graph"])
-            if args_dict["graph"].endswith(".json")
+        else:
-            else read_graphml(args_dict["graph"])
+            graph, data = read_graphml(args_dict["graph"])
-        )
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
         devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
-        args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        args_dict["resources_config"] = list(devices_and_resources.values())
         args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-        # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
-
         args_dict["graph"] = graph_res.physical_setup_graph
     else:
         if args_dict["devices"] is None or args_dict["resources"] is None:
             print_status("Either graph or devices and resources must be provided.", "error")
             sys.exit(1)
         args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
-        args_dict["resources_config"] = initialize_resources(
+        # args_dict["resources_config"] = initialize_resources(
-            list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
-        )
+        # )
+        args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
 
     print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
     for i in args_dict["resources_config"]:
@@ -183,6 +186,7 @@ def main():
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
+    args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"

unilabos/app/mq.py

@@ -1,6 +1,7 @@
 import json
 import time
 import traceback
+from typing import Optional
 import uuid
 
 import paho.mqtt.client as mqtt
@@ -161,12 +162,14 @@ class MQTTClient:
         status = {"data": device_status.get(device_id, {}), "device_id": device_id}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.critical(f"Device status published: address: {address}, {status}")
+        logger.debug(f"Device status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:
             return
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
+        if return_info is None:
+            return_info = "{}"
+        jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
     def publish_registry(self, device_id: str, device_info: dict):

unilabos/app/web/client.py

@@ -30,22 +30,44 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
         Args:
             resources: 要添加的资源列表
-
+            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/",
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,
         )
+        if response.status_code != 200:
+            logger.error(f"添加物料关系失败: {response.text}")
+        return response
+
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
+        """
+        添加资源
+
+        Args:
+            resources: 要添加的资源列表
+            database_process_later: 后台处理资源
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=5,
+        )
+        if response.status_code != 200:
+            logger.error(f"添加物料失败: {response.text}")
         return response
 
     def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
@@ -60,7 +82,7 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/",
+            f"{self.remote_addr}/lab/resource/?edge_format=1",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,
@@ -96,7 +118,7 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.patch(
-            f"{self.remote_addr}/lab/resource/batch_update/",
+            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,

unilabos/app/web/pages.py

@@ -16,7 +16,6 @@ from jinja2 import Environment, FileSystemLoader
 
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
-from unilabos.app.mq import mqtt_client
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.utils.log import error
 from unilabos.utils.type_check import TypeEncoder

unilabos/compile/__init__.py

@@ -5,6 +5,17 @@ from .separate_protocol import generate_separate_protocol
 from .evaporate_protocol import generate_evaporate_protocol
 from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
 from .agv_transfer_protocol import generate_agv_transfer_protocol
+from .add_protocol import generate_add_protocol
+from .centrifuge_protocol import generate_centrifuge_protocol
+from .filter_protocol import generate_filter_protocol
+from .heatchill_protocol import generate_heat_chill_protocol, generate_heat_chill_start_protocol, generate_heat_chill_stop_protocol
+from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
+from .transfer_protocol import generate_transfer_protocol
+from .clean_vessel_protocol import generate_clean_vessel_protocol
+from .dissolve_protocol import generate_dissolve_protocol
+from .filter_through_protocol import generate_filter_through_protocol
+from .run_column_protocol import generate_run_column_protocol
+from .wash_solid_protocol import generate_wash_solid_protocol
 
 
 # Define a dictionary of protocol generators.
@@ -15,5 +26,19 @@ action_protocol_generators = {
     EvaporateProtocol: generate_evaporate_protocol,
     EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
+    CentrifugeProtocol: generate_centrifuge_protocol,
+    AddProtocol: generate_add_protocol,
+    FilterProtocol: generate_filter_protocol,
+    HeatChillProtocol: generate_heat_chill_protocol,
+    HeatChillStartProtocol: generate_heat_chill_start_protocol,
+    HeatChillStopProtocol: generate_heat_chill_stop_protocol,
+    StirProtocol: generate_stir_protocol,
+    StartStirProtocol: generate_start_stir_protocol,
+    StopStirProtocol: generate_stop_stir_protocol,
+    TransferProtocol: generate_transfer_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,
+    DissolveProtocol: generate_dissolve_protocol,
+    FilterThroughProtocol: generate_filter_through_protocol,
+    RunColumnProtocol: generate_run_column_protocol,
+    WashSolidProtocol: generate_wash_solid_protocol,
 }
-# End Protocols

