From 9aeffebde1d9bcc46ee20b8909effbc7f3525281 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Sun, 12 Oct 2025 23:34:26 +0800
Subject: [PATCH] 0.10.7 Update (#101)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* fix: workstation handlers and vessel_id parsing

* fix: working dir error when input config path
feat: report publish topic when error

* modify default discovery_interval to 15s

* feat: add trace log level

* feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

* fix: drop_tips not using auto resource select

* fix: discard_tips error

* fix: discard_tips

* fix: prcxi_res

* add: prcxi res
fix: startup slow

* feat: workstation example

* fix pumps and liquid_handler handle

* feat: 优化protocol node节点运行日志

* fix all protocol_compilers and remove deprecated devices

* feat: 新增use_remote_resource参数

* fix and remove redundant info

* bugfixes on organic protocols

* fix filter protocol

* fix protocol node

* 临时兼容错误的driver写法

* fix: prcxi import error

* use call_async in all service to avoid deadlock

* fix: figure_resource

* Update recipe.yaml

* add workstation template and battery example

* feat: add sk & ak

* update workstation base

* Create workstation_architecture.md

* refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode

* refactor: ProtocolNode→WorkstationNode

* Add:msgs.action (#83)

* update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84)

* Add:msgs.action

* update: 将版本号从 0.10.3 更新为 0.10.4

* simplify resource system

* uncompleted refactor

* example for use WorkstationBase

* feat: websocket

* feat: websocket test

* feat: workstation example

* feat: action status

* fix: station自己的方法注册错误

* fix: 还原protocol node处理方法

* fix: build

* fix: missing job_id key

* ws test version 1

* ws test version 2

* ws protocol

* 增加物料关系上传日志

* 增加物料关系上传日志

* 修正物料关系上传

* 修复工站的tracker实例追踪失效问题

* 增加handle检测，增加material edge关系上传

* 修复event loop错误

* 修复edge上报错误

* 修复async错误

* 更新schema的title字段

* 主机节点信息等支持自动刷新

* 注册表编辑器

* 修复status密集发送时，消息出错

* 增加addr参数

* fix: addr param

* fix: addr param

* 取消labid 和 强制config输入

* Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

* Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists

* Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

* result_info改为字典类型

* 新增uat的地址替换

* runze multiple pump support

(cherry picked from commit 49354fcf394da52baaa4f4ae8166beaccb823e96)

* remove runze multiple software obtainer

(cherry picked from commit 8bcc92a39482faedcbf47104fc67cbbf15f03ba7)

* support multiple backbone

(cherry picked from commit 4771ff2347f66150ca092e66a6c2a97a48fee9a5)

* Update runze pump format

* Correct runze multiple backbone

* Update runze_multiple_backbone

* Correct runze pump multiple receive method.

* Correct runze pump multiple receive method.

* 对于PRCXI9320的transfer_group，一对多和多对多

* 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

* fix import error

* fix dupe upload registry

* refactor ws client

* add server timeout

* Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

(cherry picked from commit e5aa4d940ac492d5595bb48593ade5d75a2a3203)

* resource_update use resource_add

* 新增版位推荐功能

* 重新规定了版位推荐的入参

* update registry with nested obj

* fix protocol node log_message, added create_resource return value

* fix protocol node log_message, added create_resource return value

* try fix add protocol

* fix resource_add

* 修复移液站错误的aspirate注册表

* Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

* 重新补全zhida注册表

* PRCXI9320 json

* PRCXI9320 json

* PRCXI9320 json

* fix resource download

* remove class for resource

* bump version to 0.10.6

* 更新所有注册表

* 修复protocolnode的兼容性

* 修复protocolnode的兼容性

* Update install md

* Add Defaultlayout

* 更新物料接口

* fix dict to tree/nested-dict converter

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* frontend_docs

* create/update resources with POST/PUT for big amount/ small amount data

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

* Workstation templates: Resources and its CRUD, and workstation tasks (#95)

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>

* 更新物料接口

* Workstation dev yb2 (#100)

* Refactor and extend reaction station action messages

* Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities

- Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability.
- Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input.
- Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input.
- Refined `create_diamine_solution_task` to include additional parameters for better task configuration.
- Enhanced schema descriptions and default values for improved user guidance.

* 修复to_plr_resources

* add update remove

* 支持选择器注册表自动生成
支持转运物料

* 修复资源添加

* 修复transfer_resource_to_another生成

* 更新transfer_resource_to_another参数，支持spot入参

* 新增test_resource动作

* fix host_node error

* fix host_node test_resource error

* fix host_node test_resource error

* 过滤本地动作

* 移动内部action以兼容host node

* 修复同步任务报错不显示的bug

* feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了

* update todo

* modify bioyond/plr converter, bioyond resource registry, and tests

* pass the tests

* update todo

* add conda-pack-build.yml

* add auto install script for conda-pack-build.yml

(cherry picked from commit 172599adcf5e1421f5681c985a021103ac61de82)

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* Add version in __init__.py
Update conda-pack-build.yml
Add create_zip_archive.py

* Update conda-pack-build.yml

* Update conda-pack-build.yml (with mamba)

* Update conda-pack-build.yml

* Fix FileNotFoundError

* Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined>

* Fix unilabos msgs search error

* Fix environment_check.py

* Update recipe.yaml

* Update registry. Update uuid loop figure method. Update install docs.

* Fix nested conda pack

* Fix one-key installation path error

* Bump version to 0.10.7

* Workshop bj (#99)

* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字

* 电池装配工站二次开发教程（带目录）上传至dev (#94)

* 电池装配工站二次开发教程

* Update intro.md

* 物料教程

* 更新物料教程，json格式注释

* Update prcxi driver & fix transfer_liquid mix_times (#90)

* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py

* Update registry from pr

* fix ony-key script not exist

* clean files

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: LccLink <1951855008@qq.com>
Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
Co-authored-by: shiyubo0410 <shiyubo@dp.tech>
---
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 unilabos/registry/devices/work_station.yaml   |  1776 +-
 unilabos/registry/devices/zhida_gcms.yaml     |   350 +
 unilabos/registry/placeholder_type.py         |     9 +
 unilabos/registry/registry.py                 |   275 +-
 .../resources/bioyond/bottle_carriers.yaml    |    48 +
 .../registry/resources/bioyond/bottles.yaml   |    50 +
 unilabos/registry/resources/bioyond/deck.yaml |    24 +
 .../resources/common/resource_container.yaml  |    98 +
 .../resources/organic/workstation.yaml        |    24 +-
 unilabos/resources/bioyond/__init__.py        |     0
 unilabos/resources/bioyond/bottle_carriers.py |   276 +
 unilabos/resources/bioyond/bottles.py         |    92 +
 unilabos/resources/bioyond/decks.py           |    68 +
 unilabos/resources/bioyond/warehouses.py      |    54 +
 unilabos/resources/graphio.py                 |   413 +-
 unilabos/resources/itemized_carrier.py        |   356 +
 unilabos/resources/plr_additional_res_reg.py  |     4 +-
 unilabos/resources/warehouse.py               |   104 +
 unilabos/ros/main_slave_run.py                |   134 +-
 unilabos/ros/msgs/message_converter.py        |     4 +-
 unilabos/ros/nodes/base_device_node.py        |   712 +-
 unilabos/ros/nodes/presets/host_node.py       |   572 +-
 unilabos/ros/nodes/presets/protocol_node.py   |   398 -
 unilabos/ros/nodes/presets/workstation.py     |   475 +-
 unilabos/ros/nodes/resource_tracker.py        |  1093 +-
 unilabos/ros/utils/driver_creator.py          |    98 +-
 unilabos/utils/environment_check.py           |    20 +-
 unilabos/utils/import_manager.py              |     7 +-
 unilabos/utils/type_check.py                  |    20 +-
 unilabos_msgs/CMakeLists.txt                  |    19 +-
 .../DefaultLayoutRecommendLayout.action       |     4 +
 .../action/DispenStationSolnPrep.action       |    15 +
 .../action/DispenStationVialFeed.action       |    29 +
 .../action/LiquidHandlerSetGroup.action       |     8 +
 .../action/LiquidHandlerTransfer.action       |     2 +-
 .../action/LiquidHandlerTransferGroup.action  |     8 +
 unilabos_msgs/action/PostProcessGrab.action   |     8 +
 .../action/PostProcessTriggerClean.action     |    46 +
 .../action/PostProcessTriggerPostPro.action   |    20 +
 .../action/ReactionStationDripBack.action     |    13 +
 .../ReactionStationLiquidFeedBeaker.action    |    15 +
 .../ReactionStationLiquidFeedSolvents.action  |    15 +
 .../ReactionStationLiquidFeedTitration.action |    15 +
 ...nStationLiquidFeedVialsNonTitration.action |    15 +
 .../action/ReactionStationProExecu.action     |    11 +
 .../action/ReactionStationReaTackIn.action    |    12 +
 .../ReactionStationReactorTakenOut.action     |    12 +
 .../ReactionStationSolidFeedVial.action       |    13 +
 unilabos_msgs/package.xml                     |     3 +-
 229 files changed, 136969 insertions(+), 17429 deletions(-)
 create mode 100644 CONTRIBUTORS
 create mode 100644 docs/developer_guide/add_batteryPLC.md
 create mode 100644 docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
 create mode 100644 docs/developer_guide/image_add_batteryPLC/unilab_registry_process.png
 create mode 100644 docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
 create mode 100644 docs/developer_guide/materials_tutorial.md
 create mode 100644 docs/developer_guide/workstation_architecture.md
 create mode 100644 docs/user_guide/image/copy_aksk.gif
 create mode 100644 docs/user_guide/image/creatworkfollow.gif
 create mode 100644 docs/user_guide/image/links.png
 create mode 100644 docs/user_guide/image/linksandrun.png
 create mode 100644 docs/user_guide/image/material.png
 create mode 100644 docs/user_guide/image/new.png
 create mode 100644 docs/user_guide/quick_install_guide.md
 delete mode 100644 package.xml
 create mode 100644 scripts/create_readme.py
 create mode 100644 scripts/create_zip_archive.py
 rename unilabos-linux-64.yaml => scripts/unilabos-linux-64.yaml (96%)
 rename unilabos-osx-64.yaml => scripts/unilabos-osx-64.yaml (96%)
 rename unilabos-osx-arm64.yaml => scripts/unilabos-osx-arm64.yaml (96%)
 rename unilabos-win64.yaml => scripts/unilabos-win64.yaml (97%)
 create mode 100644 test/experiments/dispensing_station_bioyond.json
 create mode 100644 test/experiments/laiyu_liquid.json
 create mode 100644 test/experiments/reaction_station_bioyond.json
 create mode 100644 test/experiments/reaction_station_bioyond_test.json
 create mode 100644 test/experiments/test_laiyu.json
 create mode 100644 test/registry/example_devices.py
 create mode 100644 test/resources/bioyond_materials_liquidhandling_1.json
 create mode 100644 test/resources/bioyond_materials_liquidhandling_2.json
 create mode 100644 test/resources/bioyond_materials_reaction.json
 create mode 100644 test/resources/test_bottle_carrier.py
 create mode 100644 test/resources/test_converter_bioyond.py
 create mode 100644 unilabos/app/communication.py
 delete mode 100644 unilabos/app/mq.py
 rename unilabos/app/{ => web}/controler.py (100%)
 create mode 100644 unilabos/app/web/templates/registry_editor.html
 create mode 100644 unilabos/app/ws_client.py
 delete mode 100644 unilabos/controllers/__init__.py
 delete mode 100644 unilabos/controllers/eis_model.py
 create mode 100644 unilabos/device_comms/coin_cell_assembly_workstation.py
 rename unilabos/device_comms/modbus_plc/{node => }/modbus.py (100%)
 create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
 create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/base_link.STL
 create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/x_link.STL
 create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/y_link.STL
 create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/z_link.STL
 create mode 100644 unilabos/devices/balance/__init__.py
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/README.md
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/__init__.py
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
 create mode 100644 unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
 create mode 100644 unilabos/devices/battery/battery.json
 create mode 100644 unilabos/devices/battery/neware_battery_test_system.py
 create mode 100644 unilabos/devices/laiyu_liquid/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/backend/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
 create mode 100644 unilabos/devices/laiyu_liquid/backend/rviz_backend.py
 create mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.json
 create mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.md
 create mode 100644 unilabos/devices/laiyu_liquid/controllers/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
 create mode 100644 unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
 create mode 100644 unilabos/devices/laiyu_liquid/core/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/core/abstract_protocol.py
 create mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
 create mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
 create mode 100644 unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
 create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md
 create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
 create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
 create mode 100644 unilabos/devices/laiyu_liquid/docs/readme.md
 create mode 100644 unilabos/devices/laiyu_liquid/drivers/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
 create mode 100644 unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
 create mode 100644 unilabos/devices/laiyu_liquid/tests/__init__.py
 create mode 100644 unilabos/devices/laiyu_liquid/tests/test_deck_config.py
 create mode 100644 unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
 create mode 100644 unilabos/devices/liquid_handling/prcxi/prcxi_material.json
 create mode 100644 unilabos/devices/liquid_handling/rviz_backend.py
 create mode 100644 unilabos/devices/workstation/README.md
 rename unilabos/{device_comms/modbus_plc/node => devices/workstation}/__init__.py (100%)
 create mode 100644 unilabos/devices/workstation/bioyond_studio/__init__.py
 create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
 create mode 100644 unilabos/devices/workstation/bioyond_studio/config.py
 create mode 100644 unilabos/devices/workstation/bioyond_studio/experiment.py
 create mode 100644 unilabos/devices/workstation/bioyond_studio/station.py
 create mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py
 create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
 create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
 create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
 create mode 100644 unilabos/devices/workstation/workflow_executors.py
 create mode 100644 unilabos/devices/workstation/workstation_base.py
 create mode 100644 unilabos/devices/workstation/workstation_http_service.py
 create mode 100644 unilabos/devices/workstation/workstation_material_management.py
 create mode 100644 unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md
 create mode 100644 unilabos/devices/zhida_gcms/__init__.py
 create mode 100644 unilabos/devices/zhida_gcms/device_test.json
 create mode 100644 unilabos/devices/zhida_gcms/zhida.py
 create mode 100644 unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv
 create mode 100644 unilabos/registry/devices/balance.yaml
 create mode 100644 unilabos/registry/devices/dispensing_station_bioyond.yaml
 create mode 100644 unilabos/registry/devices/laiyu_liquid.yaml
 create mode 100644 unilabos/registry/devices/neware_battery_test_system.yaml
 create mode 100644 unilabos/registry/devices/reaction_station_bioyond.yaml
 create mode 100644 unilabos/registry/devices/zhida_gcms.yaml
 create mode 100644 unilabos/registry/placeholder_type.py
 create mode 100644 unilabos/registry/resources/bioyond/bottle_carriers.yaml
 create mode 100644 unilabos/registry/resources/bioyond/bottles.yaml
 create mode 100644 unilabos/registry/resources/bioyond/deck.yaml
 create mode 100644 unilabos/resources/bioyond/__init__.py
 create mode 100644 unilabos/resources/bioyond/bottle_carriers.py
 create mode 100644 unilabos/resources/bioyond/bottles.py
 create mode 100644 unilabos/resources/bioyond/decks.py
 create mode 100644 unilabos/resources/bioyond/warehouses.py
 create mode 100644 unilabos/resources/itemized_carrier.py
 create mode 100644 unilabos/resources/warehouse.py
 delete mode 100644 unilabos/ros/nodes/presets/protocol_node.py
 create mode 100644 unilabos_msgs/action/DefaultLayoutRecommendLayout.action
 create mode 100644 unilabos_msgs/action/DispenStationSolnPrep.action
 create mode 100644 unilabos_msgs/action/DispenStationVialFeed.action
 create mode 100644 unilabos_msgs/action/LiquidHandlerSetGroup.action
 create mode 100644 unilabos_msgs/action/LiquidHandlerTransferGroup.action
 create mode 100644 unilabos_msgs/action/PostProcessGrab.action
 create mode 100644 unilabos_msgs/action/PostProcessTriggerClean.action
 create mode 100644 unilabos_msgs/action/PostProcessTriggerPostPro.action
 create mode 100644 unilabos_msgs/action/ReactionStationDripBack.action
 create mode 100644 unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action
 create mode 100644 unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action
 create mode 100644 unilabos_msgs/action/ReactionStationLiquidFeedTitration.action
 create mode 100644 unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action
 create mode 100644 unilabos_msgs/action/ReactionStationProExecu.action
 create mode 100644 unilabos_msgs/action/ReactionStationReaTackIn.action
 create mode 100644 unilabos_msgs/action/ReactionStationReactorTakenOut.action
 create mode 100644 unilabos_msgs/action/ReactionStationSolidFeedVial.action

diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml
index 2d703002..fb4f1b8f 100644
--- a/.conda/recipe.yaml
+++ b/.conda/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.4
+  version: 0.10.7
 
 source:
   path: ../unilabos
@@ -10,7 +10,6 @@ build:
   python:
     entry_points:
      - unilab = unilabos.app.main:main
-     - unilab-register = unilabos.app.register:main
   script:
   - set PIP_NO_INDEX=
   - if: win
@@ -32,11 +31,14 @@ requirements:
   - python ==3.11.11
   - pip
   - setuptools
+  - zstd
+  - zstandard
   run:
   - conda-forge::python ==3.11.11
   - compilers
   - cmake
   - zstd
+  - zstandard
   - ninja
   - if: unix
     then:
@@ -61,7 +63,7 @@ requirements:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   - ipython
   - jupyter
   - jupyros
diff --git a/.github/workflows/conda-pack-build.yml b/.github/workflows/conda-pack-build.yml
index ddd5b5e4..be938651 100644
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -41,11 +41,13 @@ jobs:
 
     defaults:
       run:
-        shell: bash -l {0}
+        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
+        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
 
     steps:
       - name: Check if platform should be built
         id: should_build
+        shell: bash
         run: |
           if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
@@ -61,61 +63,110 @@ jobs:
           ref: ${{ github.event.inputs.branch }}
           fetch-depth: 0
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-          miniconda-version: 'latest'
+          miniforge-version: latest
+          use-mamba: true
           python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: strict
+          channel-priority: flexible
           activate-environment: unilab
-          auto-activate-base: false
+          auto-activate-base: true
           auto-update-conda: false
           show-channel-urls: true
 
-      - name: Install conda-pack
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Install conda-pack, unilabos and dependencies (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
-          conda install -c conda-forge conda-pack -y
+          echo Installing unilabos and dependencies to unilab environment...
+          echo Using mamba for faster and more reliable dependency resolution...
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
-      - name: Install unilabos and dependencies
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Install conda-pack, unilabos and dependencies (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
-          conda install uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          echo "Using mamba for faster and more reliable dependency resolution..."
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
-      - name: Get latest ros-humble-unilabos-msgs version
-        if: steps.should_build.outputs.should_build == 'true'
-        id: msgs_version
+      - name: Get latest ros-humble-unilabos-msgs version (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        id: msgs_version_win
         run: |
-          INSTALLED_VERSION=$(conda list ros-humble-unilabos-msgs | grep ros-humble-unilabos-msgs | awk '{print $2}')
-          echo "installed_version=$INSTALLED_VERSION" >> $GITHUB_OUTPUT
-          echo "Installed ros-humble-unilabos-msgs version: $INSTALLED_VERSION"
+          echo Checking installed ros-humble-unilabos-msgs version...
+          conda list ros-humble-unilabos-msgs
+          for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
+          echo Installed ros-humble-unilabos-msgs version: %VERSION%
 
-      - name: Check for newer ros-humble-unilabos-msgs
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Get latest ros-humble-unilabos-msgs version (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        id: msgs_version_unix
+        shell: bash
+        run: |
+          echo "Checking installed ros-humble-unilabos-msgs version..."
+          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
+          echo "Installed ros-humble-unilabos-msgs version: $VERSION"
+
+      - name: Check for newer ros-humble-unilabos-msgs (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo Checking for available ros-humble-unilabos-msgs versions...
+          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
+          echo.
+          echo Updating ros-humble-unilabos-msgs to latest version...
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+
+      - name: Check for newer ros-humble-unilabos-msgs (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "Checking for available ros-humble-unilabos-msgs versions..."
-          conda search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge --info || echo "Search completed"
-
+          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
+          echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          conda update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
 
-      - name: Install latest unilabos from source
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Install latest unilabos from source (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo Uninstalling existing unilabos...
+          pip uninstall unilabos -y || echo unilabos not installed via pip
+          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
+          pip install .
+          echo Verifying installation...
+          pip show unilabos
+
+      - name: Install latest unilabos from source (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "Uninstalling existing unilabos..."
           pip uninstall unilabos -y || echo "unilabos not installed via pip"
-
           echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
           pip install .
-
           echo "Verifying installation..."
           pip show unilabos
 
-      - name: Display environment info
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Display environment info (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo === Environment Information ===
+          conda env list
+          echo.
+          echo === Installed Packages ===
+          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
+          echo.
+          echo === Python Packages ===
+          pip list | findstr unilabos || pip list
+
+      - name: Display environment info (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "=== Environment Information ==="
           conda env list
@@ -126,34 +177,83 @@ jobs:
           echo "=== Python Packages ==="
           pip list | grep unilabos || pip list
 
-      - name: Verify environment integrity
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Verify environment integrity (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo Verifying Python version...
+          python -c "import sys; print(f'Python version: {sys.version}')"
+          echo Verifying unilabos import...
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
+          echo Checking critical packages...
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
+          echo Running comprehensive verification script...
+          python scripts\verify_installation.py || echo Warning: Verification script reported issues
+          echo Environment verification complete!
+
+      - name: Verify environment integrity (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "Verifying Python version..."
           python -c "import sys; print(f'Python version: {sys.version}')"
-
           echo "Verifying unilabos import..."
           python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
-
           echo "Checking critical packages..."
           python -c "import rclpy; print('ROS2 rclpy: OK')"
-
           echo "Running comprehensive verification script..."
           python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
-
           echo "Environment verification complete!"
 
