diff --git a/unilabos/app/main.py b/unilabos/app/main.py
index ebee015e..c08c1b49 100644
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -18,7 +18,6 @@ if unilabos_dir not in sys.path:
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
 
 def parse_args():
@@ -188,6 +187,7 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:
+            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
             resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
diff --git a/unilabos/app/mq.py b/unilabos/app/mq.py
index 018c65cb..afdde3b4 100644
--- a/unilabos/app/mq.py
+++ b/unilabos/app/mq.py
@@ -26,6 +26,7 @@ class MQTTClient:
     def __init__(self):
         self.mqtt_disable = not MQConfig.lab_id
         self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
+        logger.info("[MQTT] Client_id: " + self.client_id)
         self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
         self._setup_callbacks()
 
diff --git a/unilabos/devices/laiyu_add_solid/__init__.py b/unilabos/devices/laiyu_add_solid/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index 49406931..134dbbb6 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -57,7 +57,7 @@ set(action_files
   "action/ResourceCreateFromOuter.action"
 
   "action/SolidDispenseAddPowderTube.action"
-  
+
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"
diff --git a/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action b/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
new file mode 100644
index 00000000..0611b276
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
@@ -0,0 +1,20 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] reagent_sources
+Resource[] targets
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+int32 mix_time
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action b/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
new file mode 100644
index 00000000..29f9b45b
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
@@ -0,0 +1,6 @@
+float64 seconds
+string msg
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMix.action b/unilabos_msgs/action/DPLiquidHandlerMix.action
new file mode 100644
index 00000000..81d1b71c
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerMix.action
@@ -0,0 +1,11 @@
+Resource[] targets
+int32 mix_time
+int32 mix_vol
+float64 height_to_bottom
+geometry_msgs/Point[] offsets
+float64 mix_rate
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMoveTo.action b/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
new file mode 100644
index 00000000..740d0fc6
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action b/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
new file mode 100644
index 00000000..e6b43c53
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
@@ -0,0 +1,17 @@
+float64[] vols
+Resource[] sources
+Resource waste_liquid
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+int32[] delays
+bool is_96_well
+float64[] top
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action b/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
new file mode 100644
index 00000000..437d3e3f
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTouchTip.action b/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
new file mode 100644
index 00000000..e0c31046
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
@@ -0,0 +1,5 @@
+Resource[] targets
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action b/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
new file mode 100644
index 00000000..39df59bb
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
@@ -0,0 +1,25 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
+Resource[] targets
+Resource[] tip_racks
+int32[] use_channels
+float64[] asp_flow_rates
+float64[] dis_flow_rates
+geometry_msgs/Point[] offsets
+bool touch_tip
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+string mix_stage
+int32[] mix_times
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+int32[] delays
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
new file mode 100644
index 00000000..f92ec2b4
--- /dev/null
+++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
@@ -0,0 +1,10 @@
+string id
+string class
+string parent
+geometry_msgs/Point bind_locations
+int32[] liquid_input_slot
+string[] liquid_type
+float32[] liquid_volume
+---
+bool success
+---