unilabos/compile/add_protocol.py

@@ -0,0 +1,288 @@
+import networkx as nx  
+from typing import List, Dict, Any  
+  
+def generate_add_protocol(  
+    G: nx.DiGraph,  
+    vessel: str,  
+    reagent: str,  
+    volume: float,  
+    mass: float,  
+    amount: str,  
+    time: float,  
+    stir: bool,  
+    stir_speed: float,  
+    viscous: bool,  
+    purpose: str  
+) -> List[Dict[str, Any]]:  
+    """  
+    生成添加试剂的协议序列
+    
+    流程：
+    1. 找到包含目标试剂的试剂瓶
+    2. 配置八通阀门到试剂瓶位置
+    3. 使用注射器泵吸取试剂
+    4. 配置八通阀门到反应器位置  
+    5. 使用注射器泵推送试剂到反应器
+    6. 如果需要，启动搅拌
+    """  
+    action_sequence = []  
+    
+    # 验证目标容器存在
+    if vessel not in G.nodes():
+        raise ValueError(f"目标容器 {vessel} 不存在")
+    
+    # 如果指定了体积，执行液体转移  
+    if volume > 0:  
+        # 1. 查找注射器泵 (transfer pump)
+        transfer_pump_nodes = [node for node in G.nodes() 
+                              if G.nodes[node].get('class') == 'virtual_transfer_pump']
+        
+        if not transfer_pump_nodes:
+            raise ValueError("没有找到可用的注射器泵 (virtual_transfer_pump)")
+            
+        transfer_pump_id = transfer_pump_nodes[0]
+        
+        # 2. 查找八通阀门
+        multiway_valve_nodes = [node for node in G.nodes() 
+                               if G.nodes[node].get('class') == 'virtual_multiway_valve']
+        
+        if not multiway_valve_nodes:
+            raise ValueError("没有找到可用的八通阀门 (virtual_multiway_valve)")
+            
+        valve_id = multiway_valve_nodes[0]
+        
+        # 3. 查找包含指定试剂的试剂瓶
+        reagent_vessel = None
+        available_flasks = [node for node in G.nodes() 
+                           if node.startswith('flask_') 
+                           and G.nodes[node].get('type') == 'container']
+        
+        # 简化：使用第一个可用的试剂瓶，实际应该根据试剂名称匹配
+        if available_flasks:
+            reagent_vessel = available_flasks[0]
+        else:
+            raise ValueError("没有找到可用的试剂容器")
+        
+        # 4. 获取试剂瓶和反应器对应的阀门位置
+        # 这需要根据实际连接图来确定，这里假设：
+        reagent_valve_position = 1  # 试剂瓶连接到阀门位置1
+        reactor_valve_position = 2  # 反应器连接到阀门位置2
+        
+        # 5. 执行添加操作序列
+        
+        # 5.1 设置阀门到试剂瓶位置
+        action_sequence.append({
+            "device_id": valve_id,
+            "action_name": "set_position",
+            "action_kwargs": {
+                "position": reagent_valve_position
+            }
+        })
+        
+        # 5.2 使用注射器泵从试剂瓶吸取液体
+        action_sequence.append({
+            "device_id": transfer_pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": reagent_vessel,
+                "to_vessel": transfer_pump_id,  # 吸入到注射器
+                "volume": volume,
+                "amount": amount,
+                "time": time / 2,  # 吸取时间为总时间的一半
+                "viscous": viscous,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 5.3 设置阀门到反应器位置
+        action_sequence.append({
+            "device_id": valve_id,
+            "action_name": "set_position",
+            "action_kwargs": {
+                "position": reactor_valve_position
+            }
+        })
+        
+        # 5.4 使用注射器泵将液体推送到反应器
+        action_sequence.append({
+            "device_id": transfer_pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": transfer_pump_id,  # 从注射器推出
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": amount,
+                "time": time / 2,  # 推送时间为总时间的一半
+                "viscous": viscous,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+      
+    # 6. 如果需要搅拌，启动搅拌器
+    if stir:  
+        stirrer_nodes = [node for node in G.nodes()   
+                        if G.nodes[node].get('class') == 'virtual_stirrer']  
+          
+        if stirrer_nodes:  
+            stirrer_id = stirrer_nodes[0]  
+            action_sequence.append({  
+                "device_id": stirrer_id,  
+                "action_name": "start_stir",
+                "action_kwargs": {  
+                    "vessel": vessel,
+                    "stir_speed": stir_speed,
+                    "purpose": f"添加 {reagent} 后搅拌混合"
+                }  
+            })  
+        else:
+            print("警告：需要搅拌但未找到搅拌设备")
+      
+    return action_sequence
+
+
+def find_valve_position_for_vessel(G: nx.DiGraph, valve_id: str, vessel_id: str) -> int:
+    """
+    根据连接图找到容器对应的阀门位置
+    
+    Args:
+        G: 网络图
+        valve_id: 阀门设备ID
+        vessel_id: 容器ID
+    
+    Returns:
+        int: 阀门位置编号 (1-8)
+    """
+    # 查找阀门到容器的连接
+    edges = G.edges(data=True)
+    
+    for source, target, data in edges:
+        if source == valve_id and target == vessel_id:
+            # 从连接数据中提取端口信息
+            port_info = data.get('port', {})
+            valve_port = port_info.get(valve_id, '')
+            
+            # 解析端口名称获取位置编号
+            if valve_port.startswith('multiway-valve-port-'):
+                position = valve_port.split('-')[-1]
+                return int(position)
+    
+    # 默认返回位置1
+    return 1
+
+
+def generate_add_with_autodiscovery(
+    G: nx.DiGraph,  
+    vessel: str,  
+    reagent: str,  
+    volume: float,  
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    智能添加协议生成器 - 自动发现设备连接关系
+    """
+    action_sequence = []
+    
+    # 查找必需的设备
+    devices = {
+        'transfer_pump': None,
+        'multiway_valve': None,
+        'stirrer': None
+    }
+    
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class')
+        if node_class == 'virtual_transfer_pump':
+            devices['transfer_pump'] = node
+        elif node_class == 'virtual_multiway_valve':
+            devices['multiway_valve'] = node
+        elif node_class == 'virtual_stirrer':
+            devices['stirrer'] = node
+    
+    # 验证必需设备
+    if not devices['transfer_pump']:
+        raise ValueError("缺少注射器泵设备")
+    if not devices['multiway_valve']:
+        raise ValueError("缺少八通阀门设备")
+    
+    # 查找试剂容器
+    reagent_vessels = [node for node in G.nodes() 
+                      if node.startswith('flask_') 
+                      and G.nodes[node].get('type') == 'container']
+    
+    if not reagent_vessels:
+        raise ValueError("没有找到试剂容器")
+    
+    # 执行添加流程
+    reagent_vessel = reagent_vessels[0]
+    reagent_pos = find_valve_position_for_vessel(G, devices['multiway_valve'], reagent_vessel)
+    reactor_pos = find_valve_position_for_vessel(G, devices['multiway_valve'], vessel)
+    
+    # 生成操作序列
+    action_sequence.extend([
+        # 切换到试剂瓶
+        {
+            "device_id": devices['multiway_valve'],
+            "action_name": "set_position",
+            "action_kwargs": {"position": reagent_pos}
+        },
+        # 吸取试剂
+        {
+            "device_id": devices['transfer_pump'],
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": reagent_vessel,
+                "to_vessel": devices['transfer_pump'],
+                "volume": volume,
+                "amount": kwargs.get('amount', ''),
+                "time": kwargs.get('time', 10.0) / 2,
+                "viscous": kwargs.get('viscous', False),
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        },
+        # 切换到反应器
+        {
+            "device_id": devices['multiway_valve'],
+            "action_name": "set_position",
+            "action_kwargs": {"position": reactor_pos}
+        },
+        # 推送到反应器
+        {
+            "device_id": devices['transfer_pump'],
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": devices['transfer_pump'],
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": kwargs.get('amount', ''),
+                "time": kwargs.get('time', 10.0) / 2,
+                "viscous": kwargs.get('viscous', False),
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        }
+    ])
+    
+    # 如果需要搅拌
+    if kwargs.get('stir', False) and devices['stirrer']:
+        action_sequence.append({
+            "device_id": devices['stirrer'],
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "stir_speed": kwargs.get('stir_speed', 300.0),
+                "purpose": f"添加 {reagent} 后混合"
+            }
+        })
+    
+    return action_sequence