-      - name: Pack conda environment
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Pack conda environment (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo Packing unilab environment with conda-pack...
+          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          echo Pack file created:
+          dir unilab-env-${{ matrix.platform }}.tar.gz
+
+      - name: Pack conda environment (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
           conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
 
-      - name: Prepare distribution package (scripts + environment)
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Prepare Windows distribution package
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo ==========================================
+          echo Creating distribution package...
+          echo Platform: ${{ matrix.platform }}
+          echo ==========================================
+          mkdir dist-package 2>nul || cd .
+
+          rem Copy packed environment
+          echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
+          copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
+
+          rem Copy installation script
+          echo Adding: install_unilab.bat
+          copy scripts\install_unilab.bat dist-package\
+
+          rem Copy verification script
+          echo Adding: verify_installation.py
+          copy scripts\verify_installation.py dist-package\
+
+          rem Create README using Python script
+          echo Creating: README.txt
+          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
+
+          echo.
+          echo Distribution package contents:
+          dir /b dist-package
+          echo.
+
+      - name: Prepare Unix/Linux distribution package
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "=========================================="
           echo "Creating distribution package..."
@@ -165,102 +265,62 @@ jobs:
           echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
           cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
 
-          # Copy installation script (platform specific)
-          if [ "${{ matrix.platform }}" == "win-64" ]; then
-            echo "Adding: install_unilab.bat"
-            cp scripts/install_unilab.bat dist-package/
-          else
-            echo "Adding: install_unilab.sh"
-            cp scripts/install_unilab.sh dist-package/
-            chmod +x dist-package/install_unilab.sh
-          fi
+          # Copy installation script
+          echo "Adding: install_unilab.sh"
+          cp scripts/install_unilab.sh dist-package/
+          chmod +x dist-package/install_unilab.sh
 
           # Copy verification script
           echo "Adding: verify_installation.py"
           cp scripts/verify_installation.py dist-package/
 
-          # Create README
+          # Create README using Python script
           echo "Creating: README.txt"
-          cat > dist-package/README.txt << 'EOFREADME'
-          UniLabOS Conda-Pack Environment
-          ================================
-
-          This package contains a pre-built UniLabOS environment.
-
-          Installation Instructions:
-          --------------------------
-
-          Windows:
-            1. Extract unilab-pack-win-64.zip
-            2. Double-click install_unilab.bat (or run in cmd)
-            3. Follow the prompts
-
-          macOS/Linux:
-            1. Extract unilab-pack-{platform}.tar.gz
-            2. Run: bash install_unilab.sh
-            3. Follow the prompts
-
-          The installation script will:
-            - Automatically find your conda installation
-            - Extract the environment to conda's envs/unilab directory
-            - Run conda-unpack to finalize setup
-
-          After installation:
-            conda activate unilab
-            python verify_installation.py
-
-          Package Contents:
-            - install_unilab script (automatic installation)
-            - unilab-env-{platform}.tar.gz (packed environment)
-            - verify_installation.py (verification tool)
-            - README.txt (this file)
-
-          Branch: ${{ github.event.inputs.branch }}
-          Platform: ${{ matrix.platform }}
-          Python: 3.11.11
-          Build Date: $(date -u +"%Y-%m-%d %H:%M:%S UTC")
-          EOFREADME
+          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
 
           echo ""
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
 
-      - name: Create final distribution archive (ZIP/TAR.GZ)
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Finalize Windows distribution package
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo ==========================================
+          echo Windows distribution package ready
+          echo.
+          echo Package will be uploaded as artifact
+          echo GitHub Actions will automatically create ZIP
+          echo.
+          echo Contents:
+          dir /b dist-package
+          echo.
+          echo Users will download a ZIP containing:
+          echo   - install_unilab.bat
+          echo   - unilab-env-${{ matrix.platform }}.tar.gz
+          echo   - verify_installation.py
+          echo   - README.txt
+          echo ==========================================
+
+      - name: Create Unix/Linux TAR.GZ archive
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "=========================================="
-          if [ "${{ matrix.platform }}" == "win-64" ]; then
-            echo "Creating Windows ZIP archive..."
-            echo "Archive: unilab-pack-win-64.zip"
-            echo "Contents: install_unilab.bat + unilab-env-win-64.tar.gz + extras"
-            cd dist-package
-            powershell -Command "Compress-Archive -Path * -DestinationPath ../unilab-pack-${{ matrix.platform }}.zip -Force"
-            cd ..
-          else
-            echo "Creating Unix/Linux TAR.GZ archive..."
-            echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
-            echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
-            tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
-          fi
+          echo "Creating Unix/Linux TAR.GZ archive..."
+          echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
+          tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
           echo "=========================================="
 
           echo ""
           echo "Final package created:"
           ls -lh unilab-pack-*
           echo ""
-
-          if [ "${{ matrix.platform }}" == "win-64" ]; then
-            echo "Users can now:"
-            echo "  1. Download unilab-pack-win-64.zip"
-            echo "  2. Extract it"
-            echo "  3. Run install_unilab.bat"
-          else
-            echo "Users can now:"
-            echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
-            echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
-            echo "  3. Run: bash install_unilab.sh"
-          fi
+          echo "Users can now:"
+          echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  3. Run: bash install_unilab.sh"
           echo ""
 
       - name: Upload distribution package
@@ -268,12 +328,32 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
-          path: unilab-pack-*
+          path: dist-package/
           retention-days: 90
           if-no-files-found: error
 
-      - name: Display package info
-        if: steps.should_build.outputs.should_build == 'true'
+      - name: Display package info (Windows)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo ==========================================
+          echo Build Summary
+          echo ==========================================
+          echo Platform: ${{ matrix.platform }}
+          echo Branch: ${{ github.event.inputs.branch }}
+          echo Python version: 3.11.11
+          echo.
+          echo Distribution package contents:
+          dir dist-package
+          echo.
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          echo.
+          echo After download, extract the ZIP and run:
+          echo   install_unilab.bat
+          echo ==========================================
+
+      - name: Display package info (Unix)
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
         run: |
           echo "=========================================="
           echo "Build Summary"
@@ -282,19 +362,15 @@ jobs:
           echo "Branch: ${{ github.event.inputs.branch }}"
           echo "Python version: 3.11.11"
           echo ""
-          echo "Package contents:"
-          if [ "${{ matrix.platform }}" == "win-64" ]; then
-            echo "  - unilab-pack-${{ matrix.platform }}.zip"
-          else
-            echo "  - unilab-pack-${{ matrix.platform }}.tar.gz"
-          fi
-          echo "  - unilab-env-${{ matrix.platform }}.tar.gz (packed environment)"
-          echo "  - install_unilab script"
-          echo "  - verify_installation.py"
-          echo "  - README.txt"
+          echo "Distribution package contents:"
+          ls -lh dist-package/
           echo ""
-          echo "Package size:"
-          ls -lh unilab-pack-* 2>/dev/null || ls -lh unilab-env-${{ matrix.platform }}.tar.gz
+          echo "Package size (tar.gz):"
+          ls -lh unilab-pack-*.tar.gz
           echo ""
-          echo "Download the artifact and run the install script!"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
+          echo ""
+          echo "After download:"
+          echo "  - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
           echo "=========================================="
diff --git a/.gitignore b/.gitignore
index 5fab5d54..71d8d0d5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,7 @@ configs/
 temp/
 output/
 unilabos_data/
+pyrightconfig.json
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -246,3 +247,5 @@ local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 *.bz2
 test_config.py
+
+
diff --git a/CONTRIBUTORS b/CONTRIBUTORS
new file mode 100644
index 00000000..9d0b395d
--- /dev/null
+++ b/CONTRIBUTORS
@@ -0,0 +1,15 @@
+   156	Xuwznln <18435084+Xuwznln@users.noreply.github.com>
+    39	Junhan Chang <changjh@dp.tech>
+     9	wznln <18435084+Xuwznln@users.noreply.github.com>
+     8	Guangxin Zhang <guangxin.zhang.bio@gmail.com>
+     5	ZiWei <131428629+ZiWei09@users.noreply.github.com>
+     2	Junhan Chang <changjh@pku.edu.cn>
+     2	Xie Qiming <97236197+Andy6M@users.noreply.github.com>
+     1	Harvey Que <103566763+Mile-Away@users.noreply.github.com>
+     1	Junhan Chang <1700011741@pku.edu.cn>
+     1	LccLink <1951855008@qq.com>
+     1	h840473807 <47357934+h840473807@users.noreply.github.com>
+     1	lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
+     1	shiyubo0410 <shiyubo@dp.tech>
+     1	王俊杰 <1800011822@pku.edu.cn>
+     1	王俊杰 <43375851+wjjxxx@users.noreply.github.com>
diff --git a/docs/boot_examples/liquid_handler.md b/docs/boot_examples/liquid_handler.md
index 707b1551..4343362a 100644
--- a/docs/boot_examples/liquid_handler.md
+++ b/docs/boot_examples/liquid_handler.md
@@ -13,18 +13,16 @@
 ```json
 {
   "nodes": [
-        {
-            "id": "PLR_STATION",
-            "name": "PLR_LH_TEST",
-            "parent": null,
-            "type": "device",
-            "class": "liquid_handler",
-            "config": {},
-            "data": {},
-            "children": [
-                "deck"
-            ]
-        },
+    {
+      "id": "PLR_STATION",
+      "name": "PLR_LH_TEST",
+      "parent": null,
+      "type": "device",
+      "class": "liquid_handler",
+      "config": {},
+      "data": {},
+      "children": ["deck"]
+    },
     {
       "id": "deck",
       "name": "deck",
@@ -32,12 +30,12 @@
       "class": null,
       "parent": "PLR_STATION",
       "children": [
-                "trash",
-                "trash_core96",
-                "teaching_carrier",
-                "tip_rack",
-                "plate"
-            ]
+        "trash",
+        "trash_core96",
+        "teaching_carrier",
+        "tip_rack",
+        "plate"
+      ]
     }
   ],
   "links": []
@@ -45,6 +43,7 @@
 ```
 
 配置文件定义了移液站的组成部分，主要包括：
+
 - 移液站本体（LiquidHandler）- 设备类型
 - 移液站携带物料实例（deck）- 物料类型
 
@@ -55,7 +54,7 @@
 使用以下命令启动移液站设备：
 
 ```bash
-unilab -g test/experiments/plr_test.json --app_bridges ""
+unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk [通过网页获取的sk值]
 ```
 
 ### 2. 执行枪头插入操作
@@ -66,35 +65,50 @@ unilab -g test/experiments/plr_test.json --app_bridges ""
 ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
 ```
 
-此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。
+此命令会通过 ros 通信触发移液站执行枪头插入操作，得到如下的 PyLabRobot 的输出日志。
 
 ```log
 Picking up tips:
-pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter    
-  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes  
+pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter
+  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes
 ```
 
+也可以登陆网页，给`tip_spots`选择`tip_rack_tipspot_0_0`，`use_channels`为`0`，`offsets`均填写`0`，同样可观察到上面的日志
+
 ## 常见问题
 
-1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试
+1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过 PyLabRobot 进行测试
 
 ## 移液站支持的操作
 
 移液站支持多种操作，以下是当前系统支持的操作列表：
 
-1. **LiquidHandlerAspirate** - 吸液操作
-2. **LiquidHandlerDispense** - 排液操作
-3. **LiquidHandlerDiscardTips** - 丢弃枪头
-4. **LiquidHandlerDropTips** - 卸下枪头
-5. **LiquidHandlerDropTips96** - 卸下96通道枪头
-6. **LiquidHandlerMoveLid** - 移动盖子
-7. **LiquidHandlerMovePlate** - 移动板子
-8. **LiquidHandlerMoveResource** - 移动资源
-9. **LiquidHandlerPickUpTips** - 插入枪头
-10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
-11. **LiquidHandlerReturnTips** - 归还枪头
-12. **LiquidHandlerReturnTips96** - 归还96通道枪头
-13. **LiquidHandlerStamp** - 打印标记
-14. **LiquidHandlerTransfer** - 液体转移
+1. **LiquidHandlerProtocolCreation** - 协议创建
+2. **LiquidHandlerAspirate** - 吸液操作
+3. **LiquidHandlerDispense** - 排液操作
+4. **LiquidHandlerDiscardTips** - 丢弃枪头
+5. **LiquidHandlerDropTips** - 卸下枪头
+6. **LiquidHandlerDropTips96** - 卸下 96 通道枪头
+7. **LiquidHandlerMoveLid** - 移动盖子
+8. **LiquidHandlerMovePlate** - 移动板子
+9. **LiquidHandlerMoveResource** - 移动资源
+10. **LiquidHandlerPickUpTips** - 插入枪头
+11. **LiquidHandlerPickUpTips96** - 插入 96 通道枪头
+12. **LiquidHandlerReturnTips** - 归还枪头
+13. **LiquidHandlerReturnTips96** - 归还 96 通道枪头
+14. **LiquidHandlerSetLiquid** - 设置液体
+15. **LiquidHandlerSetTipRack** - 设置枪头架
+16. **LiquidHandlerStamp** - 打印标记
+17. **LiquidHandlerTransfer** - 液体转移
+18. **LiquidHandlerSetGroup** - 设置分组
+19. **LiquidHandlerTransferBiomek** - Biomek 液体转移
+20. **LiquidHandlerIncubateBiomek** - Biomek 孵育
+21. **LiquidHandlerMoveBiomek** - Biomek 移动
+22. **LiquidHandlerOscillateBiomek** - Biomek 振荡
+23. **LiquidHandlerTransferGroup** - 分组转移
+24. **LiquidHandlerAdd** - 添加操作
+25. **LiquidHandlerMix** - 混合操作
+26. **LiquidHandlerMoveTo** - 移动到指定位置
+27. **LiquidHandlerRemove** - 移除操作
 
-这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。
\ No newline at end of file
+这些操作可通过 ROS2 Action 接口进行调用，以实现复杂的移液流程。
diff --git a/docs/concepts/02-topology-and-chemputer-compile.md b/docs/concepts/02-topology-and-chemputer-compile.md
index 9e40bad9..3fc18e23 100644
--- a/docs/concepts/02-topology-and-chemputer-compile.md
+++ b/docs/concepts/02-topology-and-chemputer-compile.md
@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
 对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**
 
 而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
-于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
+于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
 
 ![topology](image/02-topology-and-chemputer-compile/topology.png)
 
diff --git a/docs/developer_guide/action_includes.md b/docs/developer_guide/action_includes.md
index 4111fb98..44403eb5 100644
--- a/docs/developer_guide/action_includes.md
+++ b/docs/developer_guide/action_includes.md
@@ -1,26 +1,64 @@
 ## 简单单变量动作函数
 
-
 ### `SendCmd`
 
 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```
 
-----
+---
+
+### `StrSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
+:language: yaml
+```
+
+---
+
+### `IntSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
+:language: yaml
+```
+
+---
+
+### `FloatSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
+:language: yaml
+```
+
+---
+
+### `Point3DSeparateInput`
+
+```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
+:language: yaml
+```
+
+---
+
+### `Wait`
+
+```{literalinclude} ../../unilabos_msgs/action/Wait.action
+:language: yaml
+```
+
+---
+
 ## 常量有机化学操作
 
 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
 
-
-
 ### `Clean`
 
 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```
 
-----
+---
 
 ### `EvacuateAndRefill`
 
@@ -28,7 +66,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Evaporate`
 
@@ -36,7 +74,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChill`
 
@@ -44,7 +82,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChillStart`
 
@@ -52,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChillStop`
 
@@ -60,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `PumpTransfer`
 
@@ -68,7 +106,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Separate`
 
@@ -76,7 +114,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Stir`
 
@@ -84,20 +122,179 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
+
+### `Add`
+
+```{literalinclude} ../../unilabos_msgs/action/Add.action
+:language: yaml
+```
+
+---
+
+### `AddSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
+:language: yaml
+```
+
+---
+
+### `AdjustPH`
+
+```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
+:language: yaml
+```
+
+---
+
+### `Centrifuge`
+
+```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
+:language: yaml
+```
+
+---
+
+### `CleanVessel`
+
+```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
+:language: yaml
+```
+
+---
+
+### `Crystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
+:language: yaml
+```
+
+---
+
+### `Dissolve`
+
+```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
+:language: yaml
+```
+
+---
+
+### `Dry`
+
+```{literalinclude} ../../unilabos_msgs/action/Dry.action
+:language: yaml
+```
+
+---
+
+### `Filter`
+
+```{literalinclude} ../../unilabos_msgs/action/Filter.action
+:language: yaml
+```
+
+---
+
+### `FilterThrough`
+
+```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
+:language: yaml
+```
+
+---
+
+### `Hydrogenate`
+
+```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
+:language: yaml
+```
+
+---
+
+### `Purge`
+
+```{literalinclude} ../../unilabos_msgs/action/Purge.action
+:language: yaml
+```
+
+---
+
+### `Recrystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
+:language: yaml
+```
+
+---
+
+### `RunColumn`
+
+```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
+:language: yaml
+```
+
+---
+
+### `StartPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
+:language: yaml
+```
+
+---
+
+### `StartStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StartStir.action
+:language: yaml
+```
+
+---
+
+### `StopPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
+:language: yaml
+```
+
+---
+
+### `StopStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StopStir.action
+:language: yaml
+```
+
+---
+
+### `Transfer`
+
+```{literalinclude} ../../unilabos_msgs/action/Transfer.action
+:language: yaml
+```
+
+---
+
+### `WashSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
+:language: yaml
+```
+
+---
+
 ## 移液工作站及相关生物自动化设备操作
 
 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
 
-
-
 ### `LiquidHandlerAspirate`
 
 ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDiscardTips`
 
@@ -105,7 +302,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDispense`
 
@@ -113,7 +310,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDropTips`
 
@@ -121,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDropTips96`
 
@@ -129,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveLid`
 
@@ -137,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMovePlate`
 
@@ -145,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveResource`
 
@@ -153,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips`
 
@@ -161,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips96`
 
@@ -169,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips`
 
@@ -177,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips96`
 
@@ -185,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerStamp`
 
@@ -193,7 +390,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerTransfer`
 
@@ -201,9 +398,113 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
-## 多工作站及小车运行、物料转移
+---
 
+### `LiquidHandlerAdd`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerIncubateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMix`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveTo`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerOscillateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerProtocolCreation`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerRemove`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetLiquid`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetTipRack`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
+:language: yaml
+```
+
+---
+
+## 多工作站及小车运行、物料转移
 
 ### `AGVTransfer`
 
@@ -211,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `WorkStationRun`
 
@@ -219,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
+
+### `ResetHandling`
+
+```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuter`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuterEasy`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+:language: yaml
+```
+
+---
+
+### `SetPumpPosition`
+
+```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
+:language: yaml
+```
+
+---
+
+## 固体分配与处理设备操作
+
+### `SolidDispenseAddPowderTube`
+
+```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
+:language: yaml
+```
+
+---
+
+## 其他设备操作
+
+### `EmptyIn`
+
+```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
+:language: yaml
+```
+
+---
+
 ## 机械臂、夹爪等机器人设备
 
 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
 
-
 ### `FollowJointTrajectory`
 
 ```yaml
@@ -292,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 
 ```
 
-----
+---
+
 ### `GripperCommand`
 
 ```yaml
@@ -310,17 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 
 ```
 
-----
+---
+
 ### `JointTrajectory`
 
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
----
 
+---
 ```
 
-----
+---
+
 ### `PointHead`
 
 ```yaml
@@ -330,12 +686,13 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 float64 pointing_angle_error
-
 ```
 
-----
+---
+
 ### `SingleJointPosition`
 
 ```yaml
@@ -343,15 +700,16 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
-
 ```
 
-----
+---
+
 ### `AssistedTeleop`
 
 ```yaml
@@ -363,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
-
 ```
 
-----
+---
+
 ### `BackUp`
 
 ```yaml
@@ -380,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `ComputePathThroughPoses`
 
 ```yaml
@@ -398,10 +756,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `ComputePathToPose`
 
 ```yaml
@@ -416,10 +774,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `DriveOnHeading`
 
 ```yaml
@@ -433,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `DummyBehavior`
 
 ```yaml
@@ -447,10 +805,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `FollowPath`
 
 ```yaml
@@ -465,10 +823,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
-
 ```
 
-----
+---
+
 ### `FollowWaypoints`
 
 ```yaml
@@ -480,10 +838,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
-
 ```
 
-----
+---
+
 ### `NavigateThroughPoses`
 
 ```yaml
@@ -501,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
-
 ```
 
-----
+---
+
 ### `NavigateToPose`
 
 ```yaml
@@ -521,10 +879,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
-
 ```
 
-----
+---
+
 ### `SmoothPath`
 
 ```yaml
@@ -540,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `Spin`
 
 ```yaml
@@ -556,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
-
 ```
 
-----
+---
+
 ### `Wait`
 
 ```yaml
@@ -571,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
-
 ```
 
-----
+---
diff --git a/docs/developer_guide/add_action.md b/docs/developer_guide/add_action.md
index 227c2797..94a9110a 100644
--- a/docs/developer_guide/add_action.md
+++ b/docs/developer_guide/add_action.md
@@ -1,37 +1,142 @@
 # 添加新动作指令（Action）
 
-1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
+本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
+
+## 1. 编写新的 Action
+
+### 1.1 创建 Action 文件
+
+在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
 
 ```action
-# 目标（Goal）
+# 目标（Goal）- 定义动作执行所需的参数
 string command
+float64 timeout
 ---
-# 结果（Result）
-bool success
+# 结果（Result）- 定义动作完成后返回的结果
+bool success  # 要求必须包含success，以便回传执行结果
+string return_info  # 要求必须包含return_info，以便回传执行结果
+...  # 其他
 ---
-# 反馈（Feedback）
+# 反馈（Feedback）- 定义动作执行过程中的反馈信息
+float64 progress
+string status
 ```
 
-2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action
+### 1.2 更新 CMakeLists.txt
+
+在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
 
 ```cmake
 add_action_files(
   FILES
   MyDeviceCmd.action
+  # 其他已有的 action 文件...
 )
 ```
 
