diff --git a/unilabos/registry/device_comms/serial.yaml b/unilabos/registry/device_comms/serial.yaml
index 97e6051..4e8f776 100644
--- a/unilabos/registry/device_comms/serial.yaml
+++ b/unilabos/registry/device_comms/serial.yaml
@@ -100,3 +100,4 @@ serial:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml
index 788e714..3e9cb1d 100644
--- a/unilabos/registry/devices/camera.yaml
+++ b/unilabos/registry/devices/camera.yaml
@@ -67,3 +67,4 @@ camera:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml
index a627c9e..88be207 100644
--- a/unilabos/registry/devices/characterization_optic.yaml
+++ b/unilabos/registry/devices/characterization_optic.yaml
@@ -131,7 +131,7 @@ hplc.agilent:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -215,6 +215,7 @@ hplc.agilent:
       - finish_status
       - data_file
       type: object
+  version: 0.0.1
 raman_home_made:
   class:
     action_value_mappings:
@@ -340,7 +341,7 @@ raman_home_made:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -401,3 +402,4 @@ raman_home_made:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/hotel.yaml b/unilabos/registry/devices/hotel.yaml
index 95d23bd..98a6785 100644
--- a/unilabos/registry/devices/hotel.yaml
+++ b/unilabos/registry/devices/hotel.yaml
@@ -29,3 +29,4 @@ hotel.thermo_orbitor_rs2_hotel:
   model:
     mesh: thermo_orbitor_rs2_hotel
     type: device
+  version: 0.0.1
diff --git a/unilabos/registry/devices/laiyu_add_solid.yaml b/unilabos/registry/devices/laiyu_add_solid.yaml
index 5421a5f..07c802b 100644
--- a/unilabos/registry/devices/laiyu_add_solid.yaml
+++ b/unilabos/registry/devices/laiyu_add_solid.yaml
@@ -15,7 +15,7 @@ laiyu_add_solid:
         result:
           actual_mass_mg: actual_mass_mg
         schema:
-          description: 向目标粉筒位置添加固体粉末。该函数通过Modbus RTU协议与设备通信，控制粉末分装机将指定质量的粉末添加到目标粉筒位置。支持精确称量和批量处理，适用于实验室化学试剂的自动分装。
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -114,7 +114,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 执行出料操作，传入出料质量（单位0.1mg）
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -154,7 +154,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 移动到某个孔板位置。
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -198,7 +198,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 按照坐标移动，单位为0.1mm
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -244,7 +244,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 装载粉筒，传入粉筒编号
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -286,7 +286,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 放回粉筒
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -326,7 +326,7 @@ laiyu_add_solid:
         handles: []
         result: {}
         schema:
-          description: 重置指令
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -379,3 +379,4 @@ laiyu_add_solid:
       required:
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 8e56225..3812043 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -88,7 +88,7 @@ liquid_handler:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerAdd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -397,7 +397,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerAspirate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -770,7 +770,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerDiscardTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -853,7 +853,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerDispense 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1040,7 +1040,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerDropTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1207,7 +1207,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerDropTips96 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1371,7 +1371,7 @@ liquid_handler:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerMix 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1588,7 +1588,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerMoveLid 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1905,7 +1905,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerMovePlate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2217,7 +2217,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerMoveResource 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2428,7 +2428,7 @@ liquid_handler:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerMoveTo 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2575,7 +2575,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerPickUpTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2737,7 +2737,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerPickUpTips96 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2936,7 +2936,7 @@ liquid_handler:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerRemove 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3194,7 +3194,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerReturnTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3242,7 +3242,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerReturnTips96 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3329,7 +3329,7 @@ liquid_handler:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerStamp 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3617,7 +3617,7 @@ liquid_handler:
           - 0
         handles: []
         schema:
-          description: ROS Action LiquidHandlerTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4090,7 +4090,7 @@ liquid_handler:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4479,6 +4479,7 @@ liquid_handler:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
 liquid_handler.biomek:
   class:
     action_value_mappings:
@@ -4604,7 +4605,7 @@ liquid_handler.biomek:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerProtocolCreation 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4673,7 +4674,7 @@ liquid_handler.biomek:
             label: plate
         result: {}
         schema:
-          description: ROS Action LiquidHandlerIncubateBiomek 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4730,7 +4731,7 @@ liquid_handler.biomek:
         result:
           name: name
         schema:
-          description: ROS Action LiquidHandlerMoveBiomek 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4787,7 +4788,7 @@ liquid_handler.biomek:
             label: plate
         result: {}
         schema:
-          description: ROS Action LiquidHandlerOscillateBiomek 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4832,7 +4833,7 @@ liquid_handler.biomek:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -4903,7 +4904,7 @@ liquid_handler.biomek:
             label: targets
         result: {}
         schema:
-          description: ROS Action LiquidHandlerTransferBiomek 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -5082,7 +5083,7 @@ liquid_handler.biomek:
             label: Liquid Output
         result: {}
         schema:
-          description: ROS Action LiquidHandlerTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -5455,6 +5456,7 @@ liquid_handler.biomek:
       required:
       - success
       type: object
+  version: 0.0.1
 liquid_handler.prcxi:
   class:
     action_value_mappings:
@@ -5508,7 +5510,7 @@ liquid_handler.prcxi:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerAspirate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -6170,7 +6172,7 @@ liquid_handler.prcxi:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerDispense 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -6352,7 +6354,7 @@ liquid_handler.prcxi:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerDropTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -6527,7 +6529,7 @@ liquid_handler.prcxi:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerMix 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -6705,7 +6707,7 @@ liquid_handler.prcxi:
         handles: []
         result: {}
         schema:
-          description: ROS Action LiquidHandlerPickUpTips 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -6870,6 +6872,7 @@ liquid_handler.prcxi:
       required:
       - reset_ok
       type: object
+  version: 0.0.1
 liquid_handler.revvity:
   class:
     action_value_mappings:
@@ -6907,7 +6910,7 @@ liquid_handler.revvity:
         result:
           success: success
         schema:
-          description: ROS Action WorkStationRun 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -7044,3 +7047,4 @@ liquid_handler.revvity:
       - success
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml
index be57ffa..5bfe5d7 100644
--- a/unilabos/registry/devices/mock_devices.yaml
+++ b/unilabos/registry/devices/mock_devices.yaml
@@ -9,7 +9,7 @@ mock_chiller:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -49,7 +49,7 @@ mock_chiller:
           status: status
           success: success
         schema:
-          description: ROS Action HeatChillStart 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -100,7 +100,7 @@ mock_chiller:
           status: status
           success: success
         schema:
-          description: ROS Action HeatChillStop 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -184,6 +184,7 @@ mock_chiller:
       - purpose
       - status_info
       type: object
+  version: 0.0.1
 mock_filter:
   class:
     action_value_mappings:
@@ -234,7 +235,7 @@ mock_filter:
           message: message
           success: success
         schema:
-          description: ROS Action Filter 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -306,7 +307,7 @@ mock_filter:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -339,7 +340,7 @@ mock_filter:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -442,6 +443,7 @@ mock_filter:
       - target_volume
       - status_info
       type: object
+  version: 0.0.1
 mock_heater:
   class:
     action_value_mappings:
@@ -501,7 +503,7 @@ mock_heater:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -547,7 +549,7 @@ mock_heater:
         result:
           success: success
         schema:
-          description: ROS Action HeatChill 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -611,7 +613,7 @@ mock_heater:
         result:
           success: success
         schema:
-          description: ROS Action HeatChillStart 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -662,7 +664,7 @@ mock_heater:
         result:
           success: success
         schema:
-          description: ROS Action HeatChillStop 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -758,6 +760,7 @@ mock_heater:
       - stir_speed
       - status_info
       type: object
+  version: 0.0.1
 mock_pump:
   class:
     action_value_mappings:
@@ -789,7 +792,7 @@ mock_pump:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -846,7 +849,7 @@ mock_pump:
         result:
           success: success
         schema:
-          description: ROS Action PumpTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -952,7 +955,7 @@ mock_pump:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -985,7 +988,7 @@ mock_pump:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1116,6 +1119,7 @@ mock_pump:
       - time_remaining
       - status_info
       type: object
+  version: 0.0.1
 mock_rotavap:
   class:
     action_value_mappings:
@@ -1169,7 +1173,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1210,7 +1214,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1251,7 +1255,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1292,7 +1296,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1333,7 +1337,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1372,7 +1376,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1405,7 +1409,7 @@ mock_rotavap:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1488,6 +1492,7 @@ mock_rotavap:
       - target_temperature
       - status_info
       type: object
+  version: 0.0.1
 mock_separator:
   class:
     action_value_mappings:
@@ -1529,7 +1534,7 @@ mock_separator:
         result:
           success: success
         schema:
-          description: ROS Action Separate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1646,7 +1651,7 @@ mock_separator:
         result:
           success: success
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1688,7 +1693,7 @@ mock_separator:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1727,7 +1732,7 @@ mock_separator:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1854,6 +1859,7 @@ mock_separator:
       - time_remaining
       - status_info
       type: object
+  version: 0.0.1
 mock_solenoid_valve:
   class:
     action_value_mappings:
@@ -1905,7 +1911,7 @@ mock_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1938,7 +1944,7 @@ mock_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1973,7 +1979,7 @@ mock_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2030,6 +2036,7 @@ mock_solenoid_valve:
       - status
       - valve_status
       type: object
+  version: 0.0.1
 mock_stirrer:
   class:
     action_value_mappings:
@@ -2083,7 +2090,7 @@ mock_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2124,7 +2131,7 @@ mock_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2165,7 +2172,7 @@ mock_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2204,7 +2211,7 @@ mock_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2237,7 +2244,7 @@ mock_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2324,6 +2331,7 @@ mock_stirrer:
       - max_temperature
       - status_info
       type: object
+  version: 0.0.1
 mock_stirrer_new:
   class:
     action_value_mappings:
@@ -2345,7 +2353,7 @@ mock_stirrer_new:
           message: message
           success: success
         schema:
-          description: ROS Action StartStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2409,7 +2417,7 @@ mock_stirrer_new:
         result:
           success: success
         schema:
-          description: ROS Action Stir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2462,7 +2470,7 @@ mock_stirrer_new:
           message: message
           success: success
         schema:
-          description: ROS Action StopStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2564,6 +2572,7 @@ mock_stirrer_new:
       - progress
       - status_info
       type: object
+  version: 0.0.1
 mock_vacuum:
   class:
     action_value_mappings:
@@ -2595,7 +2604,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2630,7 +2639,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2669,7 +2678,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2704,7 +2713,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2743,7 +2752,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2776,7 +2785,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2809,7 +2818,7 @@ mock_vacuum:
         result:
           success: success
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -2888,3 +2897,4 @@ mock_vacuum:
       - max_pump_speed
       - status_info
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/moveit_config.yaml b/unilabos/registry/devices/moveit_config.yaml
index 2166887..3823524 100644
--- a/unilabos/registry/devices/moveit_config.yaml
+++ b/unilabos/registry/devices/moveit_config.yaml
@@ -198,7 +198,7 @@ moveit.arm_slider:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -241,7 +241,7 @@ moveit.arm_slider:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -284,7 +284,7 @@ moveit.arm_slider:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -346,6 +346,7 @@ moveit.arm_slider:
   model:
     mesh: arm_slider
     type: device
+  version: 0.0.1
 moveit.toyo_xyz:
   class:
     action_value_mappings:
@@ -546,7 +547,7 @@ moveit.toyo_xyz:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -589,7 +590,7 @@ moveit.toyo_xyz:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -632,7 +633,7 @@ moveit.toyo_xyz:
         handles: []
         result: {}
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -694,3 +695,4 @@ moveit.toyo_xyz:
   model:
     mesh: toyo_xyz
     type: device
+  version: 0.0.1
diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml
index 041bfb0..aca63df 100644
--- a/unilabos/registry/devices/organic_miscellaneous.yaml
+++ b/unilabos/registry/devices/organic_miscellaneous.yaml
@@ -103,7 +103,7 @@ rotavap.one:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -158,6 +158,7 @@ rotavap.one:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
 separator.homemade:
   class:
     action_value_mappings:
@@ -248,7 +249,7 @@ separator.homemade:
         result:
           success: success
         schema:
-          description: ROS Action Stir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -299,7 +300,7 @@ separator.homemade:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -360,3 +361,4 @@ separator.homemade:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml
index 72e3e16..18fbd14 100644
--- a/unilabos/registry/devices/pump_and_valve.yaml
+++ b/unilabos/registry/devices/pump_and_valve.yaml
@@ -134,7 +134,7 @@ solenoid_valve:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -191,6 +191,7 @@ solenoid_valve:
       - status
       - valve_position
       type: object
+  version: 0.0.1
 solenoid_valve.mock:
   class:
     action_value_mappings:
@@ -265,7 +266,7 @@ solenoid_valve.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -297,7 +298,7 @@ solenoid_valve.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -358,6 +359,7 @@ solenoid_valve.mock:
       - status
       - valve_position
       type: object
+  version: 0.0.1
 syringe_pump_with_valve.runze:
   class:
     action_value_mappings:
@@ -802,3 +804,4 @@ syringe_pump_with_valve.runze:
       - position
       - plunger_position
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/robot_agv.yaml b/unilabos/registry/devices/robot_agv.yaml
index 7f04d9c..d947de6 100644
--- a/unilabos/registry/devices/robot_agv.yaml
+++ b/unilabos/registry/devices/robot_agv.yaml
@@ -43,7 +43,7 @@ agv.SEER:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -103,3 +103,4 @@ agv.SEER:
       - pose
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml
index de5b677..82fa0dd 100644
--- a/unilabos/registry/devices/robot_arm.yaml
+++ b/unilabos/registry/devices/robot_arm.yaml
@@ -99,7 +99,7 @@ robotic_arm.UR:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -170,3 +170,4 @@ robotic_arm.UR:
       - arm_status
       - gripper_status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml
index 03592b6..383bcff 100644
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ b/unilabos/registry/devices/robot_gripper.yaml
@@ -379,7 +379,7 @@ gripper.misumi_rz:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -444,6 +444,7 @@ gripper.misumi_rz:
       required:
       - status
       type: object
+  version: 0.0.1
 gripper.mock:
   class:
     action_value_mappings:
@@ -497,7 +498,7 @@ gripper.mock:
           effort: torque
           position: position
         schema:
-          description: ROS Action GripperCommand 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -586,3 +587,4 @@ gripper.mock:
       - torque
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml
index 52f673e..c33cace 100644
--- a/unilabos/registry/devices/robot_linear_motion.yaml
+++ b/unilabos/registry/devices/robot_linear_motion.yaml
@@ -114,7 +114,7 @@ linear_motion.grbl:
         handles: []
         result: {}
         schema:
-          description: ROS Action NavigateThroughPoses 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -346,7 +346,7 @@ linear_motion.grbl:
         handles: []
         result: {}
         schema:
-          description: ROS Action SingleJointPosition 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -466,6 +466,7 @@ linear_motion.grbl:
       - position
       - spindle_speed
       type: object
+  version: 0.0.1
 motor.iCL42:
   class:
     action_value_mappings:
@@ -563,7 +564,7 @@ motor.iCL42:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -630,3 +631,4 @@ motor.iCL42:
       - is_executing_run
       - success
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/sim_nodes.yaml b/unilabos/registry/devices/sim_nodes.yaml
index c2bfa44..4476a02 100644
--- a/unilabos/registry/devices/sim_nodes.yaml
+++ b/unilabos/registry/devices/sim_nodes.yaml
@@ -309,3 +309,4 @@ lh_joint_publisher:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml
index 7eb157c..2da45fd 100644
--- a/unilabos/registry/devices/temperature.yaml
+++ b/unilabos/registry/devices/temperature.yaml
@@ -119,7 +119,7 @@ chiller:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -174,6 +174,7 @@ chiller:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
 heaterstirrer.dalong:
   class:
     action_value_mappings:
@@ -268,7 +269,7 @@ heaterstirrer.dalong:
         result:
           success: success
         schema:
-          description: ROS Action HeatChill 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -327,7 +328,7 @@ heaterstirrer.dalong:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -371,7 +372,7 @@ heaterstirrer.dalong:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -449,6 +450,7 @@ heaterstirrer.dalong:
       - temp_warning
       - temp_target
       type: object
+  version: 0.0.1
 tempsensor:
   class:
     action_value_mappings:
@@ -570,7 +572,7 @@ tempsensor:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -635,3 +637,4 @@ tempsensor:
       required:
       - value