unilabos/compile/centrifuge_protocol.py

@@ -0,0 +1,123 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    speed: float,
+    time: float,
+    temp: float = 25.0
+) -> List[Dict[str, Any]]:
+    """
+    生成离心操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 离心容器名称
+        speed: 离心速度 (rpm)
+        time: 离心时间 (秒)
+        temp: 温度 (摄氏度，可选)
+    
+    Returns:
+        List[Dict[str, Any]]: 离心操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到离心机设备时抛出异常
+    
+    Examples:
+        centrifuge_protocol = generate_centrifuge_protocol(G, "reactor", 5000, 300, 4.0)
+    """
+    action_sequence = []
+    
+    # 查找离心机设备
+    centrifuge_nodes = [node for node in G.nodes() 
+                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    
+    if not centrifuge_nodes:
+        raise ValueError("没有找到可用的离心机设备")
+    
+    # 使用第一个可用的离心机
+    centrifuge_id = centrifuge_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 执行离心操作
+    action_sequence.append({
+        "device_id": centrifuge_id,
+        "action_name": "centrifuge",
+        "action_kwargs": {
+            "vessel": vessel,
+            "speed": speed,
+            "time": time,
+            "temp": temp
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_multi_step_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    steps: List[Dict[str, Any]]
+) -> List[Dict[str, Any]]:
+    """
+    生成多步骤离心操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 离心容器名称
+        steps: 离心步骤列表，每个步骤包含 speed, time, temp 参数
+    
+    Returns:
+        List[Dict[str, Any]]: 多步骤离心操作的动作序列
+    
+    Examples:
+        steps = [
+            {"speed": 1000, "time": 60, "temp": 4.0},   # 低速预离心
+            {"speed": 12000, "time": 600, "temp": 4.0}  # 高速离心
+        ]
+        protocol = generate_multi_step_centrifuge_protocol(G, "reactor", steps)
+    """
+    action_sequence = []
+    
+    # 查找离心机设备
+    centrifuge_nodes = [node for node in G.nodes() 
+                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    
+    if not centrifuge_nodes:
+        raise ValueError("没有找到可用的离心机设备")
+    
+    centrifuge_id = centrifuge_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 执行每个离心步骤
+    for i, step in enumerate(steps):
+        speed = step.get('speed', 5000)
+        time = step.get('time', 300)
+        temp = step.get('temp', 25.0)
+        
+        action_sequence.append({
+            "device_id": centrifuge_id,
+            "action_name": "centrifuge",
+            "action_kwargs": {
+                "vessel": vessel,
+                "speed": speed,
+                "time": time,
+                "temp": temp
+            }
+        })
+        
+        # 步骤间等待时间（除了最后一步）
+        if i < len(steps) - 1:
+            action_sequence.append({
+                "action_name": "wait", 
+                "action_kwargs": {"time": 3}
+            })
+    
+    return action_sequence