-3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：
+## 2. 在线构建和测试
+
+为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
+
+### 2.1 Fork 仓库并创建分支
+
+1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
+
+2. **Clone 你的 fork**：
+
+   ```bash
+   git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
+   cd Uni-Lab-OS
+   ```
+
+3. **创建功能分支**：
+
+   ```bash
+   git checkout -b add-my-device-action
+   ```
+
+4. **提交你的更改**：
+   ```bash
+   git add unilabos_msgs/action/MyDeviceCmd.action
+   git add unilabos_msgs/CMakeLists.txt
+   git commit -m "Add MyDeviceCmd action for device control"
+   git push origin add-my-device-action
+   ```
+
+### 2.2 触发在线构建
+
+1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
+
+2. **手动触发构建**：
+
+   - 点击 "Actions" 标签
+   - 选择 "Multi-Platform Conda Build" 工作流
+   - 点击 "Run workflow" 按钮
+
+3. **监控构建状态**：
+   - 构建过程大约需要 5-10 分钟
+   - 在 Actions 页面可以实时查看构建日志
+   - 构建完成后，可以下载生成的 conda 包进行测试
+
+### 2.3 下载和测试构建包
+
+1. **下载构建产物**：
+
+   - 在构建完成的 Action 页面，找到 "Artifacts" 部分
+   - 下载对应平台的 `conda-package-*` 文件
+
+2. **本地测试安装**：
+
+   ```bash
+   # 解压下载的构建产物
+   unzip conda-package-linux-64.zip  # 或其他平台
+
+   # 安装测试包
+   mamba install ./ros-humble-unilabos-msgs-*.conda
+   ```
+
+3. **验证 Action 是否正确添加**：
+   ```bash
+   # 检查 action 是否可用
+   ros2 interface show unilabos_msgs/action/MyDeviceCmd
+   ```
+
+## 3. 提交 Pull Request
+
+测试成功后，向主仓库提交 Pull Request：
+
+1. **创建 Pull Request**：
+
+   - 在你的 fork 仓库页面，点击 "New Pull Request"
+   - 选择你的功能分支作为源分支
+   - 填写详细的 PR 描述，包括：
+     - 添加的 Action 功能说明
+     - 测试结果
+     - 相关的设备或用例
+
+2. **等待审核和合并**：
+   - 维护者会审核你的代码
+   - CI/CD 系统会自动运行完整的测试套件
+   - 合并后，新的指令集会自动发布到官方 conda 仓库
+
+## 4. 使用新的 Action
+
+如果采用自己构建的action包，可以通过以下命令更新安装：
 
 ```bash
-cd unilabos_msgs
-colcon build
-source ./install/local_setup.sh
-cd ..
+mamba remove --force ros-humble-unilabos-msgs
+mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
+mamba install xxx.conda --offline
 ```
 
-调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
+## 常见问题
 
-```bash
-mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
-```
+**Q: 构建失败怎么办？**
+A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
+
+**Q: 如何测试特定平台？**
+A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
+
+**Q: 构建包在哪里下载？**
+A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
diff --git a/docs/developer_guide/add_batteryPLC.md b/docs/developer_guide/add_batteryPLC.md
new file mode 100644
index 00000000..f1e93974
--- /dev/null
+++ b/docs/developer_guide/add_batteryPLC.md
@@ -0,0 +1,147 @@
+# 电池装配工站接入（PLC）
+
+本指南将引导你完成电池装配工站（以 PLC 控制为例）的接入流程，包括新建工站文件、编写驱动与寄存器读写、生成注册表、上传及注意事项。
+
+## 1. 新建工站文件
+
+### 1.1 创建工站文件
+
+在 `unilabos/devices/workstation/coin_cell_assembly` 目录下新建工站文件，如 `coin_cell_assembly.py`。工站类需继承 `WorkstationBase`，并在构造函数中初始化通信客户端与寄存器映射。
+
+```python
+from typing import Optional
+# 工站基类
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+# Modbus 通讯与寄存器 CSV 支持
+from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
+
+class CoinCellAssemblyWorkstation(WorkstationBase):
+    def __init__(
+        self,
+        station_resource,
+        address: str = "192.168.1.20",
+        port: str = "502",
+        *args,
+        **kwargs,
+    ):
+        super().__init__(station_resource=station_resource, *args, **kwargs)
+        self.station_resource = station_resource  # 物料台面（Deck）
+        self.success: bool = False
+        self.allow_data_read: bool = False
+        self.csv_export_thread = None
+        self.csv_export_running = False
+        self.csv_export_file: Optional[str] = None
+
+        # 连接 PLC，并注册寄存器节点
+        tcp = TCPClient(addr=address, port=port)
+        tcp.client.connect()
+        self.nodes = BaseClient.load_csv(".../PLC_register.csv")
+        self.client = tcp.register_node_list(self.nodes)
+```
+
+
+
+## 2. 编写驱动与寄存器读写
+
+### 2.1 寄存器示例
+
+- `COIL_SYS_START_CMD`（BOOL，地址 8010）：启动命令（脉冲式）
+- `COIL_SYS_START_STATUS`（BOOL，地址 8210）：启动状态
+- `REG_DATA_OPEN_CIRCUIT_VOLTAGE`（FLOAT32，地址 10002）：开路电压
+- `REG_DATA_ASSEMBLY_PRESSURE`（INT16，地址 10014）：压制扣电压力
+
+### 2.2 最小驱动示例
+
+```python
+from unilabos.device_comms.modbus_plc.modbus import WorderOrder
+
+def start_and_read_metrics(self):
+    # 1) 下发启动（置 True 再复位 False）
+    self.client.use_node('COIL_SYS_START_CMD').write(True)
+    self.client.use_node('COIL_SYS_START_CMD').write(False)
+
+    # 2) 等待进入启动状态
+    while True:
+        status, _ = self.client.use_node('COIL_SYS_START_STATUS').read(1)
+        if bool(status[0]):
+            break
+
+    # 3) 读取关键数据（FLOAT32 需读 2 个寄存器并指定字节序）
+    voltage, _ = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(
+        2, word_order=WorderOrder.LITTLE
+    )
+    pressure, _ = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
+
+    return {
+        'open_circuit_voltage': voltage,
+        'assembly_pressure': pressure,
+    }
+```
+
+> 提示：若需参数下发，可在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争。
+
+## 3. 本地生成注册表并校验
+
+完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
+
+
+### 3.1 新增工站设备（或资源）首次生成注册表
+首先通过以下命令启动unilab。进入unilab系统状态检查页面
+
+```bash
+python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
+```
+
+点击注册表编辑，进入注册表编辑页面
+![Layers](image_add_batteryPLC/unilab_sys_status.png)
+
+按照图示步骤填写自动生成注册表信息：
+![Layers](image_add_batteryPLC/unilab_registry_process.png)
+
+步骤说明：
+1. 选择新增的工站`coin_cell_assembly.py`文件
+2. 点击分析按钮，分析`coin_cell_assembly.py`文件
+3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
+4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
+5. 此处填写新定义工站的类的名字（名称可以自拟）
+6. 填写新的工站注册表备注信息
+7. 生成注册表
+
+以上操作步骤完成，则会生成的新的注册表ymal文件，如下图：
+![Layers](image_add_batteryPLC/unilab_new_yaml.png)
+
+
+
+
+
+
+### 3.2 添加新生成注册表
+在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。   
+
+在终端输入以下命令进行注册表补全操作。
+```bash
+python unilabos\app\register.py --complete_registry
+```
+
+
+### 3.3 启动并上传注册表
+
+新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
+
+```bash
+python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
+```
+
+## 4. 注意事项
+
+- 在新生成的 YAML 中，确认 `module` 指向新工站类，本例中需检查`coincellassemblyworkstation_device.yaml`文件中是否指向了`coin_cell_assembly.py`文件中定义的`CoinCellAssemblyWorkstation`类文件：
+
+```
+module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
+```
+
+- 首次新增设备（或资源）需要在网页端新增注册表信息，`--complete_registry`补全注册表，`--upload_registry`上传注册表信息。
+
+- 如果不是新增设备（或资源），仅对工站驱动的.py文件进行了修改，则不需要在网页端新增注册表信息。只需要运行补全注册表信息之后，上传注册表即可。
+
+
diff --git a/docs/developer_guide/add_device.md b/docs/developer_guide/add_device.md
index 1fae4bdb..0cec54da 100644
--- a/docs/developer_guide/add_device.md
+++ b/docs/developer_guide/add_device.md
@@ -13,36 +13,36 @@ class MockGripper:
         self._velocity: float = 2.0
         self._torque: float = 0.0
         self._status = "Idle"
-    
+
     @property
     def position(self) -> float:
         return self._position
-    
+
     @property
     def velocity(self) -> float:
         return self._velocity
-    
+
     @property
     def torque(self) -> float:
         return self._torque
-    
+
     # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
     @property
     def status(self) -> str:
         return self._status
-    
+
     # 会被自动识别的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     @status.setter
     def status(self, target):
         self._status = target
-    
+
     # 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     def push_to(self, position: float, torque: float, velocity: float = 0.0):
         self._status = "Running"
         current_pos = self.position
         if velocity == 0.0:
             velocity = self.velocity
-        
+
         move_time = abs(position - current_pos) / velocity
         for i in range(20):
             self._position = current_pos + (position - current_pos) / 20 * (i+1)
@@ -68,7 +68,7 @@ public class MockGripper
     public double velocity { get; private set; } = 2.0;
     public double torque { get; private set; } = 0.0;
     public string status { get; private set; } = "Idle";
-    
+
     // 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     public async Task PushToAsync(double Position, double Torque, double Velocity = 0.0)
     {
@@ -94,107 +94,61 @@ public class MockGripper
 
 C# 驱动设备在完成注册表后，需要调用 Uni-Lab C# 编译后才能使用，但只需一次。
 
-## 注册表文件位置
+## 快速开始：使用注册表编辑器（推荐）
 
-Uni-Lab 启动时会自动读取默认注册表路径 `unilabos/registry/devices` 下的所有注册设备。您也可以任意维护自己的注册表路径，只需要在 Uni-Lab 启动时使用 `--registry` 参数将路径添加即可。
+推荐使用 Uni-Lab-OS 自带的可视化编辑器，它能自动分析您的设备驱动并生成大部分配置：
 
-在 `<path-to-registry>/devices` 中新建一个 yaml 文件，即可开始撰写。您可以将多个设备写到同一个 yaml 文件中。
+1. 启动 Uni-Lab-OS
+2. 在浏览器中打开"注册表编辑器"页面
+3. 选择您的 Python 设备驱动文件
+4. 点击"分析文件"，让系统读取类信息
+5. 填写基本信息（设备描述、图标等）
+6. 点击"生成注册表"，复制生成的内容
+7. 保存到 `devices/` 目录下
 
-## 注册表的结构
+---
 
-1. 顶层名称：每个设备的注册表以设备名称开头，例如 `new_device`, `gripper.mock`。
-1. `class` 字段：定义设备的模块路径和驱动程序语言。
-1. `status_types` 字段：定义设备定时对 Uni-Lab 实验室内发送的属性名及其类型。
-1. `action_value_mappings` 字段：定义设备支持的动作及其目标、反馈和结果。
-1. `schema` 字段：定义设备定时对 Uni-Lab 云端监控发送的属性名及其类型、描述（非必须）
+## 手动编写注册表（简化版）
 
-## 创建新的注册表教程
+如果需要手动编写，只需要提供两个必需字段，系统会自动补全其余内容：
 
-1. 创建文件
-   在 devices 文件夹中创建一个新的 YAML 文件，例如 `new_device.yaml`。
-2. 定义设备名称
-   在文件中定义设备的顶层名称，例如：`new_device` 或 `gripper.mock`
-3. 定义设备的类信息
-   添加设备的模块路径和类型：
+### 最小配置示例
 
 ```yaml
-gripper.mock:
-  class:   # 定义设备的类信息
-    module: unilabos.devices.gripper.mock:MockGripper
-    type: python  # 指定驱动语言为 Python
-    status_types:
-      position: Float64
-      torque: Float64
-      status: String
+my_device: # 设备唯一标识符
+  class:
+    module: unilabos.devices.your_module.my_device:MyDevice # Python 类路径
+    type: python # 驱动类型
 ```
 
-4. 定义设备的定时发布属性。注意，对于 Python Class 来说，PROP 是 class 的 `property`，或满足能被 `getattr(cls, PROP)` 或 `cls.get_PROP` 读取到的属性值的对象。
+### 注册表文件位置
+
+- 默认路径：`unilabos/registry/devices`
+- 自定义路径：启动时使用 `--registry` 参数指定
+- 可将多个设备写在同一个 yaml 文件中
+
+### 系统自动生成的内容
+
+系统会自动分析您的 Python 驱动类并生成：
+
+- `status_types`：从 `get_*` 方法自动识别状态属性
+- `action_value_mappings`：从类方法自动生成动作映射
+- `init_param_schema`：从 `__init__` 方法分析初始化参数
+- `schema`：前端显示用的属性类型定义
+
+### 完整结构概览
 
 ```yaml
-    status_types:
-      PROP: TYPE
-```
-5. 定义设备支持的动作
-   添加设备支持的动作及其目标、反馈和结果：
-
-```yaml
-    action_value_mappings:
-      set_speed:
-        type: SendCmd
-        goal:
-          command: speed
-        feedback: {}
-        result:
-          success: success
+my_device:
+  class:
+    module: unilabos.devices.your_module.my_device:MyDevice
+    type: python
+    status_types: {} # 自动生成
+    action_value_mappings: {} # 自动生成
+  description: '' # 可选：设备描述
+  icon: '' # 可选：设备图标
+  init_param_schema: {} # 自动生成
+  schema: {} # 自动生成
 ```
 
-在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来将驱动内的动作函数，映射到 Uni-Lab 标准动作（actions）及其目标参数值（goal）、反馈值（feedback）和结果值（result）的映射规则。若在 Uni-Lab 指令集内找不到符合心意的，请【创建新指令】。
-
-```yaml
-  action_value_mappings:
-    <action_name>:                      # <action_name>：动作的名称
-                                        # start：启动设备或某个功能。
-                                        # stop：停止设备或某个功能。
-                                        # set_speed：设置设备的速度。
-                                        # set_temperature：设置设备的温度。
-                                        # move_to_position：移动设备到指定位置。
-                                        # stir：执行搅拌操作。
-                                        # heatchill：执行加热或冷却操作。
-                                        # send_nav_task：发送导航任务（例如机器人导航）。
-                                        # set_timer：设置设备的计时器。
-                                        # valve_open_cmd：打开阀门。
-                                        # valve_close_cmd：关闭阀门。
-                                        # execute_command_from_outer：执行外部命令。
-                                        # push_to：控制设备推送到某个位置（例如机械爪）。
-                                        # move_through_points：导航设备通过多个点。
-
-      type: <ActionType>                # 动作的类型，表示动作的功能
-                                        # 根据动作的功能选择合适的类型，请查阅 Uni-Lab 已支持的指令集。
-
-      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
-        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
-
-      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
-        <feedback_key>: <mapped_value>
-      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
-        <result_key>: <mapped_value>
-```
-
-6. 定义设备的网页展示属性类型，这部分会被用于在 Uni-Lab 网页端渲染成状态监控
-   添加设备的属性模式，包括属性类型和描述：
-
-```yaml
-schema:
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      speed:
-        type: number
-        description: The speed of the device
-    required:
-      - status
-      - speed
-    additionalProperties: false
-```
+详细的注册表编写指南和高级配置，请参考{doc}`yaml 注册表编写指南 <add_yaml>`。
diff --git a/docs/developer_guide/add_yaml.md b/docs/developer_guide/add_yaml.md
index aef71226..d53dcf6e 100644
--- a/docs/developer_guide/add_yaml.md
+++ b/docs/developer_guide/add_yaml.md
@@ -1,95 +1,610 @@
-# yaml注册表编写指南
+# yaml 注册表编写指南
 
-`注册表的结构`
+## 快速开始：使用注册表编辑器
 
-1. 顶层名称：每个设备的注册表以设备名称开头，例如 new_device。
-2. class 字段：定义设备的模块路径和类型。
-3. schema 字段：定义设备的属性模式，包括属性类型、描述和必需字段。
-4. action_value_mappings 字段：定义设备支持的动作及其目标、反馈和结果。
+推荐使用 UniLabOS 自带的可视化编辑器，它能帮你自动生成大部分配置，省去手写的麻烦。
 
-`创建新的注册表教程`
-1. 创建文件
-    在 devices 文件夹中创建一个新的 YAML 文件，例如 new_device.yaml。
+### 怎么用编辑器
 
-2. 定义设备名称
-    在文件中定义设备的顶层名称，例如：new_device
+1. 启动 UniLabOS
+2. 在浏览器中打开"注册表编辑器"页面
+3. 选择你的 Python 设备驱动文件
+4. 点击"分析文件"，让系统读取你的类信息
+5. 填写一些基本信息（设备描述、图标啥的）
+6. 点击"生成注册表"，复制生成的内容
+7. 把内容保存到 `devices/` 目录下
 
-3. 定义设备的类信息
-    添加设备的模块路径和类型：
+我们为你准备了一个测试驱动，用于在界面上尝试注册表生成，参见目录：test\registry\example_devices.py
 
-```python
-new_device:  # 定义一个名为 linear_motion.grbl 的设备
+---
 
+## 手动编写指南
 
-class:  # 定义设备的类信息
-    module: unilabos.devices_names.new_device:NewDeviceClass  # 指定模块路径和类名
-    type: python  # 指定类型为 Python 类
-    status_types:
-```
-4. 定义设备支持的动作
-    添加设备支持的动作及其目标、反馈和结果：
-```python
-  action_value_mappings:
-    set_speed:
-      type: SendCmd
-      goal:
-        command: speed
-      feedback: {}
-      result:
-        success: success
-```
-`如何编写action_valve_mappings`
-1. 在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来定义设备支持的动作（actions）及其目标值（goal）、反馈值（feedback）和结果值（result）的映射规则。以下是规则和编写方法：
-```python
-  action_value_mappings:
-    <action_name>:                      # <action_name>：动作的名称
-                                        # start：启动设备或某个功能。
-                                        # stop：停止设备或某个功能。
-                                        # set_speed：设置设备的速度。
-                                        # set_temperature：设置设备的温度。
-                                        # move_to_position：移动设备到指定位置。
-                                        # stir：执行搅拌操作。
-                                        # heatchill：执行加热或冷却操作。
-                                        # send_nav_task：发送导航任务（例如机器人导航）。
-                                        # set_timer：设置设备的计时器。
-                                        # valve_open_cmd：打开阀门。
-                                        # valve_close_cmd：关闭阀门。
-                                        # execute_command_from_outer：执行外部命令。
-                                        # push_to：控制设备推送到某个位置（例如机械爪）。
-                                        # move_through_points：导航设备通过多个点。
+如果你想自己写 yaml 文件，或者想深入了解结构，查阅下方说明。
 
-      type: <ActionType>                # 动作的类型，表示动作的功能
-                                        # 根据动作的功能选择合适的类型：
-                                        # SendCmd：发送简单命令。
-                                        # NavigateThroughPoses：导航动作。
-                                        # SingleJointPosition：设置单一关节的位置。
-                                        # Stir：搅拌动作。
-                                        # HeatChill：加热或冷却动作。
+## 注册表的基本结构
 
-      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
-        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
+yaml 注册表就是设备的配置文件，里面定义了设备怎么用、有什么功能。好消息是系统会自动帮你填大部分内容，你只需要写两个必需的东西：设备名和 class 信息。
 