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/vacuum_and_purge.yaml b/unilabos/registry/devices/vacuum_and_purge.yaml
index e284f38..85aefdc 100644
--- a/unilabos/registry/devices/vacuum_and_purge.yaml
+++ b/unilabos/registry/devices/vacuum_and_purge.yaml
@@ -48,7 +48,7 @@ gas_source.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -80,7 +80,7 @@ gas_source.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -114,7 +114,7 @@ gas_source.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -173,6 +173,7 @@ gas_source.mock:
       required:
       - status
       type: object
+  version: 0.0.1
 vacuum_pump.mock:
   class:
     action_value_mappings:
@@ -223,7 +224,7 @@ vacuum_pump.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -255,7 +256,7 @@ vacuum_pump.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -289,7 +290,7 @@ vacuum_pump.mock:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -348,3 +349,4 @@ vacuum_pump.mock:
       required:
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml
index 095628c..d8f8f19 100644
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
@@ -62,7 +62,7 @@ virtual_centrifuge:
           message: message
           success: success
         schema:
-          description: ROS Action Centrifuge 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -192,6 +192,7 @@ virtual_centrifuge:
       - progress
       - message
       type: object
+  version: 0.0.1
 virtual_column:
   class:
     action_value_mappings:
@@ -254,7 +255,7 @@ virtual_column:
           return_info: current_status
           success: success
         schema:
-          description: ROS Action RunColumn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -371,6 +372,7 @@ virtual_column:
       - progress
       - current_status
       type: object
+  version: 0.0.1
 virtual_filter:
   class:
     action_value_mappings:
@@ -442,7 +444,7 @@ virtual_filter:
           return_info: message
           success: success
         schema:
-          description: ROS Action Filter 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -585,6 +587,7 @@ virtual_filter:
       - max_stir_speed
       - max_volume
       type: object
+  version: 0.0.1
 virtual_gas_source:
   class:
     action_value_mappings:
@@ -675,7 +678,7 @@ virtual_gas_source:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -707,7 +710,7 @@ virtual_gas_source:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -741,7 +744,7 @@ virtual_gas_source:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -803,6 +806,7 @@ virtual_gas_source:
       required:
       - status
       type: object
+  version: 0.0.1
 virtual_heatchill:
   class:
     action_value_mappings:
@@ -867,7 +871,7 @@ virtual_heatchill:
         result:
           success: success
         schema:
-          description: ROS Action HeatChill 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -931,7 +935,7 @@ virtual_heatchill:
         result:
           success: success
         schema:
-          description: ROS Action HeatChillStart 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -982,7 +986,7 @@ virtual_heatchill:
         result:
           success: success
         schema:
-          description: ROS Action HeatChillStop 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1063,6 +1067,7 @@ virtual_heatchill:
       - stir_speed
       - remaining_time
       type: object
+  version: 0.0.1
 virtual_multiway_valve:
   class:
     action_value_mappings:
@@ -1272,7 +1277,7 @@ virtual_multiway_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1316,7 +1321,7 @@ virtual_multiway_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1483,6 +1488,7 @@ virtual_multiway_valve:
       - flow_path
       - info
       type: object
+  version: 0.0.1
 virtual_pump:
   class:
     action_value_mappings:
@@ -1577,7 +1583,7 @@ virtual_pump:
         result:
           success: success
         schema:
-          description: ROS Action FloatSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -1637,7 +1643,7 @@ virtual_pump:
         result:
           success: success
         schema:
-          description: ROS Action PumpTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1801,6 +1807,7 @@ virtual_pump:
       - transferred_volume
       - current_status
       type: object
+  version: 0.0.1
 virtual_rotavap:
   class:
     action_value_mappings:
@@ -1867,7 +1874,7 @@ virtual_rotavap:
           message: message
           success: success
         schema:
-          description: ROS Action Evaporate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2035,6 +2042,7 @@ virtual_rotavap:
       - max_rotation_speed
       - remaining_time
       type: object
+  version: 0.0.1
 virtual_separator:
   class:
     action_value_mappings:
@@ -2115,7 +2123,7 @@ virtual_separator:
           message: message
           success: success
         schema:
-          description: ROS Action Separate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2309,6 +2317,7 @@ virtual_separator:
       - progress
       - message
       type: object
+  version: 0.0.1
 virtual_solenoid_valve:
   class:
     action_value_mappings:
@@ -2422,7 +2431,7 @@ virtual_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2466,7 +2475,7 @@ virtual_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2510,7 +2519,7 @@ virtual_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2554,7 +2563,7 @@ virtual_solenoid_valve:
         result:
           success: success
         schema:
-          description: ROS Action SendCmd 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2643,6 +2652,7 @@ virtual_solenoid_valve:
       - valve_position
       - state
       type: object
+  version: 0.0.1
 virtual_stirrer:
   class:
     action_value_mappings:
@@ -2701,7 +2711,7 @@ virtual_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action StartStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2765,7 +2775,7 @@ virtual_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action Stir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2816,7 +2826,7 @@ virtual_stirrer:
         result:
           success: success
         schema:
-          description: ROS Action StopStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2907,6 +2917,7 @@ virtual_stirrer:
       - is_stirring
       - remaining_time
       type: object
+  version: 0.0.1
 virtual_transfer_pump:
   class:
     action_value_mappings:
@@ -3204,7 +3215,7 @@ virtual_transfer_pump:
           message: message
           success: success
         schema:
-          description: ROS Action SetPumpPosition 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -3282,7 +3293,7 @@ virtual_transfer_pump:
           message: message
           success: success
         schema:
-          description: ROS Action Transfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -3409,6 +3420,7 @@ virtual_transfer_pump:
       - remaining_capacity
       - pump_info
       type: object
+  version: 0.0.1
 virtual_vacuum_pump:
   class:
     action_value_mappings:
@@ -3499,7 +3511,7 @@ virtual_vacuum_pump:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3531,7 +3543,7 @@ virtual_vacuum_pump:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3565,7 +3577,7 @@ virtual_vacuum_pump:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -3627,3 +3639,4 @@ virtual_vacuum_pump:
       required:
       - status
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml
index dbfe017..91e4c4f 100644
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
@@ -54,7 +54,7 @@ workstation:
         handles: []
         result: {}
         schema:
-          description: ROS Action AGVTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -283,7 +283,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Add 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -380,7 +380,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action AdjustPH 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -453,7 +453,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Centrifuge 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -542,7 +542,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Clean 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -659,7 +659,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action CleanVessel 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -751,7 +751,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Dissolve 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -832,7 +832,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Dry 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -900,7 +900,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action EvacuateAndRefill 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1006,7 +1006,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Evaporate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1130,7 +1130,7 @@ workstation:
             label: Filtrate Vessel
         result: {}
         schema:
-          description: ROS Action Filter 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1242,7 +1242,7 @@ workstation:
             label: To Vessel
         result: {}
         schema:
-          description: ROS Action FilterThrough 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1333,7 +1333,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action HeatChill 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1407,7 +1407,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action HeatChillStart 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1468,7 +1468,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action HeatChillStop 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1527,7 +1527,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Hydrogenate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1627,7 +1627,7 @@ workstation:
             label: To Vessel
         result: {}
         schema:
-          description: ROS Action PumpTransfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1764,7 +1764,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Recrystallize 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1832,7 +1832,7 @@ workstation:
           output: []
         result: {}
         schema:
-          description: ROS Action ResetHandling 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -1907,7 +1907,7 @@ workstation:
             label: To Vessel
         result: {}
         schema:
-          description: ROS Action RunColumn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2013,7 +2013,7 @@ workstation:
             label: To Vessel
         result: {}
         schema:
-          description: ROS Action Separate 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2145,7 +2145,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action StartStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2219,7 +2219,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action Stir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2280,7 +2280,7 @@ workstation:
             label: Vessel
         result: {}
         schema:
-          description: ROS Action StopStir 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2374,7 +2374,7 @@ workstation:
             label: To Vessel
         result: {}
         schema:
-          description: ROS Action Transfer 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2498,7 +2498,7 @@ workstation:
             label: Filtrate Vessel
         result: {}
         schema:
-          description: ROS Action WashSolid 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties:
@@ -2679,3 +2679,4 @@ workstation:
       properties: {}
       required: []
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/devices/zhida_hplc.yaml b/unilabos/registry/devices/zhida_hplc.yaml
index 62f1e06..dc1e013 100644
--- a/unilabos/registry/devices/zhida_hplc.yaml
+++ b/unilabos/registry/devices/zhida_hplc.yaml
@@ -8,7 +8,7 @@ zhida_hplc:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -80,7 +80,7 @@ zhida_hplc:
         handles: []
         result: {}
         schema:
-          description: ROS Action EmptyIn 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -114,7 +114,7 @@ zhida_hplc:
         handles: []
         result: {}
         schema:
-          description: ROS Action StrSingleInput 的 JSON Schema
+          description: ''
           properties:
             feedback:
               properties: {}
@@ -177,3 +177,4 @@ zhida_hplc:
       - status
       - methods
       type: object
+  version: 0.0.1
diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index 7725cec..f496e0f 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -65,7 +65,7 @@ class Registry:
                                 },
                                 "feedback": {},
                                 "result": {"success": "success"},
-                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
+                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter, '用于创建或更新物料资源，每次传入多个物料信息。'),
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
                                 ),
@@ -86,7 +86,7 @@ class Registry:
                                 },
                                 "feedback": {},
                                 "result": {"success": "success"},
-                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
+                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy, '用于创建或更新物料资源，每次传入一个物料信息。'),
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
@@ -113,12 +113,13 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
-                                "schema": ros_action_to_json_schema(self.EmptyIn),
+                                "schema": ros_action_to_json_schema(self.EmptyIn, '用于测试延迟的动作，返回延迟时间和时间差。'),
                                 "goal_default": {},
                                 "handles": {},
                             },
                         },
                     },
+                    "version": "0.0.1",
                     "icon": "icon_device.webp",
                     "registry_type": "device",
                     "handles": [],
@@ -367,6 +368,8 @@ class Registry:
                 # 在添加到注册表前处理类型替换
                 for device_id, device_config in data.items():
                     # 添加文件路径信息 - 使用规范化的完整文件路径
+                    if "version" not in device_config:
+                        device_config["version"] = "0.0.1"
                     if "description" not in device_config:
                         device_config["description"] = ""
                     if "icon" not in device_config:
@@ -499,8 +502,6 @@ class Registry:
                             }
                     if "registry_type" not in device_config:
                         device_config["registry_type"] = "device"
-                    if "version" not in device_config:
-                        device_config["version"] = "0.0.1"
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     device_config["registry_type"] = "device"
                     logger.debug(
diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py
index 5e0bb08..230ad1f 100644
--- a/unilabos/ros/msgs/message_converter.py
+++ b/unilabos/ros/msgs/message_converter.py
@@ -717,12 +717,13 @@ def ros_message_to_json_schema(msg_class: Any) -> Dict[str, Any]:
     return schema
 
 
-def ros_action_to_json_schema(action_class: Any) -> Dict[str, Any]:
+def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
     """
     将 ROS Action 类转换为 JSON Schema
 
     Args:
         action_class: ROS Action 类
+        description: 描述
 
     Returns:
         完整的 JSON Schema 定义
@@ -737,7 +738,7 @@ def ros_action_to_json_schema(action_class: Any) -> Dict[str, Any]:
     # 创建基础 schema
     schema = {
         "title": action_class.__name__,
-        "description": f"ROS Action {action_class.__name__} 的 JSON Schema",
+        "description": description,
         "type": "object",
         "properties": {
             "goal": {