unilabos/compile/clean_vessel_protocol.py

@@ -0,0 +1,126 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_clean_vessel_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    temp: float,
+    repeats: int = 1
+) -> List[Dict[str, Any]]:
+    """
+    生成容器清洗操作的协议序列，使用transfer操作实现清洗
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 要清洗的容器名称
+        solvent: 用于清洗容器的溶剂名称
+        volume: 清洗溶剂的体积
+        temp: 清洗时的温度
+        repeats: 清洗操作的重复次数，默认为 1
+    
+    Returns:
+        List[Dict[str, Any]]: 容器清洗操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        clean_vessel_protocol = generate_clean_vessel_protocol(G, "reactor", "water", 50.0, 25.0, 2)
+    """
+    action_sequence = []
+    
+    # 查找虚拟转移泵设备进行清洗操作
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备进行容器清洗")
+    
+    pump_id = pump_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        raise ValueError(f"溶剂容器 {solvent_vessel} 不存在于图中")
+    
+    # 查找废液容器
+    waste_vessel = "flask_waste"
+    if waste_vessel not in G.nodes():
+        raise ValueError(f"废液容器 {waste_vessel} 不存在于图中")
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 执行清洗操作序列
+    for repeat in range(repeats):
+        # 1. 如果需要加热，先设置温度
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": "cleaning"
+                }
+            })
+        
+        # 2. 使用transfer操作：从溶剂容器转移清洗溶剂到目标容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"cleaning with {solvent} - cycle {repeat + 1}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 3. 等待清洗作用时间（可选，可以添加wait操作）
+        # 这里省略wait操作，直接进行下一步
+        
+        # 4. 将清洗后的溶剂转移到废液容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": vessel,
+                "to_vessel": waste_vessel,
+                "volume": volume,
+                "amount": f"waste from cleaning {vessel} - cycle {repeat + 1}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 5. 如果加热了，停止加热
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_stop",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+    
+    return action_sequence

unilabos/compile/dissolve_protocol.py

@@ -0,0 +1,162 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    temp: float = 25.0,
+    time: float = 0.0,
+    stir_speed: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成溶解操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 装有要溶解物质的容器名称
+        solvent: 用于溶解物质的溶剂名称
+        volume: 溶剂的体积，可选参数
+        amount: 要溶解物质的量，可选参数
+        temp: 溶解时的温度，可选参数
+        time: 溶解的时间，可选参数
+        stir_speed: 搅拌速度，可选参数
+    
+    Returns:
+        List[Dict[str, Any]]: 溶解操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        dissolve_protocol = generate_dissolve_protocol(G, "reactor", "water", 100.0, "NaCl 5g", 60.0, 300.0, 500.0)
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        # 如果没有找到特定溶剂容器，查找可用的源容器
+        available_vessels = [node for node in G.nodes() 
+                           if node.startswith('flask_') and 
+                           G.nodes[node].get('type') == 'container']
+        if available_vessels:
+            solvent_vessel = available_vessels[0]
+        else:
+            raise ValueError(f"没有找到溶剂容器 {solvent}")
+    
+    # 查找转移泵设备
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 查找搅拌设备（如果需要搅拌）
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
+    
+    # 步骤1：如果需要加热，先设置温度
+    if temp > 25.0 and heatchill_id:
+        action_sequence.append({
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": temp,
+                "purpose": "dissolution"
+            }
+        })
+    
+    # 步骤2：添加溶剂到容器中
+    if volume > 0:
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"solvent {solvent} for dissolving {amount}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+    
+    # 步骤3：如果需要搅拌，开始搅拌
+    if stir_speed > 0 and stirrer_id:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "stir_speed": stir_speed,
+                "purpose": f"dissolving {amount} in {solvent}"
+            }
+        })
+    
+    # 步骤4：如果指定了溶解时间，等待溶解完成
+    if time > 0:
+        # 这里可以添加等待操作，或者使用搅拌操作来模拟溶解时间
+        if stirrer_id and stir_speed > 0:
+            # 停止之前的搅拌，使用定时搅拌
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stop_stir",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+            
+            # 开始定时搅拌
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stir",
+                "action_kwargs": {
+                    "stir_time": time,
+                    "stir_speed": stir_speed,
+                    "settling_time": 10.0  # 搅拌后静置10秒
+                }
+            })
+    
+    # 步骤5：如果加热了，停止加热
+    if temp > 25.0 and heatchill_id:
+        action_sequence.append({
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": vessel
+            }
+        })
+    
+    # 步骤6：如果还在搅拌，停止搅拌（除非已经用定时搅拌）
+    if stir_speed > 0 and stirrer_id and time == 0:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {
+                "vessel": vessel
+            }
+        })
+    
+    return action_sequence

unilabos/compile/evacuateandrefill_protocol.py

@@ -69,14 +69,14 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["pump"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "ON"
+                    "string": "ON"
                 }
             },
             {
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             }
         ])
@@ -106,14 +106,14 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["pump"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             },
             {
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "ON"
+                    "string": "ON"
                 }
             }
         ])
@@ -125,7 +125,7 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             }
         )

unilabos/compile/filter_protocol.py

@@ -0,0 +1,70 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = "",
+    stir: bool = False,
+    stir_speed: float = 300.0,
+    temp: float = 25.0,
+    continue_heatchill: bool = False,
+    volume: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成过滤操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 过滤容器
+        filtrate_vessel: 滤液容器（可选）
+        stir: 是否搅拌
+        stir_speed: 搅拌速度（可选）
+        temp: 温度（可选，摄氏度）
+        continue_heatchill: 是否继续加热冷却
+        volume: 过滤体积（可选）
+    
+    Returns:
+        List[Dict[str, Any]]: 过滤操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到过滤设备时抛出异常
+    
+    Examples:
+        filter_protocol = generate_filter_protocol(G, "reactor", "filtrate_vessel", stir=True, volume=100.0)
+    """
+    action_sequence = []
+    
+    # 查找过滤设备
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    if not filter_nodes:
+        raise ValueError("没有找到可用的过滤设备")
+    
+    # 使用第一个可用的过滤器
+    filter_id = filter_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"过滤容器 {vessel} 不存在于图中")
+    
+    if filtrate_vessel and filtrate_vessel not in G.nodes():
+        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    
+    # 执行过滤操作
+    action_sequence.append({
+        "device_id": filter_id,
+        "action_name": "filter_sample",
+        "action_kwargs": {
+            "vessel": vessel,
+            "filtrate_vessel": filtrate_vessel,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "temp": temp,
+            "continue_heatchill": continue_heatchill,
+            "volume": volume
+        }
+    })
+    
+    return action_sequence