-      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
-        <feedback_key>: <mapped_value>
-      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
-        <result_key>: <mapped_value>
+### 各字段用途
+
+| 字段名            | 类型   | 需要手写 | 说明                                |
+| ----------------- | ------ | -------- | ----------------------------------- |
+| 设备标识符        | string | 是       | 设备的唯一名字，比如 `mock_chiller` |
+| class             | object | 部分     | 设备的核心信息，必须写              |
+| description       | string | 否       | 设备描述，系统默认给空字符串        |
+| handles           | array  | 否       | 连接关系，默认是空的                |
+| icon              | string | 否       | 图标路径，默认为空                  |
+| init_param_schema | object | 否       | 初始化参数，系统自动分析生成        |
+| version           | string | 否       | 版本号，默认 "1.0.0"                |
+| category          | array  | 否       | 设备分类，默认用文件名              |
+| config_info       | array  | 否       | 嵌套配置，默认为空                  |
+| file_path         | string | 否       | 文件路径，系统自动设置              |
+| registry_type     | string | 否       | 注册表类型，自动设为 "device"       |
+
+### class 字段里有啥
+
+class 是核心部分，包含这些内容：
+
+| 字段名                | 类型   | 需要手写 | 说明                               |
+| --------------------- | ------ | -------- | ---------------------------------- |
+| module                | string | 是       | Python 类的路径，必须写            |
+| type                  | string | 是       | 驱动类型，一般写 "python"          |
+| status_types          | object | 否       | 状态类型，系统自动分析生成         |
+| action_value_mappings | object | 部分     | 动作配置，系统会自动生成一些基础的 |
+
+## 怎么创建新的注册表
+
+### 创建文件
+
+在 devices 文件夹里新建一个 yaml 文件，比如 `new_device.yaml`。
+
+### 完整结构是什么样的
+
+```yaml
+new_device: # 设备名，要唯一
+  class: # 核心配置
+    action_value_mappings: # 动作配置（后面会详细说）
+      action_name:
+        # 具体的动作设置
+    module: unilabos.devices.your_module.new_device:NewDeviceClass # 你的 Python 类
+    status_types: # 状态类型（系统会自动生成）
+      status: str
+      temperature: float
+      # 其他状态
+    type: python # 驱动类型，一般就是 python
+
+  description: New Device Description # 设备描述
+  handles: [] # 连接关系，通常是空的
+  icon: '' # 图标路径
+  init_param_schema: # 初始化参数（系统会自动生成）
+    config: # 初始化时需要的参数
+      properties:
+        port:
+          default: DEFAULT_PORT
+          type: string
+      required: []
+      type: object
+    data: # 前端显示用的数据类型
+      properties:
+        status:
+          type: string
+        temperature:
+          type: number
+      required:
+        - status
+      type: object
+
+  version: 0.0.1 # 版本号
+  category:
+    - device_category # 设备类别
+  config_info: [] # 嵌套配置，通常为空
 ```
 
-6. 定义设备的属性模式
-    添加设备的属性模式，包括属性类型和描述：
-```python
-schema:
-    type: object
+## action_value_mappings 怎么写
+
+这个部分定义设备能做哪些动作。好消息是系统会自动生成大部分动作，你通常只需要添加一些特殊的自定义动作。
+
+### 系统自动生成哪些动作
+
+系统会帮你生成这些：
+
+1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
+2. 通用的驱动动作：
+   - `_execute_driver_command`：同步执行驱动命令（仅本地可用）
+   - `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
+
+### 如果要手动定义动作
+
+如果你需要自定义一些特殊动作，需要这些字段：
+
+| 字段名           | 需要手写 | 说明                             |
+| ---------------- | -------- | -------------------------------- |
+| type             | 是       | 动作类型，必须指定               |
+| goal             | 是       | 输入参数怎么映射                 |
+| feedback         | 否       | 实时反馈，通常为空               |
+| result           | 是       | 结果怎么返回                     |
+| goal_default     | 部分     | 参数默认值，ROS 动作会自动生成   |
+| schema           | 部分     | 前端表单配置，ROS 动作会自动生成 |
+| handles          | 否       | 连接关系，默认为空               |
+| placeholder_keys | 否       | 特殊输入字段配置                 |
+
+### 动作类型有哪些
+
+| 类型                   | 什么时候用           | 系统会自动生成什么     |
+| ---------------------- | -------------------- | ---------------------- |
+| UniLabJsonCommand      | 自定义同步 JSON 命令 | 啥都不生成             |
+| UniLabJsonCommandAsync | 自定义异步 JSON 命令 | 啥都不生成             |
+| ROS 动作类型           | 标准 ROS 动作        | goal_default 和 schema |
+
+常用的 ROS 动作类型：
+
+- `SendCmd`：发送简单命令
+- `NavigateThroughPoses`：导航动作
+- `SingleJointPosition`：单关节位置控制
+- `Stir`：搅拌动作
+- `HeatChill`、`HeatChillStart`：加热冷却动作
+
+### 复杂一点的例子
+
+```yaml
+heat_chill_start:
+  type: HeatChillStart
+  goal:
+    purpose: purpose
+    temp: temp
+  goal_default: # ROS动作会自动生成，你也可以手动覆盖
+    purpose: ''
+    temp: 0.0
+  handles:
+    output:
+      - handler_key: labware
+        label: Labware
+        data_type: resource
+        data_source: handle
+        data_key: liquid
+  placeholder_keys:
+    purpose: unilabos_resources
+  result:
+    status: status
+    success: success
+  # schema 系统会自动生成，不用写
+```
+
+### 动作名字怎么起
+
+根据设备用途来起名字：
+
+- 启动停止类：`start`、`stop`、`pause`、`resume`
+- 设置参数类：`set_speed`、`set_temperature`、`set_timer`
+- 移动控制类：`move_to_position`、`move_through_points`
+- 功能操作类：`stir`、`heat_chill_start`、`heat_chill_stop`
+- 开关控制类：`valve_open_cmd`、`valve_close_cmd`、`push_to`
+- 命令执行类：`send_nav_task`、`execute_command_from_outer`
+
+### 常用的动作类型
+
+- `UniLabJsonCommand`：自定义 JSON 命令（不走 ROS）
+- `UniLabJsonCommandAsync`：异步 JSON 命令（不走 ROS）
+- `SendCmd`：发送简单命令
+- `NavigateThroughPoses`：导航相关
+- `SingleJointPosition`：单关节控制
+- `Stir`：搅拌
+- `HeatChill`、`HeatChillStart`：加热冷却
+- 其他的 ROS 动作类型：看具体的 ROS 服务
+
+### 示例：完整的动作配置
+
+```yaml
+heat_chill_start:
+  type: HeatChillStart
+  goal:
+    purpose: purpose
+    temp: temp
+  goal_default:
+    purpose: ''
+    temp: 0.0
+  handles:
+    output:
+      - handler_key: labware
+        label: Labware
+        data_type: resource
+        data_source: handle
+        data_key: liquid
+  placeholder_keys:
+    purpose: unilabos_resources
+  result:
+    status: status
+    success: success
+  schema:
+    description: '启动加热冷却功能'
     properties:
+      goal:
+        properties:
+          purpose:
+            type: string
+            description: '用途说明'
+          temp:
+            type: number
+            description: '目标温度'
+        required:
+          - purpose
+          - temp
+        title: HeatChillStart_Goal
+        type: object
+    required:
+      - goal
+    title: HeatChillStart
+    type: object
+  feedback: {}
+```
+
+## 系统自动生成的字段
+
+### status_types
+
+系统会扫描你的 Python 类，从状态方法自动生成这部分：
+
+```yaml
+status_types:
+  current_temperature: float # 从 get_current_temperature() 方法来的
+  is_heating: bool # 从 get_is_heating() 方法来的
+  status: str # 从 get_status() 方法来的
+```
+
+注意几点：
+
+- 系统会找所有 `get_` 开头的方法
+- 类型会自动转成 ROS 类型（比如 `str` 变成 `String`）
+- 如果类型是 `Any`、`None` 或者不知道的，就默认用 `String`
+
+### init_param_schema
+
+这个完全是系统自动生成的，你不用管：
+
+```yaml
+init_param_schema:
+  config: # 从你类的 __init__ 方法分析出来的
+    properties:
+      port:
+        type: string
+        default: '/dev/ttyUSB0'
+      baudrate:
+        type: integer
+        default: 9600
+    required: []
+    type: object
+
+  data: # 根据 status_types 生成的前端用的类型
+    properties:
+      current_temperature:
+        type: number
+      is_heating:
+        type: boolean
       status:
         type: string
-        description: The status of the device
-      speed:
-        type: number
-        description: The speed of the device
     required:
       - status
-      - speed
-    additionalProperties: false
+    type: object
 ```
-# 写完yaml注册表后需要添加到哪些其他文件？
+
+生成规则很简单：
+
+- `config` 部分：看你类的 `__init__` 方法有什么参数，类型和默认值是啥
+- `data` 部分：根据 `status_types` 生成前端显示用的类型定义
+
+### 其他自动填充的字段
+
+```yaml
+version: '1.0.0' # 默认版本
+category: ['文件名'] # 用你的 yaml 文件名当类别
+description: '' # 默认为空，你可以手动改
+icon: '' # 默认为空，你可以加图标
+handles: [] # 默认空数组
+config_info: [] # 默认空数组
+file_path: '/path/to/file' # 系统自动填文件路径
+registry_type: 'device' # 自动设为设备类型
+```
+
+### handles 字段
+
+这个是定义设备连接关系的，类似动作里的 handles 一样：
+
+```yaml
+handles: # 大多数时候都是空的，除非设备本身需要连接啥
+  - handler_key: device_output
+    label: Device Output
+    data_type: resource
+    data_source: value
+    data_key: default_value
+```
+
+### 其他可以配置的字段
+
+```yaml
+description: '设备的详细描述' # 写清楚设备是干啥的
+
+icon: 'device_icon.webp' # 设备图标，文件名（会上传到OSS）
+
+version: '0.0.1' # 版本号
+
+category: # 设备分类，前端会用这个分组
+  - 'heating'
+  - 'cooling'
+  - 'temperature_control'
+
+config_info: # 嵌套配置，如果设备包含子设备
+  - children:
+      - opentrons_24_tuberack_nest_1point5ml_snapcap_A1
+      - other_nested_component
+```
+
+## 完整的例子
+
+这里是一个比较完整的设备配置示例：
+
+```yaml
+my_temperature_controller:
+  class:
+    action_value_mappings:
+      heat_start:
+        type: HeatChillStart
+        goal:
+          target_temp: temp
+          vessel: vessel
+        goal_default:
+          target_temp: 25.0
+          vessel: ''
+        handles:
+          output:
+            - handler_key: heated_sample
+              label: Heated Sample
+              data_type: resource
+              data_source: handle
+              data_key: sample
+        placeholder_keys:
+          vessel: unilabos_resources
+        result:
+          status: status
+          success: success
+        schema:
+          description: '启动加热功能'
+          properties:
+            goal:
+              properties:
+                target_temp:
+                  type: number
+                  description: '目标温度'
+                vessel:
+                  type: string
+                  description: '容器标识'
+              required:
+                - target_temp
+                - vessel
+              title: HeatStart_Goal
+              type: object
+          required:
+            - goal
+          title: HeatStart
+          type: object
+        feedback: {}
+
+      stop:
+        type: UniLabJsonCommand
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          status: status
+        schema:
+          description: '停止设备'
+          properties:
+            goal:
+              type: object
+              title: Stop_Goal
+          title: Stop
+          type: object
+        feedback: {}
+
+    module: unilabos.devices.temperature.my_controller:MyTemperatureController
+    status_types:
+      current_temperature: float
+      target_temperature: float
+      is_heating: bool
+      is_cooling: bool
+      status: str
+      vessel: str
+    type: python
+
+  description: '我的温度控制器设备'
+  handles: []
+  icon: 'temperature_controller.webp'
+  init_param_schema:
+    config:
+      properties:
+        port:
+          default: '/dev/ttyUSB0'
+          type: string
+        baudrate:
+          default: 9600
+          type: number
+      required: []
+      type: object
+    data:
+      properties:
+        current_temperature:
+          type: number
+        target_temperature:
+          type: number
+        is_heating:
+          type: boolean
+        is_cooling:
+          type: boolean
+        status:
+          type: string
+        vessel:
+          type: string
+      required:
+        - current_temperature
+        - target_temperature
+        - status
+      type: object
+
+  version: '1.0.0'
+  category:
+    - 'temperature_control'
+    - 'heating'
+  config_info: []
+```
+
+## 怎么部署和使用
+
+### 方法一：用编辑器（推荐）
+
+1. 先写好你的 Python 驱动类
+2. 用注册表编辑器自动生成 yaml 配置
+3. 把生成的文件保存到 `devices/` 目录
+4. 重启 UniLabOS 就能用了
+
+### 方法二：手动写（简化版）
+
+1. 创建最简配置：
+
+```yaml
+# devices/my_device.yaml
+my_device:
+  class:
+    module: unilabos.devices.my_module.my_device:MyDevice
+    type: python
+```
+
+2. 启动系统时用 `complete_registry=True` 参数，让系统自动补全
+
+3. 检查一下生成的配置是不是你想要的
+
+### Python 驱动类要怎么写
+
+你的设备类要符合这些要求：
+
+```python
+from unilabos.common.device_base import DeviceBase
+
+class MyDevice(DeviceBase):
+    def __init__(self, config):
+        """初始化，参数会自动分析到 init_param_schema.config"""
+        super().__init__(config)
+        self.port = config.get('port', '/dev/ttyUSB0')
+
+    # 状态方法（会自动生成到 status_types）
+    def get_status(self):
+        """返回设备状态"""
+        return "idle"
+
+    def get_temperature(self):
+        """返回当前温度"""
+        return 25.0
+
+    # 动作方法（会自动生成 auto- 开头的动作）
+    async def start_heating(self, temperature: float):
+        """开始加热到指定温度"""
+        pass
+
+    def stop(self):
+        """停止操作"""
+        pass
+```
+
+### 系统集成
+
+1. 把 yaml 文件放到 `devices/` 目录下
+2. 系统启动时会自动扫描并加载设备
+3. 系统会自动补全所有缺失的字段
+4. 设备马上就能在前端界面中使用
+
+### 高级配置
+
+如果需要特殊设置，可以手动加：
+
+```yaml
+my_device:
+  class:
+    module: unilabos.devices.my_module.my_device:MyDevice
+    type: python
+    action_value_mappings:
+      # 自定义动作
+      special_command:
+        type: UniLabJsonCommand
+        goal: {}
+        result: {}
+
+  # 可选的自定义配置
+  description: '我的特殊设备'
+  icon: 'my_device.webp'
+  category: ['temperature', 'heating']
+```
+
+## 常见问题怎么排查
+
+### 设备加载不了
+
+1. 检查模块路径：确认 `class.module` 路径写对了
+2. 确认类能导入：看看你的 Python 驱动类能不能正常导入
+3. 检查语法：用 yaml 验证器看看文件格式对不对
+4. 查看日志：看 UniLabOS 启动时有没有报错信息
+
+### 自动生成失败了
+
+1. 类分析出问题：确认你的类继承了正确的基类
+2. 方法类型不明确：确保状态方法的返回类型写清楚了
+3. 导入有问题：检查类能不能被动态导入
+4. 没开完整注册：确认启用了 `complete_registry=True`
+
+### 前端显示有问题
+
+1. 重新生成：删掉旧的 yaml 文件，用编辑器重新生成
+2. 清除缓存：清除浏览器缓存，重新加载页面
+3. 检查字段：确认必需的字段（比如 `schema`）都有
+4. 验证数据：检查 `goal_default` 和 `schema` 的数据类型是不是一致
+
+### 动作执行出错
+
+1. 方法名不对：确认动作方法名符合规范（比如 `execute_<action_name>`）
+2. 参数映射错误：检查 `goal` 字段的参数映射是否正确
+3. 返回格式不对：确认方法返回值格式符合 `result` 映射
+4. 没异常处理：在驱动类里加上异常处理
+
+## 最佳实践
+
+### 开发流程
+
+1. **优先使用编辑器**：除非有特殊需求，否则优先使用注册表编辑器
+2. **最小化配置**：手动配置时只定义必要字段，让系统自动生成其他内容
+3. **增量开发**：先创建基本配置，后续根据需要添加特殊动作
+
+### 代码规范
+
+1. **方法命名**：状态方法使用 `get_` 前缀，动作方法使用动词开头
+2. **类型注解**：为方法参数和返回值添加类型注解
+3. **文档字符串**：为类和方法添加详细的文档字符串
+4. **异常处理**：实现完善的错误处理和日志记录
+
+### 配置管理
+
+1. **版本控制**：所有 yaml 文件纳入版本控制
+2. **命名一致性**：设备 ID、文件名、类名保持一致的命名风格
+3. **定期更新**：定期运行完整注册以更新自动生成的字段
+4. **备份配置**：在修改前备份重要的手动配置
+
+### 测试验证
+
+1. **本地测试**：在本地环境充分测试后再部署
+2. **渐进部署**：先部署到测试环境，验证无误后再上生产环境
+3. **监控日志**：密切监控设备加载和运行日志
+4. **回滚准备**：准备快速回滚机制，以应对紧急情况
+
+### 性能优化
+
+1. **按需加载**：只加载实际使用的设备类型
+2. **缓存利用**：充分利用系统的注册表缓存机制
+3. **资源管理**：合理管理设备连接和资源占用
+4. **监控指标**：设置关键性能指标的监控和告警
diff --git a/docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png b/docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
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diff --git a/docs/developer_guide/materials_tutorial.md b/docs/developer_guide/materials_tutorial.md
new file mode 100644
index 00000000..7142b270
--- /dev/null
+++ b/docs/developer_guide/materials_tutorial.md
@@ -0,0 +1,409 @@
+# 物料教程（Resource）
+
+本教程面向 Uni-Lab-OS 的开发者，讲解“物料”的核心概念、3种物料格式（UniLab、PyLabRobot、奔耀Bioyond）及其相互转换方法，并说明4种 children 结构表现形式及使用场景。
+
+---
+
+## 1. 物料是什么
+
+- **物料（Resource）**：指实验工作站中的实体对象，包括设备（device）、操作甲板 （deck）、试剂、实验耗材，也包括设备上承载的具体物料或者包含的容器（如container/plate/well/瓶/孔/片等）。
+- **物料基本信息**（以 UniLab list格式为例）：
+
+```jsonc
+{
+    "id": "plate", // 某一类物料的唯一名称
+    "name": "50ml瓶装试剂托盘", // 在云端显示的名称
+    "sample_id": null, // 同类物料的不同样品
+    "children": [
+        "50ml试剂瓶"   // 表示托盘上有一个 50ml 试剂瓶
+    ],
+    "parent": "deck", // 此物料放置在 deck 上
+    "type": "plate", // 物料类型
+    "class": "plate", // 物料对应的注册/类名
+    "position": {
+        "x": 0, // 初始放置位置
+        "y": 0,
+        "z": 0
+    },
+    "config": { // 固有配置（尺寸、旋转等）
+        "size_x": 400.0,
+        "size_y": 400.0,
+        "size_z": 400.0,
+        "rotation": {
+            "x": 0,
+            "y": 0,
+            "z": 0,
+            "type": "Rotation"
+        }
+    },
+    "data": { 
+        "bottle_number": 1 // 动态数据（可变化）
+    }
+}
+```
+
+## 2. 3种物料格式概览(UniLab、PyLabRobot、奔耀Bioyond)
+
+### 2.1 UniLab 物料格式（云端/项目内通用）
+
+- 结构特征：顶层通常是 `nodes` 列表；每个节点是扁平字典，`children` 是子节点 `id` 列表；`parent` 为父节点 `id` 或 `null`。
+- 用途：
+  - 云端数据存储、前端可视化、与图结构算法互操作
+  - 在上传/下载/部署配置时作为标准交换格式
+
+示例片段（UniLab 物料格式）：
+
+```jsonc
+{
+  "nodes": [
+  
+    {
+      "id": "a",
+      "name": "name_a",
+      "sample_id": 1, 
+      "type": "deck",
+      "class": "deck",
+      "parent": null,
+      "children": ["b1"],
+      "position": {"x": 0, "y": 0, "z": 0},
+      "config": {},
+      "data": {}
+    },
+    {
+      
+      "id": "b1",
+      "name": "name_b1",
+      "sample_id": 1, 
+      "type": "plate",
+      "class": "plate",
+      "parent": "a1",
+      "children": [],
+      "position": {"x": 0, "y": 0, "z": 0},
+      "config": {},
+      "data": {}
+    }
+  ]
+}
+```
+
+### 2.2 PyLabRobot（PLR）物料格式（实验流程运行时）
+
+- 结构特征：严格的层级树，`children` 为“子资源字典列表”（每个子节点本身是完整对象）。
+- 用途：
+  - 实验流程执行与调度，PLR 运行时期望的资源对象格式
+  - 通过 `Resource.deserialize/serialize`、`load_all_state/serialize_all_state` 与对象交互
+
+示例片段（PRL 物料格式）：：
+
+```json
+{
+  "name": "deck",
+  "type": "Deck",
+  "category": "deck",
+  "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
+  "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
+  "parent_name": null,
+  "children": [
+    {
+      "name": "plate_1",
+      "type": "Plate",
+      "category": "plate_96",
+      "location": {"x": 100, "y": 0, "z": 0, "type": "Coordinate"},
+      "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
+      "parent_name": "deck",
+      "children": [
+        {
+          "name": "A1",
+          "type": "Well",
+          "category": "well",
+          "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
+          "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
+          "parent_name": "plate_1",
+          "children": []
+        }
+      ]
+    }
+  ]
+}
+```
+
+
+### 2.3 奔耀 Bioyond 物料格式（第三方来源）
+一般是厂商自己定义的json格式和字段，信息需要提取和对应。以下为示例说明。
+
+- 结构特征：顶层 `data` 列表，每项包含 `typeName`、`code`、`barCode`、`name`、`quantity`、`unit`、`locations`（仓位 `whName`、`x/y/z`）、`detail`（细粒度内容，如瓶内液体或孔位物料）。
+- 用途：
+  - 第三方 WMS/设备的物料清单输入
+  - 需要自定义映射表将 `typeName` → PLR 类名，对 `locations`/`detail` 进行落位/赋值
+
+示例片段（奔耀Bioyond 物料格式）：
+
+
+```json
+{
+  "data": [
+    {
+      "id": "3a1b5c10-d4f3-01ac-1e64-5b4be2add4b1",
+      "typeName": "液",
+      "code": "0006-00014",
+      "barCode": "",
+      "name": "EMC",
+      "quantity": 50,
+      "lockQuantity": 2.057,
+      "unit": "瓶",
+      "status": 1,
+      "isUse": false,
+      "locations": [
+        {
+          "id": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
+          "whid": "3a19da43-57b4-a2a8-3f52-91dbbeb836db",
+          "whName": "配液站内试剂仓库",
+          "code": "0003-0003",
+          "x": 1,
+          "y": 3,
+          "z": 1,
+          "quantity": 0
+        }
+      ],
+      "detail": [
+        {
+          "code": "0006-00014-01",
+          "name": "EMC-瓶-1",
+          "x": 1,
+          "y": 3,
+          "z": 1,
+          "quantity": 500.0
+        }
+      ]
+    }
+  ],
+  "code": 1,
+  "message": "",
+  "timestamp": 0
+}
+```
+### 2.4 3种物料格式关键字段对应(UniLab、PyLabRobot、奔耀Bioyond)
+
+| 含义 | UniLab | PyLabRobot (PLR) | 奔耀 Bioyond |
+| - | - | - | - |
+| 节点唯一名 | `id`  | `name` | `name` |
+| 父节点引用 | `parent` | `parent_name` | `locations` 坐标（无直接父名，需映射坐标下的物料） |
+| 子节点集合 | `children`（id 列表或对象列表，视结构而定） | `children`（对象列表） | `detail`（明细，非严格树结构，需要自定义映射） |
+| 类型（抽象类别） | `type`（device/container/plate/deck/…） | `category`（plate/well/…），以及类名 `type` | `typeName`（厂商自定义，如“液”、“加样头(大)”） |
+| 运行/业务数据 | `data` | 通过 `serialize_all_state()`/`load_all_state()` 管理的状态 | `quantity`、`lockQuantity` 等业务数值 |
+| 固有配置 | `config`（size_x/size_y/size_z/model/ordering…） | 资源字典中的同名键（反序列化时按构造签名取用） | 厂商自定义字段（需映射入 PLR/UniLab 的 `config` 或 `data`） |
+| 空间位置 | `position`（x/y/z） | `location`（Coordinate） + `rotation`（Rotation） | `locations`（whName、x/y/z），不含旋转 |
+| 条码/标识 | `config.barcode`（可选） | 常放在配置键中（如 `barcode`） | `barCode` |
+| 数量单位 | 无固定键，通常在 `data` | 无固定键，通常在配置或状态中 | `unit` |
+| 物料编码 | 通常在 `config` 或 `data` 自定义 | 通常在配置中自定义 | `code` |
+
+说明：
+- Bioyond 不提供显式的树形父子关系，通常通过 `locations` 将物料落位到某仓位/坐标。用 `detail` 表示子级明细。
+
+---
+
+## 3. children 的四种结构表示
+
+- **list（扁平列表）**：每个节点是扁平字典，`children` 为子节点 `id` 数组。示例：UniLab `nodes` 中的单个节点。
+
+```json
+{
+  "nodes": [
+    { "id": "root", "parent": null, "children": ["child1"] },
+    { "id": "child1", "parent": "root", "children": [] }
+  ]
+}
+```
+- **dict（嵌套字典）**：节点的 `children` 是 `{ child_id: child_node_dict }` 字典。
+
+```json
+{
+  "id": "root",
+  "parent": null,
+  "children": {
+    "child1": { "id": "child1", "parent": "root", "children": {} }
+  }
+}
+```
+- **tree（树形列表）**：顶层是 `[root_node, ...]`，每个 `node.children` 是“子节点对象列表”（而非 id 列表）。
+
+```json
+[
+  {
+    "id": "root",
+    "parent": null,
+    "children": [
+      { "id": "child1", "parent": "root", "children": [] }
+    ]
+  }
+]
+```
+- **nestdict（顶层嵌套字典）**：顶层是 `{root_id: root_node, ...}`，或者根节点自身带 `children: {id: node}` 形态。
+
+```json
+{
+  "root": {
+    "id": "root",
+    "parent": null,
+    "children": {
+      "child1": { "id": "child1", "parent": "root", "children": {} }
+    }
+  }
+}
+```
+
+这些结构之间可使用 `graphio.py` 中的工具函数互转（见下一节）。
+
+---
+
+## 4. 转换函数及调用
+
+核心代码文件：`unilabos/resources/graphio.py`
+
+### 4.1 结构互转（list/dict/tree/nestdict）
+
+代码引用：
+
+```217:239:unilabos/resources/graphio.py
+def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
+    # ... 由扁平 dict（id->node）生成树（children 为对象列表）
+```
+
+```241:267:unilabos/resources/graphio.py
+def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
+    # ... 由扁平 dict 生成嵌套字典（children 为 {id:node}）
+```
+
+```270:273:unilabos/resources/graphio.py
+def list_to_nested_dict(nodes: list[dict]) -> dict:
+    # ... 由扁平列表（children 为 id 列表）转嵌套字典
+```
+
+```275:286:unilabos/resources/graphio.py
+def tree_to_list(tree: list[dict]) -> list[dict]:
+    # ... 由树形列表转回扁平列表（children 还原为 id 列表）
+```
+
+```289:337:unilabos/resources/graphio.py
+def nested_dict_to_list(nested_dict: dict) -> list[dict]:
+    # ... 由嵌套字典转回扁平列表
+```
+
+常见路径：
+
+- UniLab 扁平列表 → 树：`dict_to_tree({r["id"]: r for r in resources})`
+- 树 → UniLab 扁平列表：`tree_to_list(resources_tree)`
+- 扁平列表 ↔ 嵌套字典：`list_to_nested_dict` / `nested_dict_to_list`
+
+### 4.2 UniLab ↔ PyLabRobot（PLR）
+
+高层封装：
+
+```339:368:unilabos/resources/graphio.py
+def convert_resources_to_type(resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False):
+    # UniLab -> (NestedDict or PLR)
+```
+
+```371:395:unilabos/resources/graphio.py
+def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False):
+    # (NestedDict or PLR) -> UniLab 扁平列表
+```
+
+底层转换：
+
+```398:441:unilabos/resources/graphio.py
+def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
+    # UniLab 单节点(树根) -> PLR Resource 对象
+```
+
+```443:481:unilabos/resources/graphio.py
+def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
+    # PLR Resource -> UniLab 单节点(dict)
+```
+
+示例：
+
+```python
+from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
+from pylabrobot.resources.resource import Resource as ResourcePLR
+
+# UniLab 扁平列表 -> PLR 根资源对象
+plr_root = convert_resources_to_type(resources_list=ulab_list, resource_type=ResourcePLR)
+
+# PLR 资源对象 -> UniLab 扁平列表（用于保存/上传）
+ulab_flat = convert_resources_from_type(resources_list=plr_root, resource_type=ResourcePLR)
+```
+
+可选项：
+
+- `plr_model=True`：保留 `model` 字段（默认会移除）。
+- `with_children=False`：`resource_plr_to_ulab` 仅转换当前节点。
+
+### 4.3 奔耀（Bioyond）→ PLR（及进一步到 UniLab）
+
+转换入口：
+
+```483:527:unilabos/resources/graphio.py
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
+    # Bioyond 列表 -> PLR 资源列表，并可根据 deck.warehouses 将资源落位
+```
+
+使用示例：
+
+```python
+import json
+from unilabos.resources.graphio import resource_bioyond_to_plr, convert_resources_from_type
+from pylabrobot.resources.resource import Resource as ResourcePLR
+
+resp = json.load(open("unilabos/devices/workstation/bioyond_cell/bioyond_test_yibin.json", encoding="utf-8"))
+materials = resp["data"]
+
+# 将第三方类型name映射到 PLR 资源类名（需根据现场定义）
+type_mapping = {
+    "液": "RegularContainer",
+    "加样头(大)": "RegularContainer"
+}
+
+plr_list = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=None)
+
+# 如需上传云端（UniLab 扁平格式）：
+ulab_flat = convert_resources_from_type(plr_list, [ResourcePLR])
+```
+
+说明：
+
+- `type_mapping` 必须由开发者根据设备/物料种类人工维护。
+- 如传入 `deck`，且 `deck.warehouses` 命名与 `whName` 对应，可将物料安放到仓库坐标（x/y/z）。
+
+---
+
+## 5. 何时使用哪种格式
+
+- **云端/持久化**：使用 UniLab 物料格式（扁平 `nodes` 列表，children 为 id 列表）。便于版本化、可视化与网络传输。
+- **实验工作流执行**：使用 PyLabRobot（PLR）格式。PLR 运行时依赖严格的树形资源结构与对象 API。
+- **第三方设备/系统（Bioyond）输入**：保持来源格式不变，使用 `resource_bioyond_to_plr` + 人工 `type_mapping` 将其转换为 PLR（必要时再转 UniLab）。
+
+---
+
+## 6. 常见问题与注意事项
+
+- **children 形态不一致**：不同函数期望不同 children 形态，注意在进入转换前先用“结构互转”工具函数标准化形态。
+- **devices_only**：`dict_to_tree/dict_to_nested_dict` 支持仅保留 `type == device` 的节点。
+- **模型/类型字段**：PLR 对象序列化参数有所差异，`resource_ulab_to_plr` 内部会根据构造签名移除不兼容字段（如 `category`）。
+- **驱动初始化**：`initialize_resource(s)` 支持从注册表/类路径创建 PLR/UniLab 资源或列表。
+
+参考代码：
+
+```530:577:unilabos/resources/graphio.py
+def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
+    # 从注册类/模块反射创建资源，或将 UniLab 字典包装为列表
+```
+
+```580:597:unilabos/resources/graphio.py
+def initialize_resources(resources_config) -> list[dict]:
+    # 批量初始化
+```
+
+
+
+
diff --git a/docs/developer_guide/workstation_architecture.md b/docs/developer_guide/workstation_architecture.md
new file mode 100644
index 00000000..f9d113e2
--- /dev/null
+++ b/docs/developer_guide/workstation_architecture.md
@@ -0,0 +1,378 @@
+# 工作站基础架构设计文档
+
+## 1. 整体架构图
+
+```mermaid
+graph TB
+    subgraph "工作站基础架构"
+        WB[WorkstationBase]
+        WB --> |继承| RPN[ROS2WorkstationNode]
+        WB --> |组合| WCB[WorkstationCommunicationBase]
+        WB --> |组合| MMB[MaterialManagementBase]
+        WB --> |组合| WHS[WorkstationHTTPService]
+    end
+    
+    subgraph "通信层实现"
+        WCB --> |实现| PLC[PLCCommunication]
+        WCB --> |实现| SER[SerialCommunication]
+        WCB --> |实现| ETH[EthernetCommunication]
+    end
+    
+    subgraph "物料管理实现"
+        MMB --> |实现| PLR[PyLabRobotMaterialManager]
+        MMB --> |实现| BIO[BioyondMaterialManager]
+        MMB --> |实现| SIM[SimpleMaterialManager]
+    end
+    
+    subgraph "HTTP服务"
+        WHS --> |处理| LIMS[LIMS协议报送]
+        WHS --> |处理| MAT[物料变更报送]
+        WHS --> |处理| ERR[错误处理报送]
+    end
+    
+    subgraph "具体工作站实现"
+        WB --> |继承| WS1[PLCWorkstation]
+        WB --> |继承| WS2[ReportingWorkstation]
+        WB --> |继承| WS3[HybridWorkstation]
+    end
+    
+    subgraph "外部系统"
+        EXT1[PLC设备] --> |通信| PLC
+        EXT2[外部工作站] --> |HTTP报送| WHS
+        EXT3[LIMS系统] --> |HTTP报送| WHS
+        EXT4[Bioyond物料系统] --> |查询| BIO
+    end
+```
+
+## 2. 类关系图
+
+```mermaid
+classDiagram
+    class WorkstationBase {
+        <<abstract>>
+        +device_id: str
+        +communication: WorkstationCommunicationBase
+        +material_management: MaterialManagementBase
+        +http_service: WorkstationHTTPService
+        +workflow_status: WorkflowStatus
+        +supported_workflows: Dict
+        
+        +_create_communication_module()* 
+        +_create_material_management_module()*
+        +_register_supported_workflows()*
+        
+        +process_step_finish_report()
+        +process_sample_finish_report()
+        +process_order_finish_report()
+        +process_material_change_report()
+        +handle_external_error()
+        
+        +start_workflow()
+        +stop_workflow()
+        +get_workflow_status()
+        +get_device_status()
+    }
+    
+    class ROS2WorkstationNode {
+        +sub_devices: Dict
+        +protocol_names: List
+        +execute_single_action()
+        +create_ros_action_server()
+        +initialize_device()
+    }
+    
+    class WorkstationCommunicationBase {
+        <<abstract>>
+        +config: CommunicationConfig
+        +is_connected: bool
+        +connect()
+        +disconnect()
+        +start_workflow()*
+        +stop_workflow()*
+        +get_device_status()*
+        +write_register()
+        +read_register()
+    }
+    
+    class MaterialManagementBase {
+        <<abstract>>
+        +device_id: str
+        +deck_config: Dict
+        +resource_tracker: DeviceNodeResourceTracker
+        +plr_deck: Deck
+        +find_materials_by_type()
+        +update_material_location()
+        +convert_to_unilab_format()
+        +_create_resource_by_type()*
+    }
+    
+    class WorkstationHTTPService {
+        +workstation_instance: WorkstationBase
+        +host: str
+        +port: int
+        +start()
+        +stop()
+        +_handle_step_finish_report()
+        +_handle_material_change_report()
+    }
+    
+    class PLCWorkstation {
+        +plc_config: Dict
+        +modbus_client: ModbusTCPClient
+        +_create_communication_module()
+        +_create_material_management_module()
+        +_register_supported_workflows()
+    }
+    
+    class ReportingWorkstation {
+        +report_handlers: Dict
+        +_create_communication_module()
+        +_create_material_management_module()
+        +_register_supported_workflows()
+    }
+    
+    WorkstationBase --|> ROS2WorkstationNode
+    WorkstationBase *-- WorkstationCommunicationBase
+    WorkstationBase *-- MaterialManagementBase
+    WorkstationBase *-- WorkstationHTTPService
+    
+    PLCWorkstation --|> WorkstationBase
+    ReportingWorkstation --|> WorkstationBase
+    
+    WorkstationCommunicationBase <|-- PLCCommunication
+    WorkstationCommunicationBase <|-- DummyCommunication
+    
+    MaterialManagementBase <|-- PyLabRobotMaterialManager
+    MaterialManagementBase <|-- SimpleMaterialManager
+```
+
+## 3. 工作站启动时序图
+
+```mermaid
+sequenceDiagram
+    participant APP as Application
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant MAT as MaterialManager
+    participant HTTP as HTTPService
+    participant ROS as ROS2WorkstationNode
+    
+    APP->>WS: 创建工作站实例
+    WS->>ROS: 初始化ROS2WorkstationNode
+    ROS->>ROS: 初始化子设备
+    ROS->>ROS: 设置硬件接口代理
+    
+    WS->>COMM: _create_communication_module()
+    COMM->>COMM: 初始化通信配置
+    COMM->>COMM: 建立PLC/串口连接
+    COMM-->>WS: 返回通信模块实例
+    
+    WS->>MAT: _create_material_management_module()
+    MAT->>MAT: 创建PyLabRobot Deck
+    MAT->>MAT: 初始化物料资源
+    MAT->>MAT: 注册到ResourceTracker
+    MAT-->>WS: 返回物料管理实例
+    
+    WS->>WS: _register_supported_workflows()
+    WS->>WS: _create_workstation_services()
+    WS->>HTTP: _start_http_service()
+    HTTP->>HTTP: 创建HTTP服务器
+    HTTP->>HTTP: 启动监听线程
+    HTTP-->>WS: HTTP服务启动完成
+    
+    WS-->>APP: 工作站初始化完成
+```
+
+## 4. 工作流执行时序图
+
+```mermaid
+sequenceDiagram
+    participant EXT as ExternalSystem
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant MAT as MaterialManager
+    participant ROS as ROS2WorkstationNode
+    participant DEV as SubDevice
+    
+    EXT->>WS: start_workflow(type, params)
+    WS->>WS: 验证工作流类型
+    WS->>COMM: start_workflow(type, params)
+    COMM->>COMM: 发送启动命令到PLC
+    COMM-->>WS: 启动成功
+    
+    WS->>WS: 更新workflow_status = RUNNING
+    
+    loop 工作流步骤执行
+        WS->>ROS: execute_single_action(device_id, action, params)
+        ROS->>DEV: 发送ROS Action请求
+        DEV->>DEV: 执行设备动作
+        DEV-->>ROS: 返回执行结果
+        ROS-->>WS: 返回动作结果
+        
+        WS->>MAT: update_material_location(material_id, location)
+        MAT->>MAT: 更新PyLabRobot资源状态
+        MAT-->>WS: 更新完成
+    end
+    
+    WS->>COMM: get_workflow_status()
+    COMM->>COMM: 查询PLC状态寄存器
+    COMM-->>WS: 返回状态信息
+    
+    WS->>WS: 更新workflow_status = COMPLETED
+    WS-->>EXT: 工作流执行完成
+```
+
+## 5. HTTP报送处理时序图
+
+```mermaid
+sequenceDiagram
+    participant EXT as ExternalWorkstation
+    participant HTTP as HTTPService
+    participant WS as WorkstationBase
+    participant MAT as MaterialManager
+    participant DB as DataStorage
+    
+    EXT->>HTTP: POST /report/step_finish
+    HTTP->>HTTP: 解析请求数据
+    HTTP->>HTTP: 验证LIMS协议字段
+    HTTP->>WS: process_step_finish_report(request)
+    
+    WS->>WS: 增加接收计数
+    WS->>WS: 记录步骤完成事件
+    WS->>MAT: 更新相关物料状态
+    MAT->>MAT: 更新PyLabRobot资源
+    MAT-->>WS: 更新完成
+    
+    WS->>DB: 保存报送记录
+    DB-->>WS: 保存完成
+    
+    WS-->>HTTP: 返回处理结果
+    HTTP->>HTTP: 构造HTTP响应
+    HTTP-->>EXT: 200 OK + acknowledgment_id
+    
+    Note over EXT,DB: 类似处理sample_finish, order_finish, material_change等报送
+```
+
+## 6. 错误处理时序图
+
+```mermaid
+sequenceDiagram
+    participant DEV as Device
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant HTTP as HTTPService
+    participant EXT as ExternalSystem
+    
+    DEV->>WS: 设备错误事件
+    WS->>WS: handle_external_error(error_data)
+    WS->>WS: 记录错误历史
+    
+    alt 关键错误
+        WS->>COMM: emergency_stop()
+        COMM->>COMM: 发送紧急停止命令
+        WS->>WS: 更新workflow_status = ERROR
+    else 普通错误
+        WS->>WS: 标记动作失败
+        WS->>WS: 触发重试逻辑
+    end
+    
+    WS->>HTTP: 记录错误报送
+    HTTP->>EXT: 主动通知错误状态
+    
+    WS-->>DEV: 错误处理完成
+```
+
+## 7. 典型工作站实现示例
+
+### 7.1 PLC工作站实现
+
+```python
+class PLCWorkstation(WorkstationBase):
+    def _create_communication_module(self):
+        return PLCCommunication(self.communication_config)
+    
+    def _create_material_management_module(self):
+        return PyLabRobotMaterialManager(
+            self.device_id, 
+            self.deck_config, 
+            self.resource_tracker
+        )
+    
+    def _register_supported_workflows(self):
+        self.supported_workflows = {
+            "battery_assembly": WorkflowInfo(...),
+            "quality_check": WorkflowInfo(...)
+        }
+```
+
+### 7.2 报送接收工作站实现
+
+```python
+class ReportingWorkstation(WorkstationBase):
+    def _create_communication_module(self):
+        return DummyCommunication(self.communication_config)
+    
+    def _create_material_management_module(self):
+        return SimpleMaterialManager(
+            self.device_id,
+            self.deck_config,
+            self.resource_tracker
+        )
+    
+    def _register_supported_workflows(self):
+        self.supported_workflows = {
+            "data_collection": WorkflowInfo(...),
+            "report_processing": WorkflowInfo(...)
+        }
+```
+
+## 8. 核心接口说明
+
+### 8.1 必须实现的抽象方法
+- `_create_communication_module()`: 创建通信模块
+- `_create_material_management_module()`: 创建物料管理模块
+- `_register_supported_workflows()`: 注册支持的工作流
+
+### 8.2 可重写的报送处理方法
+- `process_step_finish_report()`: 步骤完成处理
+- `process_sample_finish_report()`: 样本完成处理
+- `process_order_finish_report()`: 订单完成处理
+- `process_material_change_report()`: 物料变更处理
+- `handle_external_error()`: 错误处理
+
+### 8.3 工作流控制接口
+- `start_workflow()`: 启动工作流
+- `stop_workflow()`: 停止工作流
+- `get_workflow_status()`: 获取状态
+
+## 9. 配置参数说明
+
+```python
+workstation_config = {
+    "communication_config": {
+        "protocol": "modbus_tcp",
+        "host": "192.168.1.100",
+        "port": 502
+    },
+    "deck_config": {
+        "size_x": 1000.0,
+        "size_y": 1000.0,
+        "size_z": 500.0
+    },
+    "http_service_config": {
+        "enabled": True,
+        "host": "127.0.0.1",
+        "port": 8081
+    },
+    "communication_interfaces": {
+        "logical_device_1": CommunicationInterface(...)
+    }
+}
+```
+
+这个架构设计支持：
+1. **灵活的通信方式**: 通过CommunicationBase支持PLC、串口、以太网等
+2. **多样的物料管理**: 支持PyLabRobot、Bioyond、简单物料系统
+3. **统一的HTTP报送**: 基于LIMS协议的标准化报送接口
+4. **完整的工作流控制**: 支持动态和静态工作流
+5. **强大的错误处理**: 多层次的错误处理和恢复机制
diff --git a/docs/intro.md b/docs/intro.md
index 5b0b3a63..163598b4 100644
--- a/docs/intro.md
+++ b/docs/intro.md
@@ -33,6 +33,8 @@ developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
 developer_guide/add_protocol
+developer_guide/add_batteryPLC
+developer_guide/materials_tutorial.md
 ```
 
 ## 接口文档
diff --git a/docs/user_guide/configuration.md b/docs/user_guide/configuration.md
index 049f59ac..036cb9c7 100644
--- a/docs/user_guide/configuration.md
+++ b/docs/user_guide/configuration.md
@@ -1,82 +1,75 @@
 # Uni-Lab 配置指南
 
-Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。
+Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
 
 ## 配置文件格式
 
-Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
+Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
 
-### 基本配置示例
+### 默认配置示例
 
-一个典型的配置文件包含以下部分：
+首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
+
+```python
+# unilabos的配置文件
+
+class BasicConfig:
+    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
+    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
+
+
+# WebSocket配置，一般无需调整
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
+```
+您可以进入实验室，点击左下角的头像在实验室详情中获取所在实验室的ak sk
+![copy_aksk.gif](image/copy_aksk.gif)
+
+### 完整配置示例
+
+您可以根据需要添加更多配置选项：
 