unilabos/compile/filter_through_protocol.py

@@ -0,0 +1,150 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_filter_through_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    filter_through: str,
+    eluting_solvent: str = "",
+    eluting_volume: float = 0.0,
+    eluting_repeats: int = 0,
+    residence_time: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成通过过滤介质过滤的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器的名称，即物质起始所在的容器
+        to_vessel: 目标容器的名称，物质过滤后要到达的容器
+        filter_through: 过滤时所通过的介质，如滤纸、柱子等
+        eluting_solvent: 洗脱溶剂的名称，可选参数
+        eluting_volume: 洗脱溶剂的体积，可选参数
+        eluting_repeats: 洗脱操作的重复次数，默认为 0
+        residence_time: 物质在过滤介质中的停留时间，可选参数
+    
+    Returns:
+        List[Dict[str, Any]]: 过滤操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        filter_through_protocol = generate_filter_through_protocol(
+            G, "reactor", "collection_flask", "celite", "ethanol", 50.0, 2, 60.0
+        )
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于液体转移）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找过滤设备（可选，如果有专门的过滤设备）
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    filter_id = filter_nodes[0] if filter_nodes else None
+    
+    # 查找洗脱溶剂容器（如果需要洗脱）
+    eluting_vessel = None
+    if eluting_solvent and eluting_volume > 0:
+        eluting_vessel = f"flask_{eluting_solvent}"
+        if eluting_vessel not in G.nodes():
+            # 查找可用的溶剂容器
+            available_vessels = [node for node in G.nodes() 
+                               if node.startswith('flask_') and 
+                               G.nodes[node].get('type') == 'container']
+            if available_vessels:
+                eluting_vessel = available_vessels[0]
+            else:
+                raise ValueError(f"没有找到洗脱溶剂容器 {eluting_solvent}")
+    
+    # 步骤1：将样品从源容器转移到过滤装置（模拟通过过滤介质）
+    # 这里我们将过滤过程分解为多个转移步骤来模拟通过介质的过程
+    
+    # 首先转移样品（模拟样品通过过滤介质）
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": to_vessel,
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"通过 {filter_through} 过滤",
+            "time": residence_time if residence_time > 0 else 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": True  # 通过过滤介质可能涉及固体分离
+        }
+    })
+    
+    # 步骤2：如果有专门的过滤设备，使用过滤设备处理
+    if filter_id:
+        action_sequence.append({
+            "device_id": filter_id,
+            "action_name": "filter_sample",
+            "action_kwargs": {
+                "vessel": to_vessel,
+                "filtrate_vessel": to_vessel,
+                "stir": False,
+                "stir_speed": 0.0,
+                "temp": 25.0,
+                "continue_heatchill": False,
+                "volume": 0.0
+            }
+        })
+    
+    # 步骤3：洗脱操作（如果指定了洗脱溶剂和重复次数）
+    if eluting_solvent and eluting_volume > 0 and eluting_repeats > 0 and eluting_vessel:
+        for repeat in range(eluting_repeats):
+            # 添加洗脱溶剂
+            action_sequence.append({
+                "device_id": pump_id,
+                "action_name": "transfer",
+                "action_kwargs": {
+                    "from_vessel": eluting_vessel,
+                    "to_vessel": to_vessel,
+                    "volume": eluting_volume,
+                    "amount": f"洗脱溶剂 {eluting_solvent} - 第 {repeat + 1} 次",
+                    "time": 0.0,
+                    "viscous": False,
+                    "rinsing_solvent": "",
+                    "rinsing_volume": 0.0,
+                    "rinsing_repeats": 0,
+                    "solid": False
+                }
+            })
+            
+            # 如果有过滤设备，再次过滤洗脱液
+            if filter_id:
+                action_sequence.append({
+                    "device_id": filter_id,
+                    "action_name": "filter_sample",
+                    "action_kwargs": {
+                        "vessel": to_vessel,
+                        "filtrate_vessel": to_vessel,
+                        "stir": False,
+                        "stir_speed": 0.0,
+                        "temp": 25.0,
+                        "continue_heatchill": False,
+                        "volume": eluting_volume
+                    }
+                })
+    
+    return action_sequence

unilabos/compile/heatchill_protocol.py

@@ -0,0 +1,117 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_heat_chill_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    time: float,
+    stir: bool,
+    stir_speed: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成加热/冷却操作的协议序列 - 严格按照 HeatChill.action
+    """
+    action_sequence = []
+    
+    # 查找加热/冷却设备
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": temp,
+            "time": time,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_heat_chill_start_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成开始加热/冷却操作的协议序列 - 严格按照 HeatChillStart.action
+    """
+    action_sequence = []
+    
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": temp,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_heat_chill_stop_protocol(
+    G: nx.DiGraph,
+    vessel: str
+) -> List[Dict[str, Any]]:
+    """
+    生成停止加热/冷却操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 容器名称
+    
+    Returns:
+        List[Dict[str, Any]]: 停止加热/冷却操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找加热/冷却设备
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_stop",
+        "action_kwargs": {
+            "vessel": vessel
+        }
+    })
+    
+    return action_sequence