 ```python
 #!/usr/bin/env python
 # coding=utf-8
 """Uni-Lab 配置文件"""
 
-from dataclasses import dataclass
+# 基础配置
+class BasicConfig:
+    ak = "your_access_key"  # 实验室访问密钥
+    sk = "your_secret_key"  # 实验室私钥
+    working_dir = ""  # 工作目录（通常自动设置）
+    config_path = ""  # 配置文件路径（自动设置）
+    is_host_mode = True  # 是否为主站模式
+    slave_no_host = False  # 从站模式下是否跳过等待主机服务
+    upload_registry = False  # 是否上传注册表
+    machine_name = "undefined"  # 机器名称（自动获取）
+    vis_2d_enable = False  # 是否启用2D可视化
+    enable_resource_load = True  # 是否启用资源加载
+    communication_protocol = "websocket"  # 通信协议
 
-# 配置类定义
+# WebSocket配置
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
 
-class MQConfig:
-    """MQTT 配置类"""
-    lab_id: str = "YOUR_LAB_ID"
-    # 更多配置...
+# OSS上传配置
+class OSSUploadConfig:
+    api_host = ""  # API主机地址
+    authorization = ""  # 授权信息
+    init_endpoint = ""  # 初始化端点
+    complete_endpoint = ""  # 完成端点
+    max_retries = 3  # 最大重试次数
 
-# 其他配置类...
-```
-
-## 配置选项说明
-
-### MQTT配置 (MQConfig)
-
-MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
-
-```python
-
-class MQConfig:
-    """MQTT 配置类"""
-    lab_id: str = "7AAEDBEA"  # 实验室唯一标识
-    instance_id: str = "mqtt-cn-instance"
-    access_key: str = "your-access-key"
-    secret_key: str = "your-secret-key"
-    group_id: str = "GID_labs"
-    broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
-    port: int = 8883
-    
-    # 可以直接提供证书文件路径
-    ca_file: str = "/path/to/ca.pem"  # 相对config.py所在目录的路径
-    cert_file: str = "/path/to/cert.pem"  # 相对config.py所在目录的路径
-    key_file: str = "/path/to/key.pem"  # 相对config.py所在目录的路径
-    
-    # 或者直接提供证书内容
-    ca_content: str = ""
-    cert_content: str = ""
-    key_content: str = ""
-```
-
-#### 证书配置
-
-MQTT连接支持两种方式配置证书：
-
-1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
-2. **直接内容方式**：直接在配置中提供证书内容
-
-推荐使用文件路径方式，便于证书的更新和管理。
-
-### HTTP客户端配置 (HTTPConfig)
-
-即将开放 Uni-Lab 云端实验室。
-
-### ROS模块配置 (ROSConfig)
-
-配置ROS消息转换器需要加载的模块：
-
-```python
+# HTTP配置
+class HTTPConfig:
+    remote_addr = "http://127.0.0.1:48197/api/v1"  # 远程地址
 
+# ROS配置
 class ROSConfig:
-    """ROS模块配置"""
     modules = [
         "std_msgs.msg",
         "geometry_msgs.msg",
@@ -85,25 +78,365 @@ class ROSConfig:
         "nav2_msgs.action",
         "unilabos_msgs.msg",
         "unilabos_msgs.action",
+    ]  # 需要加载的ROS模块
+```
+
+## 命令行参数覆盖配置
+
+Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
+
+### 支持命令行覆盖的配置项
+
+以下配置项可以通过命令行参数进行覆盖：
+
+| 配置类        | 配置字段          | 命令行参数          | 说明                             |
+| ------------- | ----------------- | ------------------- | -------------------------------- |
+| `BasicConfig` | `ak`              | `--ak`              | 实验室访问密钥                   |
+| `BasicConfig` | `sk`              | `--sk`              | 实验室私钥                       |
+| `BasicConfig` | `working_dir`     | `--working_dir`     | 工作目录路径                     |
+| `BasicConfig` | `is_host_mode`    | `--is_slave`        | 主站模式（参数为从站模式，取反） |
+| `BasicConfig` | `slave_no_host`   | `--slave_no_host`   | 从站模式下跳过等待主机服务       |
+| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息             |
+| `BasicConfig` | `vis_2d_enable`   | `--2d_vis`          | 启用 2D 可视化                   |
+| `HTTPConfig`  | `remote_addr`     | `--addr`            | 远程服务地址                     |
+
+### 特殊命令行参数
+
+除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
+
+| 参数                | 说明                                 |
+| ------------------- | ------------------------------------ |
+| `--config`          | 指定配置文件路径                     |
+| `--port`            | Web 服务端口（不影响配置文件）       |
+| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
+| `--visual`          | 可视化工具选择（不影响配置文件）     |
+| `--skip_env_check`  | 跳过环境检查（不影响配置文件）       |
+
+### 配置优先级
+
+配置项的生效优先级从高到低为：
+
+1. **命令行参数**：最高优先级
+2. **环境变量**：中等优先级
+3. **配置文件**：基础优先级
+
+### 使用示例
+
+```bash
+# 通过命令行覆盖认证信息
+unilab --ak "new_access_key" --sk "new_secret_key"
+
+# 覆盖服务器地址
+unilab --addr "https://custom.server.com/api/v1"
+
+# 启用从站模式并跳过等待主机
+unilab --is_slave --slave_no_host
+
+# 启用上传注册表和2D可视化
+unilab --upload_registry --2d_vis
+
+# 组合使用多个覆盖参数
+unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
+```
+
+### 预设环境地址
+
+`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
+
+- `test` → `https://uni-lab.test.bohrium.com/api/v1`
+- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
+- `local` → `http://127.0.0.1:48197/api/v1`
+- 其他值 → 直接使用作为完整 URL
+
+## 配置选项详解
+
+### 基础配置 (BasicConfig)
+
+基础配置包含了系统运行的核心参数：
+
+| 参数                     | 类型 | 默认值        | 说明                                       |
+| ------------------------ | ---- | ------------- | ------------------------------------------ |
+| `ak`                     | str  | `""`          | 实验室访问密钥（必需）                     |
+| `sk`                     | str  | `""`          | 实验室私钥（必需）                         |
+| `working_dir`            | str  | `""`          | 工作目录，通常自动设置                     |
+| `is_host_mode`           | bool | `True`        | 是否为主站模式                             |
+| `slave_no_host`          | bool | `False`       | 从站模式下是否跳过等待主机服务             |
+| `upload_registry`        | bool | `False`       | 启动时是否上传注册表信息                   |
+| `machine_name`           | str  | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
+| `vis_2d_enable`          | bool | `False`       | 是否启用 2D 可视化                         |
+| `communication_protocol` | str  | `"websocket"` | 通信协议，固定为 websocket                 |
+
+#### 认证配置
+
+`ak` 和 `sk` 是必需的认证参数：
+
+1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
+2. **配置方式**：
+   - **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
+   - **配置文件**：在 `BasicConfig` 类中设置
+   - **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
+3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
+4. **安全注意**：请妥善保管您的密钥信息
+
+**推荐做法**：
+
+- 开发环境：使用配置文件
+- 生产环境：使用环境变量或命令行参数
+- 临时测试：使用命令行参数
+
+### WebSocket 配置 (WSConfig)
+
+WebSocket 是 Uni-Lab 的主要通信方式：
+
+| 参数                     | 类型 | 默认值 | 说明               |
+| ------------------------ | ---- | ------ | ------------------ |
+| `reconnect_interval`     | int  | `5`    | 断线重连间隔（秒） |
+| `max_reconnect_attempts` | int  | `999`  | 最大重连次数       |
+| `ping_interval`          | int  | `30`   | 心跳检测间隔（秒） |
+
+### HTTP 配置 (HTTPConfig)
+
+HTTP 客户端配置用于与云端服务通信：
+
+| 参数          | 类型 | 默认值                            | 说明         |
+| ------------- | ---- | --------------------------------- | ------------ |
+| `remote_addr` | str  | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
+
+**预设环境地址**：
+
+- 生产环境：`https://uni-lab.bohrium.com/api/v1`
+- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
+- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
+- 本地环境：`http://127.0.0.1:48197/api/v1`
+
+### ROS 配置 (ROSConfig)
+
+配置 ROS 消息转换器需要加载的模块：
+
+```python
+class ROSConfig:
+    modules = [
+        "std_msgs.msg",           # 标准消息类型
+        "geometry_msgs.msg",      # 几何消息类型
+        "control_msgs.msg",       # 控制消息类型
+        "control_msgs.action",    # 控制动作类型
+        "nav2_msgs.action",       # 导航动作类型
+        "unilabos_msgs.msg",      # UniLab 自定义消息类型
+        "unilabos_msgs.action",   # UniLab 自定义动作类型
     ]
 ```
 
-您可以根据需要添加其他ROS模块。
+您可以根据实际使用的设备和功能添加其他 ROS 模块。
 
-### 其他配置选项
+### OSS 上传配置 (OSSUploadConfig)
 
-- **OSSUploadConfig**: 对象存储上传配置
+对象存储服务配置，用于文件上传功能：
 
-## 如何使用配置文件
+| 参数                | 类型 | 默认值 | 说明                 |
+| ------------------- | ---- | ------ | -------------------- |
+| `api_host`          | str  | `""`   | OSS API 主机地址     |
+| `authorization`     | str  | `""`   | 授权认证信息         |
+| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
+| `complete_endpoint` | str  | `""`   | 上传完成端点         |
+| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
 
-启动Uni-Lab时通过`--config`参数指定配置文件路径：
+## 环境变量支持
+
+Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
+
+```
+UNILABOS_{配置类名}_{字段名}
+```
+
+### 环境变量示例
 
 ```bash
-unilab --config path/to/your/config.py
+# 设置基础配置
+export UNILABOS_BASICCONFIG_AK="your_access_key"
+export UNILABOS_BASICCONFIG_SK="your_secret_key"
+export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
+
+# 设置WebSocket配置
+export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
+export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
+
+# 设置HTTP配置
+export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
 ```
 
-如果您不涉及多环境开发，可以在unilabos的安装路径中手动添加local_config.py的文件
+### 环境变量类型转换
 
-# 启动Uni-Lab
-python -m unilabos.app.main --config path/to/your/config.py
+- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
+- **整数**：自动转换为 `int` 类型
+- **浮点数**：自动转换为 `float` 类型
+- **字符串**：保持原值
+
+## 配置文件使用方法
+
+### 1. 指定配置文件启动
+
+```bash
+# 使用指定配置文件启动
+unilab --config /path/to/your/config.py
 ```
+
+### 2. 使用默认配置文件
+
+如果不指定配置文件，系统会按以下顺序查找：
+
+1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
+2. 工作目录下的 `local_config.py`
+3. 首次使用时会引导创建配置文件
+
+### 3. 配置文件验证
+
+系统启动时会自动验证配置文件：
+
+- **语法检查**：确保 Python 语法正确
+- **类型检查**：验证配置项类型是否匹配
+- **必需项检查**：确保 `ak` 和 `sk` 已配置
+
+## 最佳实践
+
+### 1. 安全配置
+
+- 不要将包含密钥的配置文件提交到版本控制系统
+- 使用环境变量或命令行参数在生产环境中配置敏感信息
+- 定期更换访问密钥
+- **推荐配置方式**：
+
+  ```bash
+  # 生产环境 - 使用环境变量
+  export UNILABOS_BASICCONFIG_AK="your_access_key"
+  export UNILABOS_BASICCONFIG_SK="your_secret_key"
+  unilab
+
+  # 或使用命令行参数
+  unilab --ak "your_access_key" --sk "your_secret_key"
+  ```
+
+### 2. 多环境配置
+
+为不同环境创建不同的配置文件并结合命令行参数：
+
+```
+configs/
+├── local_config.py      # 本地开发
+├── test_config.py       # 测试环境
+├── prod_config.py       # 生产环境
+└── example_config.py    # 示例配置
+```
+
+**环境切换示例**：
+
+```bash
+# 本地开发环境
+unilab --config configs/local_config.py --addr local
+
+# 测试环境
+unilab --config configs/test_config.py --addr test --upload_registry
+
+# 生产环境
+unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
+```
+
+### 3. 配置管理
+
+- 保持配置文件简洁，只包含需要修改的配置项
+- 为配置项添加注释说明其作用
+- 定期检查和更新配置文件
+- **命令行参数优先使用场景**：
+  - 临时测试不同配置
+  - CI/CD 流水线中的动态配置
+  - 不同环境间快速切换
+  - 敏感信息的安全传递
+
+### 4. 灵活配置策略
+
+**基础配置文件 + 命令行覆盖**的推荐方式：
+
+```python
+# base_config.py - 基础配置
+class BasicConfig:
+    # 非敏感配置写在文件中
+    is_host_mode = True
+    upload_registry = False
+    vis_2d_enable = False
+
+class WSConfig:
+    reconnect_interval = 5
+    max_reconnect_attempts = 999
+    ping_interval = 30
+```
+
+```bash
+# 启动时通过命令行覆盖关键参数
+unilab --config base_config.py \
+       --ak "$AK" \
+       --sk "$SK" \
+       --addr "test" \
+       --upload_registry \
+       --2d_vis
+```
+
+## 故障排除
+
+### 1. 配置文件加载失败
+
+**错误信息**：`[ENV] 配置文件 xxx 不存在`
+
+**解决方法**：
+
+- 确认配置文件路径正确
+- 检查文件权限是否可读
+- 确保配置文件是 `.py` 格式
+
+### 2. 语法错误
+
+**错误信息**：`[ENV] 加载配置文件 xxx 失败`
+
+**解决方法**：
+
+- 检查 Python 语法是否正确
+- 确认类名和字段名拼写正确
+- 验证缩进是否正确（使用空格而非制表符）
+
+### 3. 认证失败
+
+**错误信息**：`后续运行必须拥有一个实验室`
+
+**解决方法**：
+
+- 确认 `ak` 和 `sk` 已正确配置
+- 检查密钥是否有效
+- 确认网络连接正常
+
+### 4. 环境变量不生效
+
+**解决方法**：
+
+- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
+- 检查环境变量是否已正确设置
+- 重启系统或重新加载环境变量
+
+### 5. 命令行参数不生效
+
+**错误现象**：设置了命令行参数但配置没有生效
+
+**解决方法**：
+
+- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
+- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
+- 确认参数位置正确（所有参数都应在 `unilab` 之后）
+- 查看启动日志确认参数是否被正确解析
+
+### 6. 配置优先级混淆
+
+**错误现象**：不确定哪个配置生效
+
+**解决方法**：
+
+- 记住优先级：命令行参数 > 环境变量 > 配置文件
+- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
+- 检查启动日志中的配置加载信息
+- 临时移除低优先级配置来测试高优先级配置是否生效
diff --git a/docs/user_guide/image/copy_aksk.gif b/docs/user_guide/image/copy_aksk.gif
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diff --git a/docs/user_guide/installation.md b/docs/user_guide/installation.md
index 68ad62ed..63a1c1b3 100644
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -1,24 +1,43 @@
 # **Uni-Lab 安装**
 
-请先 `git clone` 本仓库，随后按照以下步骤安装项目：
+## 快速开始
 
-`Uni-Lab` 建议您采用 `mamba` 管理环境。若需从头建立 `Uni-Lab` 的运行依赖环境，请执行
+1. **配置 Conda 环境**
+
+Uni-Lab-OS 建议使用 `mamba` 管理环境。创建新的环境：
 
 ```shell
-mamba env create -f unilabos-<YOUR_OS>.yaml
-mamba activate unilab
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
-
-若需将依赖安装进当前环境，请执行
+2. **安装开发版 Uni-Lab-OS**
 
 ```shell
-conda env update --file unilabos-<YOUR_OS>.yml
+# 配置好conda环境后，克隆仓库
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git -b dev
+cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install -e .
 ```
 
-随后，可在本仓库安装 `unilabos` 的开发版：
+3. **安装开发版 ros-humble-unilabos-msgs**
 
+**卸载老版本：**
 ```shell
-pip install .
+conda activate unilab
+conda remove --force ros-humble-unilabos-msgs
 ```
+有时相同的安装包版本会由于dev构建得到的md5不一样，触发安全检查，可输入 `config set safety_checks disabled` 来关闭安全检查。
+
+**安装新版本：**
+
+访问 https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/multi-platform-build.yml 选择最新的构建，下载对应平台的压缩包（仅解压一次，得到.conda文件）使用如下指令：
+```shell
+conda activate base
+conda install ros-humble-unilabos-msgs-<version>-<platform>.conda --offline -n <环境名>
+```
+
+4. **启动 Uni-Lab 系统**
+
+请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。
diff --git a/docs/user_guide/launch.md b/docs/user_guide/launch.md
index b973975e..5691222c 100644
--- a/docs/user_guide/launch.md
+++ b/docs/user_guide/launch.md
@@ -1,4 +1,4 @@
-# Uni-Lab 启动
+# Uni-Lab 启动指南
 
 安装完毕后，可以通过 `unilab` 命令行启动：
 
@@ -8,70 +8,315 @@ Start Uni-Lab Edge server.
 options:
   -h, --help            show this help message and exit
   -g GRAPH, --graph GRAPH
-                        Physical setup graph.
-  -d DEVICES, --devices DEVICES
-                        Devices config file.
-  -r RESOURCES, --resources RESOURCES
-                        Resources config file.
+                        Physical setup graph file path.
   -c CONTROLLERS, --controllers CONTROLLERS
-                        Controllers config file.
+                        Controllers config file path.
   --registry_path REGISTRY_PATH
-                        Path to the registry
+                        Path to the registry directory
+  --working_dir WORKING_DIR
+                        Path to the working directory
   --backend {ros,simple,automancer}
                         Choose the backend to run with: 'ros', 'simple', or 'automancer'.
   --app_bridges APP_BRIDGES [APP_BRIDGES ...]
-                        Bridges to connect to. Now support 'mqtt' and 'fastapi'.
-  --without_host        Run the backend as slave (without host).
-  --config CONFIG       Configuration file path for system settings
+                        Bridges to connect to. Now support 'websocket' and 'fastapi'.
+  --is_slave            Run the backend as slave node (without host privileges).
+  --slave_no_host       Skip waiting for host service in slave mode
+  --upload_registry     Upload registry information when starting unilab
+  --use_remote_resource Use remote resources when starting unilab
+  --config CONFIG       Configuration file path, supports .py format Python config files
+  --port PORT           Port for web service information page
+  --disable_browser     Disable opening information page on startup
+  --2d_vis              Enable 2D visualization when starting pylabrobot instance
+  --visual {rviz,web,disable}
+                        Choose visualization tool: rviz, web, or disable
+  --ak AK               Access key for laboratory requests
+  --sk SK               Secret key for laboratory requests
+  --addr ADDR           Laboratory backend address
+  --skip_env_check      Skip environment dependency check on startup
+  --complete_registry   Complete registry information
 ```
 
+## 启动流程详解
+
+Uni-Lab 的启动过程分为以下几个阶段：
+
+### 1. 参数解析阶段
+
+- 解析命令行参数
+- 处理参数格式转换（支持 dash 和 underscore 格式）
+
+### 2. 环境检查阶段 (可选)
+
+- 默认进行环境依赖检查并自动安装必需包
+- 使用 `--skip_env_check` 可跳过此步骤
+
+### 3. 配置文件处理阶段
+
+您可以直接跟随 unilabos 的提示进行，无需查阅本节
+
+- **工作目录设置**：
+
+  - 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
+  - 否则使用 `当前目录/unilabos_data` 作为工作目录
+  - 可通过 `--working_dir` 指定自定义工作目录
+
+- **配置文件查找顺序**：
+  1. 使用 `--config` 参数指定的配置文件
+  2. 在工作目录中查找 `local_config.py`
+  3. 首次使用时会引导创建配置文件
+
+### 4. 服务器地址配置
+
+支持多种后端环境：
+
+- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
+- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
+- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
+- 自定义地址：直接指定完整 URL
+
+### 5. 认证配置
+
+- **必需参数**：`--ak` 和 `--sk` 必须同时提供
+- 命令行参数优先于配置文件中的设置
+- 未提供认证信息会导致启动失败并提示注册实验室
+
+### 6. 设备图谱加载
+
+支持两种方式：
+
+- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
+- **远程资源**：使用 `--use_remote_resource` 从云端获取
+
+### 7. 注册表构建
+
+- 构建设备和资源注册表
+- 支持自定义注册表路径 (`--registry_path`)
+- 可选择补全注册表信息 (`--complete_registry`)
+
+### 8. 设备验证和注册
+
+- 验证设备连接和端点配置
+- 自动注册设备到云端服务
+
+### 9. 通信桥接配置
+
+- **WebSocket**：实时通信和任务下发
+- **FastAPI**：HTTP API 服务和物料更新
+
+### 10. 可视化和服务启动
+
+- 可选启动可视化工具 (`--visual`)
+- 启动 Web 信息服务 (默认端口 8002)
+- 启动后端通信服务
+
 ## 使用配置文件
 
-Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
+Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
 
 ```bash
 # 使用配置文件启动
 unilab --config path/to/your/config.py
 ```
 
-配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
+配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
 
 ## 初始化信息来源
 
-启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：
+启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
 
 ### 1. 组态&拓扑图
 
-使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。
+使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
 
-### 2. 分别指定设备、耗材、控制逻辑
+### 2. 分别指定控制逻辑
 
-分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。
+使用 `-c` 传入控制逻辑配置。
 
-可参照 `devices.json` 和 `resources.json`。
-
-不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
+不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
 
 ## 通信中间件 `--backend`
 
-目前 Uni-Lab 仅支持 ros2 作为通信中间件。
+目前 Uni-Lab 支持以下通信中间件：
+
+- **ros** (默认)：基于 ROS2 的通信
+- **simple**：简化通信模式
+- **automancer**：Automancer 兼容模式
 
 ## 端云桥接 `--app_bridges`
 
-目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。
+目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
+
+- **WebSocket**：负责实时通信和任务下发
+- **FastAPI**：负责端对云物料更新和 HTTP API
 
 ## 分布式组网
 
-启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
+启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
+
+- **主站 (host)**：持有物料修改权以及对云端的通信
+- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
+
+局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
+
+## 可视化选项
+
+### 2D 可视化
+
+使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
+
+### 3D 可视化
+
+通过 `--visual` 参数选择：
+
+- **rviz**：使用 RViz 进行 3D 可视化
+- **web**：使用 Web 界面进行可视化
+- **disable** (默认)：禁用可视化
+
+## 实验室管理
+
+### 首次使用
+
+如果是首次使用，系统会：
+
+1. 提示前往 https://uni-lab.bohrium.com 注册实验室
+2. 引导创建配置文件
+3. 设置工作目录
+
+### 认证设置
+
+- `--ak`：实验室访问密钥
+- `--sk`：实验室私钥
+- 两者必须同时提供才能正常启动
 