unilabos/compile/pump_protocol.py

@@ -2,6 +2,31 @@ import numpy as np
 import networkx as nx
 
 
+def is_integrated_pump(node_name):
+    return "pump" in node_name and "valve" in node_name
+
+
+def find_connected_pump(G, valve_node):
+    for neighbor in G.neighbors(valve_node):
+        if "pump" in G.nodes[neighbor]["class"]:
+            return neighbor
+    raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
+
+
+def build_pump_valve_maps(G, pump_backbone):
+    pumps_from_node = {}
+    valve_from_node = {}
+    for node in pump_backbone:
+        if is_integrated_pump(node):
+            pumps_from_node[node] = node
+            valve_from_node[node] = node
+        else:
+            pump_node = find_connected_pump(G, node)
+            pumps_from_node[node] = pump_node
+            valve_from_node[node] = node
+    return pumps_from_node, valve_from_node
+
+
 def generate_pump_protocol(
         G: nx.DiGraph,
         from_vessel: str,
@@ -38,7 +63,9 @@ def generate_pump_protocol(
     if transfer_flowrate == 0:
         transfer_flowrate = flowrate
 
-    min_transfer_volume = min([nodes[pump]["max_volume"] for pump in pump_backbone])
+    pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
+
+    min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
     repeats = int(np.ceil(volume / min_transfer_volume))
     if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
         raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
@@ -51,14 +78,14 @@ def generate_pump_protocol(
         if not from_vessel.startswith("pump"):
             pump_action_sequence.extend([
                 {
-                    "device_id": pump_backbone[0], 
+                    "device_id": valve_from_node[pump_backbone[0]],
                     "action_name": "set_valve_position",
                     "action_kwargs": {
                         "command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
                     }
                 },
                 {
-                    "device_id": pump_backbone[0], 
+                    "device_id": pumps_from_node[pump_backbone[0]],
                     "action_name": "set_position",
                     "action_kwargs": {
                         "position": float(min(volume_left, min_transfer_volume)),
@@ -67,28 +94,28 @@ def generate_pump_protocol(
                 }
             ])
             pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
-        for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
+        for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
             # 相邻两泵同时切换阀门至连通位置
             pump_action_sequence.append([
                 {
-                "device_id": pumpA,
+                    "device_id": valve_from_node[nodeA],
                     "action_name": "set_valve_position",
                     "action_kwargs": {
-                    "command": G.get_edge_data(pumpA, pumpB)["port"][pumpA]
+                        "command": G.get_edge_data(nodeA, nodeB)["port"][nodeA]
                     }
                 },
                 {
-                "device_id": pumpB, 
+                    "device_id": valve_from_node[nodeB],
                     "action_name": "set_valve_position",
                     "action_kwargs": {
-                    "command": G.get_edge_data(pumpB, pumpA)["port"][pumpB],
+                        "command": G.get_edge_data(nodeB, nodeA)["port"][nodeB],
                     }
                 }
             ])
             # 相邻两泵液体转移：泵A排出液体，泵B吸入液体
             pump_action_sequence.append([
                 {
-                "device_id": pumpA,
+                    "device_id": pumps_from_node[nodeA],
                     "action_name": "set_position",
                     "action_kwargs": {
                         "position": 0.0,
@@ -96,7 +123,7 @@ def generate_pump_protocol(
                     }
                 },
                 {
-                "device_id": pumpB, 
+                    "device_id": pumps_from_node[nodeB],
                     "action_name": "set_position",
                     "action_kwargs": {
                         "position": float(min(volume_left, min_transfer_volume)),
@@ -110,14 +137,14 @@ def generate_pump_protocol(
             # 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
             pump_action_sequence.extend([
                 {
-                    "device_id": pump_backbone[-1], 
+                    "device_id": valve_from_node[pump_backbone[-1]],
                     "action_name": "set_valve_position",
                     "action_kwargs": {
                         "command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
                     }
                 },
                 {
-                    "device_id": pump_backbone[-1], 
+                    "device_id": pumps_from_node[pump_backbone[-1]],
                     "action_name": "set_position",
                     "action_kwargs": {
                         "position": 0.0,
@@ -180,15 +207,19 @@ def generate_pump_protocol_with_rinsing(
     shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
     pump_backbone = shortest_path[1: -1]
     nodes = G.nodes(data=True)
-    min_transfer_volume = float(min([nodes[pump]["max_volume"] for pump in pump_backbone]))
+
+    pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
+
+    min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
     if time != 0:
         flowrate = transfer_flowrate = volume / time
 
     pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
-    if rinsing_solvent != "air":
+    if rinsing_solvent != "air" and rinsing_solvent != "":
         if "," in rinsing_solvent:
             rinsing_solvents = rinsing_solvent.split(",")
-            assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
+            assert len(
+                rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
         else:
             rinsing_solvents = [rinsing_solvent] * rinsing_repeats
 