 ## 完整启动示例
 
 以下是一些常用的启动命令示例：
 
 ```bash
-# 使用配置文件和组态图启动
-unilab -g path/to/graph.json
+# 使用组态图启动，上传注册表
+unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
-# 使用配置文件和分离的设备/资源文件启动
-unilab -d devices.json -r resources.json
+# 使用远程资源启动
+unilab --ak your_ak --sk your_sk --use_remote_resource
+
+# 更新注册表
+unilab --ak your_ak --sk your_sk --complete_registry
+
+# 启动从站模式
+unilab --ak your_ak --sk your_sk --is_slave
+
+# 启用可视化
+unilab --ak your_ak --sk your_sk --visual web --2d_vis
+
+# 指定本地信息网页服务端口和禁用自动跳出浏览器
+unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
 ```
+
+## 常见问题
+
+### 1. 认证失败
+
+如果提示 "后续运行必须拥有一个实验室"，请确保：
+
+- 已在 https://uni-lab.bohrium.com 注册实验室
+- 正确设置了 `--ak` 和 `--sk` 参数
+- 配置文件中包含正确的认证信息
+
+### 2. 配置文件问题
+
+如果配置文件加载失败：
+
+- 确保配置文件是 `.py` 格式
+- 检查配置文件语法是否正确
+- 首次使用可让系统自动创建示例配置文件
+
+### 3. 网络连接问题
+
+如果无法连接到服务器：
+
+- 检查网络连接
+- 确认服务器地址是否正确
+- 尝试使用不同的环境地址（test、uat、local）
+
+### 4. 设备图谱问题
+
+如果设备加载失败：
+
+- 检查图谱文件格式是否正确
+- 验证设备连接和端点配置
+- 确保注册表路径正确
+
+## 页面操作
+
+### 1. 启动成功
+当您启动成功后，可以看到物料列表，节点模版和组态图如图展示
+![material.png](image/material.png)
+
+### 2. 根据需求创建设备和物料
+我们可以做一个简单的案例  
+* 在容器1中加入水  
+* 通过传输泵将容器1中的水转移到容器2中
+#### 2.1 添加所需的设备和物料  
+仪器设备work_station中的workstation 数量x1  
+仪器设备virtual_device中的virtual_transfer_pump 数量x1    
+物料耗材container中的container 数量x2  
+
+#### 2.2 将设备和物料根据父子关系进行关联  
+当我们添加设备时，仪器耗材模块的物料列表也会实时更新  
+我们需要将设备和物料拖拽到workstation中并在画布上将它们连接起来，就像真实的设备操作一样  
+![links.png](image/links.png)
+
+### 3. 创建工作流
+进入工作流模块 → 点击"我创建的" → 新建工作流
+![new.png](image/new.png)
+
+#### 3.1 新增工作流节点
+我们可以进入指定工作流，在空白处右键   
+* 选择Laboratory→host_node中的creat_resource
+* 选择Laboratory→workstation中的PumpTransferProtocol
+
+![creatworkfollow.gif](image/creatworkfollow.gif)
+
+#### 3.2 配置节点参数
+根据案例，工作流包含两个步骤：
+1. 使用creat_resource在容器中创建水
+2. 通过泵传输协议将水传输到另一个容器
+
+我们点击creat_resource卡片上的编辑按钮来配置参数⭐️  
+class_name ：container  
+device_id ： workstation  
+liquid_input_slot ： 0或-1均可  
+liquid_type : water  
+liquid_volume ： 根据需求填写即可，默认单位ml，这里举例50    
+parent ： workstation  
+res_id ： containe  
+关联设备名称(原unilabos_device_id) ： 这里就填写host_node  
+**配置完成后点击底部保存按钮**  
+
+我们点击PumpTransferProtocol卡片上的编辑按钮来配置参数⭐️  
+event ： transfer_liquid  
+from_vessel ： water  
+to_vessel ： container1  
+volume ： 根据需求填写即可，默认单位ml，这里举例50  
+关联设备名称(原unilabos_device_id) ： 这里就填写workstation  
+**配置完成后点击底部保存按钮**  
+
+#### 3.3 运行工作流
+1. 连接两个节点卡片
+2. 点击底部保存按钮
+3. 点击运行按钮执行工作流
+
+![linksandrun.png](image/linksandrun.png)
+
+### 运行监控
+* 运行状态和消息实时显示在底部控制台
+* 如有报错，可点击查看详细信息
+
+### 结果验证
+工作流完成后，返回仪器耗材模块：
+* 点击 container1卡片查看详情
+* 确认其中包含参数指定的水和容量
+
+
+
+
diff --git a/docs/user_guide/quick_install_guide.md b/docs/user_guide/quick_install_guide.md
new file mode 100644
index 00000000..eefa3ae9
--- /dev/null
+++ b/docs/user_guide/quick_install_guide.md
@@ -0,0 +1,197 @@
+# Uni-Lab-OS 一键安装快速指南
+
+## 概述
+
+本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
+
+## 前置要求
+
+- 已安装 Conda/Miniconda/Miniforge/Mamba
+- 至少 10GB 可用磁盘空间
+- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
+
+## 安装步骤
+
+### 第一步：下载预打包环境
+
+1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
+
+2. 选择最新的成功构建记录（绿色勾号 ✓）
+
+3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
+   - Windows: `unilab-pack-win-64-{branch}.zip`
+   - macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
+   - macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
+   - Linux: `unilab-pack-linux-64-{branch}.tar.gz`
+
+### 第二步：解压并运行安装脚本
+
+#### Windows
+
+```batch
+REM 使用 Windows 资源管理器解压下载的 zip 文件
+REM 或使用命令行：
+tar -xzf unilab-pack-win-64-dev.zip
+
+REM 进入解压后的目录
+cd unilab-pack-win-64-dev
+
+REM 双击运行 install_unilab.bat
+REM 或在命令行中执行：
+install_unilab.bat
+```
+
+#### macOS
+
+```bash
+# 解压下载的压缩包
+tar -xzf unilab-pack-osx-arm64-dev.tar.gz
+
+# 进入解压后的目录
+cd unilab-pack-osx-arm64-dev
+
+# 运行安装脚本
+bash install_unilab.sh
+```
+
+#### Linux
+
+```bash
+# 解压下载的压缩包
+tar -xzf unilab-pack-linux-64-dev.tar.gz
+
+# 进入解压后的目录
+cd unilab-pack-linux-64-dev
+
+# 添加执行权限（如果需要）
+chmod +x install_unilab.sh
+
+# 运行安装脚本
+./install_unilab.sh
+```
+
+### 第三步：激活环境
+
+```bash
+conda activate unilab
+```
+
+### 第四步：验证安装（推荐）
+
+```bash
+# 确保已激活环境
+conda activate unilab
+
+# 运行验证脚本
+python verify_installation.py
+```
+
+如果看到 "✓ All checks passed!"，说明安装成功！
+
+## 常见问题
+
+### Q: 安装脚本找不到 conda？
+
+**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
+
+- **Windows**:
+
+  - `%USERPROFILE%\miniforge3`
+  - `%USERPROFILE%\miniconda3`
+  - `%USERPROFILE%\anaconda3`
+  - `C:\ProgramData\miniforge3`
+
+- **macOS/Linux**:
+  - `~/miniforge3`
+  - `~/miniconda3`
+  - `~/anaconda3`
+  - `/opt/conda`
+
+如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
+
+### Q: 安装后激活环境提示找不到？
+
+**A:** 尝试以下方法：
+
+```bash
+# 方法 1: 使用 conda activate
+conda activate unilab
+
+# 方法 2: 使用完整路径激活（Windows）
+call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
+
+# 方法 2: 使用完整路径激活（Unix）
+source ~/miniforge3/envs/unilab/bin/activate
+```
+
+### Q: conda-unpack 失败怎么办？
+
+**A:** 尝试手动运行：
+
+```bash
+# Windows
+cd %CONDA_PREFIX%\envs\unilab
+.\Scripts\conda-unpack.exe
+
+# macOS/Linux
+cd $CONDA_PREFIX/envs/unilab
+./bin/conda-unpack
+```
+
+### Q: 验证脚本报错？
+
+**A:** 首先确认环境已激活：
+
+```bash
+# 检查当前环境
+conda env list
+
+# 应该看到 unilab 前面有 * 标记
+```
+
+如果仍有问题，查看具体报错信息，可能需要：
+
+- 重新运行安装脚本
+- 检查磁盘空间
+- 查看详细文档
+
+### Q: 环境很大，有办法减小吗？
+
+**A:** 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用手动安装方式，只安装需要的组件。
+
+### Q: 如何更新到最新版本？
+
+**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
+
+或者在现有环境中更新：
+
+```bash
+conda activate unilab
+
+# 更新 unilabos
+cd /path/to/Uni-Lab-OS
+git pull
+pip install -e . --upgrade
+
+# 更新 ros-humble-unilabos-msgs
+mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
+```
+
+## 下一步
+
+安装完成后，你可以：
+
+1. **查看启动指南**: {doc}`launch`
+2. **运行示例**: {doc}`../boot_examples/index`
+3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
+4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
+
+## 需要帮助？
+
+- **文档**: [docs/user_guide/installation.md](installation.md)
+- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **开发版安装**: 参考 {doc}`installation` 的方式二
+
+---
+
+**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 97415270..00000000
--- a/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>unilabos</name>
-  <version>0.0.0</version>
-  <description>ROS2 package for unilabos server</description>
-  <maintainer email="changjh@pku.edu.cn">changjh</maintainer>
-  <license>TODO: License declaration</license>
-
-  <build_depend>action_msgs</build_depend>
-  <exec_depend>action_msgs</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml
index 0eaf6e39..1ce1efe1 100644
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.4
+  version: 0.10.7
 source:
   path: ../../unilabos_msgs
   target_directory: src
diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml
index 2b9e3c86..7ac0781a 100644
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.4"
+  version: "0.10.7"
 
 source:
   path: ../..
diff --git a/scripts/create_readme.py b/scripts/create_readme.py
new file mode 100644
index 00000000..51982edf
--- /dev/null
+++ b/scripts/create_readme.py
@@ -0,0 +1,190 @@
+#!/usr/bin/env python3
+"""
+Create Distribution Package README
+===================================
+
+Generate README.txt for conda-pack distribution packages.
+
+Usage:
+    python create_readme.py <platform> <branch> <output_file>
+
+Arguments:
+    platform: Platform identifier (win-64, linux-64, osx-64, osx-arm64)
+    branch: Git branch name
+    output_file: Output file path (e.g., dist-package/README.txt)
+
+Example:
+    python create_readme.py win-64 dev dist-package/README.txt
+"""
+
+import argparse
+import sys
+from datetime import datetime, timezone
+from pathlib import Path
+
+
+def get_readme_content(platform: str, branch: str) -> str:
+    """
+    Generate README content for the specified platform.
+
+    Args:
+        platform: Platform identifier
+        branch: Git branch name
+
+    Returns:
+        str: README content
+    """
+    # Get current UTC time
+    build_date = datetime.now(timezone.utc).strftime("%Y-%m-%d %H:%M:%S UTC")
+
+    # Determine platform-specific content
+    is_windows = platform == "win-64"
+
+    if is_windows:
+        archive_ext = "zip"
+        install_script = "install_unilab.bat"
+        platform_instructions = """Windows:
+  1. Extract the downloaded ZIP file
+  2. Double-click install_unilab.bat (or run in cmd)
+  3. Follow the prompts"""
+    else:
+        archive_ext = "tar.gz"
+        install_script = "install_unilab.sh"
+        platform_name = {"linux-64": "linux-64", "osx-64": "osx-64", "osx-arm64": "osx-arm64"}.get(platform, platform)
+        platform_instructions = f"""macOS/Linux:
+  1. Download and extract unilab-pack-{platform_name}.tar.gz
+  2. Run: bash install_unilab.sh
+  3. Follow the prompts
+  
+  Alternative (if downloaded from GitHub Actions):
+  1. Extract the artifact ZIP file
+  2. Extract unilab-pack-{platform_name}.tar.gz inside
+  3. Run: bash install_unilab.sh"""
+
+    # Generate README content
+    readme = f"""UniLabOS Conda-Pack Environment
+================================
+
+This package contains a pre-built UniLabOS environment.
+
+Installation Instructions:
+--------------------------
+
+{platform_instructions}
+
+The installation script will:
+  - Automatically find your conda installation
+  - Extract the environment to conda's envs/unilab directory
+  - Run conda-unpack to finalize setup
+
+After installation:
+  conda activate unilab
+  python verify_installation.py
+
+Verification:
+-------------
+
+The verify_installation.py script will check:
+  - Python version (3.11.11)
+  - ROS2 rclpy installation
+  - UniLabOS installation and dependencies
+
+If all checks pass, you're ready to use UniLabOS!
+
+Package Contents:
+-----------------
+
+  - {install_script} (automatic installation script)
+  - unilab-env-{platform}.tar.gz (packed conda environment)
+  - verify_installation.py (environment verification tool)
+  - README.txt (this file)
+
+Build Information:
+------------------
+
+  Branch:   {branch}
+  Platform: {platform}
+  Python:   3.11.11
+  Date:     {build_date}
+
+Troubleshooting:
+----------------
+
+If installation fails:
+
+  1. Ensure conda or mamba is installed
+     Check: conda --version
+
+  2. Verify you have sufficient disk space
+     Required: ~5-10 GB after extraction
+
+  3. Check installation permissions
+     You need write access to conda's envs directory
+
+  4. For detailed logs, run the install script from terminal
+
+For more help:
+  - Documentation: docs/user_guide/installation.md
+  - Quick Start: QUICK_START_CONDA_PACK.md
+  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
+
+License:
+--------
+
+UniLabOS is licensed under GPL-3.0-only.
+See LICENSE file for details.
+
+Repository: https://github.com/dptech-corp/Uni-Lab-OS
+"""
+
+    return readme
+
+
+def main():
+    """Main entry point."""
+    parser = argparse.ArgumentParser(
+        description="Generate README.txt for conda-pack distribution",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  python create_readme.py win-64 dev dist-package/README.txt
+  python create_readme.py linux-64 main dist-package/README.txt
+        """,
+    )
+
+    parser.add_argument("platform", choices=["win-64", "linux-64", "osx-64", "osx-arm64"], help="Platform identifier")
+
+    parser.add_argument("branch", help="Git branch name")
+
+    parser.add_argument("output_file", help="Output file path")
+
+    args = parser.parse_args()
+
+    try:
+        # Generate README content
+        readme_content = get_readme_content(args.platform, args.branch)
+
+        # Create output directory if needed
+        output_path = Path(args.output_file)
+        output_path.parent.mkdir(parents=True, exist_ok=True)
+
+        # Write README file
+        with open(output_path, "w", encoding="utf-8") as f:
+            f.write(readme_content)
+
+        print(f"✓ README.txt created: {output_path}")
+        print(f"  Platform: {args.platform}")
+        print(f"  Branch:   {args.branch}")
+
+        return 0
+
+    except Exception as e:
+        print(f"Error creating README: {e}", file=sys.stderr)
+        import traceback
+
+        traceback.print_exc()
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scripts/create_zip_archive.py b/scripts/create_zip_archive.py
new file mode 100644
index 00000000..96cf6e9c
--- /dev/null
+++ b/scripts/create_zip_archive.py
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+"""
+Create ZIP Archive with ZIP64 Support
+======================================
+
+This script creates a ZIP archive with ZIP64 support for large files (>2GB).
+It's used in the conda-pack build workflow to package the distribution.
+
+PowerShell's Compress-Archive has a 2GB limitation, so we use Python's zipfile
+module with allowZip64=True to handle large conda-packed environments.
+
+Usage:
+    python create_zip_archive.py <source_dir> <output_zip> [--compression-level LEVEL]
+
+Arguments:
+    source_dir: Directory to compress
+    output_zip: Output ZIP file path
+    --compression-level: Compression level (0-9, default: 6)
+
+Example:
+    python create_zip_archive.py dist-package unilab-pack-win-64.zip
+"""
+
+import argparse
+import os
+import sys
+import zipfile
+from pathlib import Path
+
+
+def create_zip_archive(source_dir: str, output_zip: str, compression_level: int = 6) -> bool:
+    """
+    Create a ZIP archive with ZIP64 support.
+
+    Args:
+        source_dir: Directory to compress
+        output_zip: Output ZIP file path
+        compression_level: Compression level (0-9)
+
+    Returns:
+        bool: True if successful
+    """
+    try:
+        source_path = Path(source_dir)
+        output_path = Path(output_zip)
+
+        # Validate source directory
+        if not source_path.exists():
+            print(f"Error: Source directory does not exist: {source_dir}", file=sys.stderr)
+            return False
+
+        if not source_path.is_dir():
+            print(f"Error: Source path is not a directory: {source_dir}", file=sys.stderr)
+            return False
+
+        # Remove existing output file if present
+        if output_path.exists():
+            print(f"Removing existing archive: {output_path}")
+            output_path.unlink()
+
+        # Create ZIP archive
+        print("=" * 70)
+        print(f"Creating ZIP archive with ZIP64 support")
+        print(f"  Source: {source_path.absolute()}")
+        print(f"  Output: {output_path.absolute()}")
+        print(f"  Compression: Level {compression_level}")
+        print("=" * 70)
+
+        total_size = 0
+        file_count = 0
+
+        with zipfile.ZipFile(
+            output_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True, compresslevel=compression_level
+        ) as zipf:
+            # Walk through source directory
+            for root, dirs, files in os.walk(source_dir):
+                for file in files:
+                    file_path = os.path.join(root, file)
+                    arcname = os.path.relpath(file_path, source_dir)
+                    file_size = os.path.getsize(file_path)
+
+                    # Add file to archive
+                    zipf.write(file_path, arcname)
+
+                    # Display progress
+                    total_size += file_size
+                    file_count += 1
+                    print(f"  [{file_count:3d}] Adding: {arcname:50s} {file_size:>15,} bytes")
+
+        # Get final archive size
+        archive_size = output_path.stat().st_size
+        compression_ratio = (1 - archive_size / total_size) * 100 if total_size > 0 else 0
+
+        # Display summary
+        print("=" * 70)
+        print("Archive created successfully!")
+        print(f"  Files added: {file_count}")
+        print(f"  Total size (uncompressed): {total_size:>15,} bytes ({total_size / (1024**3):.2f} GB)")
+        print(f"  Archive size (compressed):  {archive_size:>15,} bytes ({archive_size / (1024**3):.2f} GB)")
+        print(f"  Compression ratio: {compression_ratio:.1f}%")
+        print("=" * 70)
+
+        return True
+
+    except Exception as e:
+        print(f"Error creating ZIP archive: {e}", file=sys.stderr)
+        import traceback
+
+        traceback.print_exc()
+        return False
+
+
+def main():
+    """Main entry point."""
+    parser = argparse.ArgumentParser(
+        description="Create ZIP archive with ZIP64 support for large files",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  python create_zip_archive.py dist-package unilab-pack-win-64.zip
+  python create_zip_archive.py dist-package unilab-pack-win-64.zip --compression-level 9
+        """,
+    )
+
+    parser.add_argument("source_dir", help="Directory to compress")
+
+    parser.add_argument("output_zip", help="Output ZIP file path")
+
+    parser.add_argument(
+        "--compression-level",
+        type=int,
+        default=6,
+        choices=range(0, 10),
+        metavar="LEVEL",
+        help="Compression level (0=no compression, 9=maximum compression, default=6)",
+    )
+
+    args = parser.parse_args()
+
+    # Create archive
+    success = create_zip_archive(args.source_dir, args.output_zip, args.compression_level)
+
+    # Exit with appropriate code
+    sys.exit(0 if success else 1)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/install_unilab.bat b/scripts/install_unilab.bat
index 993f8374..711c6585 100644
--- a/scripts/install_unilab.bat
+++ b/scripts/install_unilab.bat
@@ -10,11 +10,25 @@ REM Get the directory where this script is located
 set "SCRIPT_DIR=%~dp0"
 cd /d "%SCRIPT_DIR%"
 
-REM Find conda installation using 'where conda'
+REM Find conda installation
 echo Searching for conda installation...
+
+REM Method 1: Try to get conda base using 'conda info --base'
+set "CONDA_BASE="
+for /f "tokens=*" %%i in ('conda info --base 2^>nul') do (
+    set "CONDA_BASE=%%i"
+)
+
+if not "%CONDA_BASE%"=="" (
+    echo Found conda at: %CONDA_BASE% (via conda info)
+    goto :conda_found
+)
+
+REM Method 2: Use 'where conda' and parse the path
+echo Trying alternative method...
 for /f "tokens=*" %%i in ('where conda 2^>nul') do (
     set "CONDA_PATH=%%i"
-    goto :found_conda
+    goto :parse_conda_path
 )
 
 echo ERROR: Could not find conda installation!
@@ -23,20 +37,51 @@ echo.
 pause
 exit /b 1
 
-:found_conda
-REM Extract base directory from conda path
-REM Path looks like: C:\Users\10230\miniforge3\Library\bin\conda.bat
-REM or: C:\Users\10230\miniforge3\Scripts\conda.exe
-for %%i in ("%CONDA_PATH%") do set "CONDA_FILE=%%~nxi"
-for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+:parse_conda_path
+REM Parse conda path to find base directory
+REM Common paths:
+REM   C:\Users\hp\miniforge3\Library\bin\conda.bat
+REM   C:\Users\hp\miniforge3\Scripts\conda.exe
+REM   C:\Users\hp\miniforge3\condabin\conda.bat
 
-REM Go up two levels to get base directory
-for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
-if "%CONDA_FILE%"=="conda.bat" (
-    for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
+echo Found conda executable at: %CONDA_PATH%
+
+REM Check if path contains \Library\bin\ (typical for conda.bat)
+echo %CONDA_PATH% | findstr /C:"\Library\bin\" >nul
+if not errorlevel 1 (
+    REM Path like: C:\Users\hp\miniforge3\Library\bin\conda.bat
+    REM Need to go up 3 levels: bin -> Library -> miniforge3
+    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+    for %%i in ("%CONDA_BASE%..\..\..") do set "CONDA_BASE=%%~fi"
+    goto :conda_found
 )
 
-echo Found conda at: %CONDA_BASE%
+REM Check if path contains \Scripts\ (typical for conda.exe)
+echo %CONDA_PATH% | findstr /C:"\Scripts\" >nul
+if not errorlevel 1 (
+    REM Path like: C:\Users\hp\miniforge3\Scripts\conda.exe
+    REM Need to go up 2 levels: Scripts -> miniforge3
+    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
+    goto :conda_found
+)
+
+REM Check if path contains \condabin\ (typical for conda.bat)
+echo %CONDA_PATH% | findstr /C:"\condabin\" >nul
+if not errorlevel 1 (
+    REM Path like: C:\Users\hp\miniforge3\condabin\conda.bat
+    REM Need to go up 2 levels: condabin -> miniforge3
+    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
+    goto :conda_found
+)
+
+REM Default: assume it's 2 levels up
+for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
+for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
+
+:conda_found
+echo Found conda base directory: %CONDA_BASE%
 echo.
 