@@ -196,18 +227,28 @@ def generate_pump_protocol_with_rinsing(
             solvent_vessel = f"flask_{rinsing_solvent}"
             # 清洗泵
             pump_action_sequence.extend(
-                generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
+                generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate,
-                generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
+                                       transfer_flowrate) +
-                generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
+                generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate,
+                                       transfer_flowrate) +
+                generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate,
+                                       transfer_flowrate)
             )
             # 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
             if rinsing_solvent == rinsing_solvents[0]:
-                pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                pump_action_sequence.extend(
-                pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                    generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
-            pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                pump_action_sequence.extend(
-            pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                    generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
-    pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
+            pump_action_sequence.extend(
-    pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
+                generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
+            pump_action_sequence.extend(
+                generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
+    if rinsing_solvent != "":
+        pump_action_sequence.extend(
+            generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
+        pump_action_sequence.extend(
+            generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
 
     return pump_action_sequence
 # End Protocols

unilabos/compile/run_column_protocol.py

@@ -0,0 +1,102 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_run_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column: str
+) -> List[Dict[str, Any]]:
+    """
+    生成柱层析分离的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器的名称，即样品起始所在的容器
+        to_vessel: 目标容器的名称，分离后的样品要到达的容器
+        column: 所使用的柱子的名称
+    
+    Returns:
+        List[Dict[str, Any]]: 柱层析分离操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        run_column_protocol = generate_run_column_protocol(G, "reactor", "collection_flask", "silica_column")
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于样品转移）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找柱层析设备
+    column_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_column']
+    
+    if not column_nodes:
+        raise ValueError("没有找到可用的柱层析设备")
+    
+    column_id = column_nodes[0]
+    
+    # 步骤1：将样品从源容器转移到柱子上
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": column_id,  # 将样品转移到柱子设备
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"样品上柱 - 使用 {column}",
+            "time": 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": False
+        }
+    })
+    
+    # 步骤2：运行柱层析分离
+    action_sequence.append({
+        "device_id": column_id,
+        "action_name": "run_column",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": to_vessel,
+            "column": column
+        }
+    })
+    
+    # 步骤3：将分离后的产物从柱子转移到目标容器
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": column_id,  # 从柱子设备转移
+            "to_vessel": to_vessel,
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"收集分离产物 - 来自 {column}",
+            "time": 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": False
+        }
+    })
+    
+    return action_sequence

unilabos/compile/stir_protocol.py

@@ -0,0 +1,137 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_stir_protocol(
+    G: nx.DiGraph,
+    stir_time: float,
+    stir_speed: float,
+    settling_time: float
+) -> List[Dict[str, Any]]:
+    """
+    生成搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        stir_time: 搅拌时间 (秒)
+        stir_speed: 搅拌速度 (rpm)
+        settling_time: 沉降时间 (秒)
+    
+    Returns:
+        List[Dict[str, Any]]: 搅拌操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到搅拌设备时抛出异常
+    
+    Examples:
+        stir_protocol = generate_stir_protocol(G, 300.0, 500.0, 60.0)
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    # 使用第一个可用的搅拌器
+    stirrer_id = stirrer_nodes[0]
+    
+    # 执行搅拌操作
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "stir",
+        "action_kwargs": {
+            "stir_time": stir_time,
+            "stir_speed": stir_speed,
+            "settling_time": settling_time
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_start_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    stir_speed: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成开始搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 搅拌容器
+        stir_speed: 搅拌速度 (rpm)
+        purpose: 搅拌目的
+    
+    Returns:
+        List[Dict[str, Any]]: 开始搅拌操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    stirrer_id = stirrer_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "start_stir",
+        "action_kwargs": {
+            "vessel": vessel,
+            "stir_speed": stir_speed,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_stop_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str
+) -> List[Dict[str, Any]]:
+    """
+    生成停止搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 搅拌容器
+    
+    Returns:
+        List[Dict[str, Any]]: 停止搅拌操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    stirrer_id = stirrer_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "stop_stir",
+        "action_kwargs": {
+            "vessel": vessel
+        }
+    })
+    
+    return action_sequence

unilabos/compile/transfer_protocol.py

@@ -0,0 +1,79 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_transfer_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    volume: float,
+    amount: str = "",
+    time: float = 0,
+    viscous: bool = False,
+    rinsing_solvent: str = "",
+    rinsing_volume: float = 0.0,
+    rinsing_repeats: int = 0,
+    solid: bool = False
+) -> List[Dict[str, Any]]:
+    """
+    生成液体转移操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器
+        to_vessel: 目标容器
+        volume: 转移体积 (mL)
+        amount: 数量描述 (可选)
+        time: 转移时间 (秒，可选)
+        viscous: 是否为粘性液体
+        rinsing_solvent: 冲洗溶剂 (可选)
+        rinsing_volume: 冲洗体积 (mL，可选)
+        rinsing_repeats: 冲洗重复次数
+        solid: 是否涉及固体
+    
+    Returns:
+        List[Dict[str, Any]]: 转移操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到合适的转移设备时抛出异常
+    
+    Examples:
+        transfer_protocol = generate_transfer_protocol(G, "flask_1", "reactor", 10.0)
+    """
+    action_sequence = []
+    
+    # 查找虚拟转移泵设备用于液体转移 - 修复：应该查找 virtual_transfer_pump
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备进行液体转移")
+    
+    # 使用第一个可用的泵
+    pump_id = pump_nodes[0]
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 执行液体转移操作 - 参数完全匹配Transfer.action
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": to_vessel,
+            "volume": volume,
+            "amount": amount,
+            "time": time,
+            "viscous": viscous,
+            "rinsing_solvent": rinsing_solvent,
+            "rinsing_volume": rinsing_volume,
+            "rinsing_repeats": rinsing_repeats,
+            "solid": solid
+        }
+    })
+    
+    return action_sequence

unilabos/compile/wash_solid_protocol.py

@@ -0,0 +1,216 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_wash_solid_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    filtrate_vessel: str = "",
+    temp: float = 25.0,
+    stir: bool = False,
+    stir_speed: float = 0.0,
+    time: float = 0.0,
+    repeats: int = 1
+) -> List[Dict[str, Any]]:
+    """
+    生成固体清洗的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 装有固体物质的容器名称
+        solvent: 用于清洗固体的溶剂名称
+        volume: 清洗溶剂的体积
+        filtrate_vessel: 滤液要收集到的容器名称，可选参数
+        temp: 清洗时的温度，可选参数
+        stir: 是否在清洗过程中搅拌，默认为 False
+        stir_speed: 搅拌速度，可选参数
+        time: 清洗的时间，可选参数
+        repeats: 清洗操作的重复次数，默认为 1
+    
+    Returns:
+        List[Dict[str, Any]]: 固体清洗操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        wash_solid_protocol = generate_wash_solid_protocol(
+            G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
+        )
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"固体容器 {vessel} 不存在于图中")
+    
+    if filtrate_vessel and filtrate_vessel not in G.nodes():
+        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于添加溶剂和转移滤液）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 查找搅拌设备（如果需要搅拌）
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
+    
+    # 查找过滤设备（用于分离固体和滤液）
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    filter_id = filter_nodes[0] if filter_nodes else None
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        # 如果没有找到特定溶剂容器，查找可用的源容器
+        available_vessels = [node for node in G.nodes() 
+                           if node.startswith('flask_') and 
+                           G.nodes[node].get('type') == 'container']
+        if available_vessels:
+            solvent_vessel = available_vessels[0]
+        else:
+            raise ValueError(f"没有找到溶剂容器 {solvent}")
+    
+    # 如果没有指定滤液容器，使用废液容器
+    if not filtrate_vessel:
+        waste_vessels = [node for node in G.nodes() 
+                        if 'waste' in node.lower() and 
+                        G.nodes[node].get('type') == 'container']
+        filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
+    
+    # 重复清洗操作
+    for repeat in range(repeats):
+        repeat_num = repeat + 1
+        
+        # 步骤1：如果需要加热，先设置温度
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": f"固体清洗 - 第 {repeat_num} 次"
+                }
+            })
+        
+        # 步骤2：添加清洗溶剂到固体容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 步骤3：如果需要搅拌，开始搅拌
+        if stir and stir_speed > 0 and stirrer_id:
+            if time > 0:
+                # 定时搅拌
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "stir",
+                    "action_kwargs": {
+                        "stir_time": time,
+                        "stir_speed": stir_speed,
+                        "settling_time": 30.0  # 搅拌后静置30秒
+                    }
+                })
+            else:
+                # 开始搅拌（需要手动停止）
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
+                    }
+                })
+        
+        # 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
+        if time > 0 and (not stir or stir_speed == 0):
+            # 这里可以添加等待操作，暂时跳过
+            pass
+        
+        # 步骤5：如果有搅拌且没有定时，停止搅拌
+        if stir and stir_speed > 0 and time == 0 and stirrer_id:
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stop_stir",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+        
+        # 步骤6：过滤分离固体和滤液
+        if filter_id:
+            action_sequence.append({
+                "device_id": filter_id,
+                "action_name": "filter_sample",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "filtrate_vessel": filtrate_vessel,
+                    "stir": False,
+                    "stir_speed": 0.0,
+                    "temp": temp,
+                    "continue_heatchill": temp > 25.0,
+                    "volume": volume
+                }
+            })
+        else:
+            # 没有专门的过滤设备，使用转移泵模拟过滤过程
+            # 将滤液转移到滤液容器
+            action_sequence.append({
+                "device_id": pump_id,
+                "action_name": "transfer",
+                "action_kwargs": {
+                    "from_vessel": vessel,
+                    "to_vessel": filtrate_vessel,
+                    "volume": volume,
+                    "amount": f"转移滤液 - 第 {repeat_num} 次清洗",
+                    "time": 0.0,
+                    "viscous": False,
+                    "rinsing_solvent": "",
+                    "rinsing_volume": 0.0,
+                    "rinsing_repeats": 0,
+                    "solid": False
+                }
+            })
+        
+        # 步骤7：如果加热了，停止加热（在最后一次清洗后）
+        if temp > 25.0 and heatchill_id and repeat_num == repeats:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_stop",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+    
+    return action_sequence

unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03

unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml

@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml

@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}arm_slider" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/arm_slider/config/move_group.json

@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}

unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml

@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true

unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml

@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml

@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

unilabos/device_mesh/devices/arm_slider/joint_limit.yaml

@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03

unilabos/device_mesh/devices/arm_slider/macro_device.xacro

@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
+
+  <xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03

unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml

@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml

@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}benyao_arm" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/move_group.json

@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}

unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml

@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true

unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml

@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml

@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml

@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03

unilabos/device_mesh/devices/benyao_arm/macro_device.xacro

@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+
+  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro

@@ -3,11 +3,10 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:macro name="opentrons_liquid_handler" 
-  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0 mesh_path:=''">
-
 
     <joint name="${station_name}${device_name}base_link_joint" type="fixed">
-      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
       <parent link="${parent_link}"/>
       <child link="${station_name}${device_name}device_link"/>
       <axis xyz="0 0 0"/>