 REM Set target environment path
@@ -116,6 +161,28 @@ if errorlevel 1 (
     exit /b 1
 )
 
+echo.
+echo Checking UniLabOS entry point...
+REM Check if unilab-script.py exists
+set "UNILAB_SCRIPT=%ENV_PATH%\Scripts\unilab-script.py"
+if not exist "%UNILAB_SCRIPT%" (
+    echo WARNING: unilab-script.py not found, creating it...
+    (
+        echo # -*- coding: utf-8 -*-
+        echo import re
+        echo import sys
+        echo.
+        echo from unilabos.app.main import main
+        echo.
+        echo if __name__ == '__main__':
+        echo     sys.argv[0] = re.sub^(r'(-script\.pyw?^|\.exe^)?$', '', sys.argv[0]^)
+        echo     sys.exit^(main^(^)^)
+    ) > "%UNILAB_SCRIPT%"
+    echo Created: %UNILAB_SCRIPT%
+) else (
+    echo Found: %UNILAB_SCRIPT%
+)
+
 echo.
 echo ================================================
 echo Installation completed successfully!
diff --git a/scripts/install_unilab.sh b/scripts/install_unilab.sh
index b12d972e..85582eff 100755
--- a/scripts/install_unilab.sh
+++ b/scripts/install_unilab.sh
@@ -96,6 +96,30 @@ else
     exit 1
 fi
 
+echo ""
+echo "Checking UniLabOS entry point..."
+# Check if unilab script exists in bin directory
+UNILAB_SCRIPT="$ENV_PATH/bin/unilab"
+if [ ! -f "$UNILAB_SCRIPT" ]; then
+    echo "WARNING: unilab script not found, creating it..."
+    cat > "$UNILAB_SCRIPT" << 'EOF'
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import re
+import sys
+
+from unilabos.app.main import main
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())
+EOF
+    chmod +x "$UNILAB_SCRIPT"
+    echo "Created: $UNILAB_SCRIPT"
+else
+    echo "Found: $UNILAB_SCRIPT"
+fi
+
 echo ""
 echo "================================================"
 echo "Installation completed successfully!"
diff --git a/unilabos-linux-64.yaml b/scripts/unilabos-linux-64.yaml
similarity index 96%
rename from unilabos-linux-64.yaml
rename to scripts/unilabos-linux-64.yaml
index c84e0451..eed2caaf 100644
--- a/unilabos-linux-64.yaml
+++ b/scripts/unilabos-linux-64.yaml
@@ -34,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -63,6 +63,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data
diff --git a/unilabos-osx-64.yaml b/scripts/unilabos-osx-64.yaml
similarity index 96%
rename from unilabos-osx-64.yaml
rename to scripts/unilabos-osx-64.yaml
index ca9a96fa..764130f6 100644
--- a/unilabos-osx-64.yaml
+++ b/scripts/unilabos-osx-64.yaml
@@ -34,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -62,6 +62,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data
diff --git a/unilabos-osx-arm64.yaml b/scripts/unilabos-osx-arm64.yaml
similarity index 96%
rename from unilabos-osx-arm64.yaml
rename to scripts/unilabos-osx-arm64.yaml
index 7f9675db..6c2f5a12 100644
--- a/unilabos-osx-arm64.yaml
+++ b/scripts/unilabos-osx-arm64.yaml
@@ -35,8 +35,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
-  - paho-mqtt
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -65,6 +64,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data
diff --git a/unilabos-win64.yaml b/scripts/unilabos-win64.yaml
similarity index 97%
rename from unilabos-win64.yaml
rename to scripts/unilabos-win64.yaml
index b2065a0c..d854ae65 100644
--- a/unilabos-win64.yaml
+++ b/scripts/unilabos-win64.yaml
@@ -34,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -65,6 +65,9 @@ dependencies:
   - uni-lab::ros-humble-unilabos-msgs
   # driver
   #- crcmod
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data
diff --git a/scripts/verify_installation.py b/scripts/verify_installation.py
index 92074b5c..438f7ebc 100644
--- a/scripts/verify_installation.py
+++ b/scripts/verify_installation.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# -*- coding: utf-8 -*-
 """
 UniLabOS Installation Verification Script
 =========================================
@@ -15,8 +16,38 @@ Usage:
 """
 
 import sys
+import os
+
+# IMPORTANT: Set UTF-8 encoding BEFORE any other imports
+# This ensures all subsequent imports (including unilabos) can output UTF-8 characters
+if sys.platform == "win32":
+    # Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
+    try:
+        sys.stdout.reconfigure(encoding="utf-8", errors="replace")
+        sys.stderr.reconfigure(encoding="utf-8", errors="replace")
+    except (AttributeError, OSError):
+        pass
+
+    # Method 2: Set environment variable for subprocess and console
+    os.environ["PYTHONIOENCODING"] = "utf-8"
+
+    # Method 3: Try to change Windows console code page to UTF-8
+    try:
+        import ctypes
+
+        # Set console code page to UTF-8 (CP 65001)
+        ctypes.windll.kernel32.SetConsoleCP(65001)
+        ctypes.windll.kernel32.SetConsoleOutputCP(65001)
+    except (ImportError, AttributeError, OSError):
+        pass
+
+# Now import other modules
 import importlib
 
+# Use ASCII-safe symbols that work across all platforms
+CHECK_MARK = "[OK]"
+CROSS_MARK = "[FAIL]"
+
 
 def check_package(package_name: str, display_name: str = None) -> bool:
     """
@@ -34,10 +65,10 @@ def check_package(package_name: str, display_name: str = None) -> bool:
 
     try:
         importlib.import_module(package_name)
-        print(f"  ✓ {display_name}")
+        print(f"  {CHECK_MARK} {display_name}")
         return True
     except ImportError:
-        print(f"  ✗ {display_name}")
+        print(f"  {CROSS_MARK} {display_name}")
         return False
 
 
@@ -47,10 +78,10 @@ def check_python_version() -> bool:
     version_str = f"{version.major}.{version.minor}.{version.micro}"
 
     if version.major == 3 and version.minor >= 11:
-        print(f"  ✓ Python {version_str}")
+        print(f"  {CHECK_MARK} Python {version_str}")
         return True
     else:
-        print(f"  ✗ Python {version_str} (requires Python 3.8+)")
+        print(f"  {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
         return False
 
 
@@ -78,26 +109,23 @@ def main():
     # Run environment checker from unilabos
     print("Checking UniLabOS and dependencies...")
     try:
-        from unilabos.utils.environment_check import EnvironmentChecker
+        from unilabos.utils.environment_check import check_environment
 
-        print("  ✓ UniLabOS installed")
+        print(f"  {CHECK_MARK} UniLabOS installed")
 
-        checker = EnvironmentChecker()
-        env_check_passed = checker.check_all_packages()
+        # Check environment without auto-install (verification only)
+        # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
+        env_check_passed = check_environment(auto_install=False, show_details=False)
 
         if env_check_passed:
-            print("  ✓ All required packages available")
+            print(f"  {CHECK_MARK} All required packages available")
         else:
-            print(f"  ✗ Missing {len(checker.missing_packages)} package(s):")
-            for import_name, _ in checker.missing_packages:
-                print(f"    - {import_name}")
-            all_passed = False
+            print(f"  {CROSS_MARK} Some optional packages are missing")
     except ImportError:
-        print("  ✗ UniLabOS not installed")
+        print(f"  {CROSS_MARK} UniLabOS not installed")
         all_passed = False
     except Exception as e:
-        print(f"  ✗ Environment check failed: {str(e)}")
-        all_passed = False
+        print(f"  {CROSS_MARK} Environment check failed: {str(e)}")
     print()
 
     # Summary
@@ -106,18 +134,18 @@ def main():
     print("=" * 60)
 
     if all_passed:
-        print("\n✓ All checks passed! Your UniLabOS installation is ready.")
+        print(f"\n{CHECK_MARK} All checks passed! Your UniLabOS installation is ready.")
         print("\nNext steps:")
         print("  1. Review the documentation: docs/user_guide/launch.md")
         print("  2. Try the examples: docs/boot_examples/")
         print("  3. Configure your devices: unilabos_data/startup_config.json")
         return 0
     else:
-        print("\n✗ Some checks failed. Please review the errors above.")
+        print(f"\n{CROSS_MARK} Some checks failed. Please review the errors above.")
         print("\nTroubleshooting:")
         print("  1. Ensure you're in the correct conda environment: conda activate unilab")
         print("  2. Check the installation documentation: docs/user_guide/installation.md")
-        print("  3. Try reinstalling: pip install -e .")
+        print("  3. Try reinstalling: pip install .")
         return 1
 
 
diff --git a/setup.py b/setup.py
index 86b93d88..508ff337 100644
--- a/setup.py
+++ b/setup.py
@@ -4,20 +4,20 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.4',
+    version='0.10.7',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
     zip_safe=True,
-    maintainer='Junhan Chang',
-    maintainer_email='changjh@pku.edu.cn',
+    author="The unilabos developers",
+    maintainer='Junhan Chang, Xuwznln',
+    maintainer_email='Junhan Chang <changjh@pku.edu.cn>, Xuwznln <18435084+Xuwznln@users.noreply.github.com>',
     description='',
     license='GPL v3',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "unilab = unilabos.app.main:main",
-            "unilab-register = unilabos.app.register:main"
+            "unilab = unilabos.app.main:main"
         ],
     },
 )
diff --git a/test/experiments/comprehensive_protocol/comprehensive_slim.json b/test/experiments/comprehensive_protocol/comprehensive_slim.json
index d9dd773d..83e15679 100644
--- a/test/experiments/comprehensive_protocol/comprehensive_slim.json
+++ b/test/experiments/comprehensive_protocol/comprehensive_slim.json
@@ -4,11 +4,12 @@
             "id": "OrganicSynthesisStation",
             "name": "有机化学流程综合测试工作站",
             "children": [
-                "heater_1"
+                "heater_1",
+                "deck"
             ],
             "parent": null,
             "type": "device",
-            "class": "workstation",
+            "class": "workstation.example",
             "position": {
                 "x": 600,
                 "y": 400,
@@ -17,7 +18,6 @@
             "config": {
                 "protocol_type": [
                     "AddProtocol",
-                    "TransferProtocol",
                     "StartStirProtocol",
                     "StopStirProtocol",
                     "StirProtocol",
@@ -40,7 +40,13 @@
                     "DryProtocol",
                     "HydrogenateProtocol",
                     "RecrystallizeProtocol"
-                ]
+                ],
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "deck",
+                        "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
+                    }
+                }
             },
             "data": {}
         },
@@ -64,6 +70,1682 @@
                 "status": "Idle",
                 "current_temp": 25.0
             }
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "tip_rack",
+                "plate_well"
+            ],
+            "parent": "OrganicSynthesisStation",
+            "type": "deck",
+            "class": "OTDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "OTDeck",
+                "with_trash": false,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "tip_rack",
+            "name": "tip_rack",
+            "sample_id": null,
+            "children": [
+                "tip_rack_A1",
+                "tip_rack_B1",
+                "tip_rack_C1",
+                "tip_rack_D1",
+                "tip_rack_E1",
+                "tip_rack_F1",
+                "tip_rack_G1",
+                "tip_rack_H1",
+                "tip_rack_A2",
+                "tip_rack_B2",
+                "tip_rack_C2",
+                "tip_rack_D2",
+                "tip_rack_E2",
+                "tip_rack_F2",
+                "tip_rack_G2",
+                "tip_rack_H2"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "opentrons_96_filtertiprack_1000ul",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 69
+            },
+            "config": {
+                "type": "TipRack",
+                "size_x": 122.4,
+                "size_y": 82.6,
+                "size_z": 20.0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_rack",
+                "model": "HTF",
+                "ordering": [
+                    "A1",
+                    "B1",
+                    "C1",
+                    "D1",
+                    "E1",
+                    "F1",
+                    "G1",
+                    "H1",
+                    "A2",
+                    "B2",
+                    "C2",
+                    "D2",
+                    "E2",
+                    "F2",
+                    "G2",
+                    "H2"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "tip_rack_A1",
+            "name": "tip_rack_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 68.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_B1",
+            "name": "tip_rack_B1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 59.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_C1",
+            "name": "tip_rack_C1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 50.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_D1",
+            "name": "tip_rack_D1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 41.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_E1",
+            "name": "tip_rack_E1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 32.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_F1",
+            "name": "tip_rack_F1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 23.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_G1",
+            "name": "tip_rack_G1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 14.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            }
+        },
+        {
+            "id": "tip_rack_H1",
+            "name": "tip_rack_H1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 7.2,
+                "y": 5.3,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9.0,
+                "size_y": 9.0,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                },
+                "tip_state": {
+                    "liquids": [],
+                    "pending_liquids": [],
+                    "liquid_history": []
+                },
+                "pending_tip": {
+                    "type": "Tip",
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+                "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_A11",
+            "name": "plate_well_A11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 70.77,
+                "z": 3.03
+            },
+            "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_B11",
+            "name": "plate_well_B11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 61.77,
+                "z": 3.03
+            },
+            "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_C11",
+            "name": "plate_well_C11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 52.77,
+                "z": 3.03
+            },
+            "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_D11",
+            "name": "plate_well_D11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 43.77,
+                "z": 3.03
+            },
+            "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_E11",
+            "name": "plate_well_E11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 34.77,
+                "z": 3.03
+            },
+            "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_F11",
+            "name": "plate_well_F11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 25.77,
+                "z": 3.03
+            },
+            "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_G11",
+            "name": "plate_well_G11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 16.77,
+                "z": 3.03
+            },
+            "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_H11",
+            "name": "plate_well_H11",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 100.87,
+                "y": 7.77,
+                "z": 3.03
+            },
+            "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": []
+            }
         }
     ],
     "links": []
diff --git a/test/experiments/dispensing_station_bioyond.json b/test/experiments/dispensing_station_bioyond.json
new file mode 100644
index 00000000..b2f79c80
--- /dev/null
+++ b/test/experiments/dispensing_station_bioyond.json
@@ -0,0 +1,60 @@
+{
+    "nodes": [
+        {
+            "id": "dispensing_station_bioyond",
+            "name": "dispensing_station_bioyond",
+            "children": [
+                "Bioyond_Dispensing_Deck"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "dispensing_station.bioyond",
+            "config": {
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44388"
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Dispensing_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
+                    }
+                },
+                "station_config": {
+                    "station_type": "dispensing_station",
+                    "enable_dispensing_station": true,
+                    "enable_reaction_station": false,
+                    "station_name": "DispensingStation_001",
+                    "description": "Bioyond配液工作站"
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Dispensing_Deck",
+            "name": "Bioyond_Dispensing_Deck",
+            "sample_id": null,
+            "children": [],
+            "parent": "dispensing_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerPreparationStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerPreparationStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}
diff --git a/test/experiments/laiyu_liquid.json b/test/experiments/laiyu_liquid.json
new file mode 100644
index 00000000..4835460f
--- /dev/null
+++ b/test/experiments/laiyu_liquid.json
@@ -0,0 +1,148 @@
+{
+    "nodes": [
+        {
+            "id": "laiyu_liquid_station",
+            "name": "LaiYu液体处理工作站",
+            "children": [
+                "module_1_8tubes",
+                "module_2_96well_deep", 
+                "module_3_beaker",
+                "module_4_96well_tips"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "laiyu_liquid",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "total_modules": 4,
+                "total_wells": 201,
+                "safety_margin": {
+                    "x": 5.0,
+                    "y": 5.0,
+                    "z": 5.0
+                },
+                "protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
+            },
+            "data": {
+                "status": "Ready",
+                "version": "1.0"
+            }
+        },
+        {
+            "id": "module_1_8tubes",
+            "name": "8管位置模块",
+            "children": [],
+            "parent": "laiyu_liquid_station",
+            "type": "container",
+            "class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
+            "position": {
+                "x": 100,
+                "y": 100,
+                "z": 0
+            },
+            "config": {
+                "module_type": "tube_rack",
+                "wells_count": 8,
+                "well_diameter": 29.0,
+                "well_depth": 117.0,
+                "well_volume": 77000.0,
+                "well_shape": "circular",
+                "layout": "2x4"
+            },
+            "data": {
+                "max_volume": 77000.0,
+                "current_volume": 0.0,
+                "wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+            }
+        },
+        {
+            "id": "module_2_96well_deep",
+            "name": "96深孔板",
+            "children": [],
+            "parent": "laiyu_liquid_station",
+            "type": "plate",
+            "class": "nest_96_wellplate_2ml_deep",
+            "position": {
+                "x": 300,
+                "y": 100,
+                "z": 0
+            },
+            "config": {
+                "module_type": "96_well_deep_plate",
+                "wells_count": 96,
+                "well_diameter": 8.2,
+                "well_depth": 39.4,
+                "well_volume": 2080.0,
+                "well_shape": "circular",
+                "layout": "8x12"
+            },
+            "data": {
+                "max_volume": 2080.0,
+                "current_volume": 0.0,
+                "plate_type": "deep_well"
+            }
+        },
+        {
+            "id": "module_3_beaker",
+            "name": "敞口玻璃瓶",
+            "children": [],
+            "parent": "laiyu_liquid_station",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 500,
+                "y": 100,
+                "z": 0
+            },
+            "config": {
+                "module_type": "beaker_holder",
+                "wells_count": 1,
+                "well_diameter": 85.0,
+                "well_depth": 120.0,
+                "well_volume": 500000.0,
+                "well_shape": "circular",
+                "supported_containers": ["250ml", "500ml", "1000ml"]
+            },
+            "data": {
+                "max_volume": 500000.0,
+                "current_volume": 0.0,
+                "container_type": "beaker",
+                "wells": ["A1"]
+            }
+        },
+        {
+            "id": "module_4_96well_tips",
+            "name": "96吸头架",
+            "children": [],
+            "parent": "laiyu_liquid_station",
+            "type": "container",
+            "class": "tip_rack",
+            "position": {
+                "x": 700,
+                "y": 100,
+                "z": 0
+            },
+            "config": {
+                "module_type": "tip_rack",
+                "wells_count": 96,
+                "well_diameter": 8.2,
+                "well_depth": 60.0,
+                "well_volume": 6000.0,
+                "well_shape": "circular",
+                "layout": "8x12",
+                "tip_type": "standard"
+            },
+            "data": {
+                "max_volume": 6000.0,
+                "current_volume": 0.0,
+                "tip_capacity": "1000μL",
+                "tips_available": 96
+            }
+        }
+    ],
+    "links": []
+}
\ No newline at end of file
diff --git a/test/experiments/prcxi_9300.json b/test/experiments/prcxi_9300.json
index 65254e90..4901c5d8 100644
--- a/test/experiments/prcxi_9300.json
+++ b/test/experiments/prcxi_9300.json
@@ -22,8 +22,8 @@
                 "axis": "Left",
                 "channel_num": 8,
                 "setup": false,
-                "debug": false,
-                "simulator": false,
+                "debug": true,
+                "simulator": true,
                 "matrix_id": "71593"
             },
             "data": {},
diff --git a/test/experiments/prcxi_9320.json b/test/experiments/prcxi_9320.json
index d72768f7..fb81d64d 100644
--- a/test/experiments/prcxi_9320.json
+++ b/test/experiments/prcxi_9320.json
@@ -16,15 +16,16 @@
                     "_resource_child_name": "PRCXI_Deck",
                     "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
                 },
-                "host": "10.181.102.13",
+                "host": "192.168.0.121",
                 "port": 9999,
                 "timeout": 10.0,
                 "axis": "Right",
                 "channel_num": 1,
-                "setup": false,
+                "setup": true,
                 "debug": false,
                 "simulator": false,
-                "matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"
+                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                "is_9320": true
             },
             "data": {},
             "children": [
@@ -36,21 +37,24 @@
             "name": "PRCXI_Deck",
             "sample_id": null,
             "children": [
-                "HPLCPlateT1",
-                "container_for_nothing1",
-                "container_for_nothing2",
-                "trash",
-                "container_for_nothing3",
-                "container_for_nothing",
-                "container_for_nothing4",
-                "RackT8",
-                "container_for_nothing5",
-                "container_for_nothing6",
-                "PlateT11",
+                "RackT1",
+                "PlateT2",
+                "container_for_nothin3",
+                "PlateT4",
+                "RackT5",
+                "PlateT6",
                 "container_for_nothing7",
-                "container_for_nothing8"
+                "container_for_nothing8",
+                "PlateT9",
+                "PlateT10",
+                "container_for_nothing11",
+                "container_for_nothing12",
+                "PlateT13",
+                "PlateT14",
+                "PlateT15",
+                "trash"
             ],
-            "parent": "lh_PRCXI_Deck",
+            "parent": "PRCXI",
             "type": "deck",
             "class": "",
             "position": {
@@ -75,4276 +79,106 @@
             "data": {}
         },
         {
-            "id": "HPLCPlateT1",
-            "name": "HPLCPlateT1",
+            "id": "RackT1",
+            "name": "RackT1",
             "sample_id": null,
             "children": [
-                "HPLCPlateT1_A1",
-                "HPLCPlateT1_B1",
-                "HPLCPlateT1_C1",
-                "HPLCPlateT1_D1",
-                "HPLCPlateT1_E1",
-                "HPLCPlateT1_F1",
-                "HPLCPlateT1_G1",
-                "HPLCPlateT1_H1",
-                "HPLCPlateT1_A2",
-                "HPLCPlateT1_B2",
-                "HPLCPlateT1_C2",
-                "HPLCPlateT1_D2",
-                "HPLCPlateT1_E2",
-                "HPLCPlateT1_F2",
-                "HPLCPlateT1_G2",
-                "HPLCPlateT1_H2",
-                "HPLCPlateT1_A3",
-                "HPLCPlateT1_B3",
-                "HPLCPlateT1_C3",
-                "HPLCPlateT1_D3",
-                "HPLCPlateT1_E3",
-                "HPLCPlateT1_F3",
-                "HPLCPlateT1_G3",
-                "HPLCPlateT1_H3",
-                "HPLCPlateT1_A4",
-                "HPLCPlateT1_B4",
-                "HPLCPlateT1_C4",
-                "HPLCPlateT1_D4",
-                "HPLCPlateT1_E4",
-                "HPLCPlateT1_F4",
-                "HPLCPlateT1_G4",
-                "HPLCPlateT1_H4",
-                "HPLCPlateT1_A5",
-                "HPLCPlateT1_B5",
-                "HPLCPlateT1_C5",
-                "HPLCPlateT1_D5",
-                "HPLCPlateT1_E5",
-                "HPLCPlateT1_F5",
-                "HPLCPlateT1_G5",
-                "HPLCPlateT1_H5",
-                "HPLCPlateT1_A6",
-                "HPLCPlateT1_B6",
-                "HPLCPlateT1_C6",
-                "HPLCPlateT1_D6",
-                "HPLCPlateT1_E6",
-                "HPLCPlateT1_F6",
-                "HPLCPlateT1_G6",
-                "HPLCPlateT1_H6",
-                "HPLCPlateT1_A7",
-                "HPLCPlateT1_B7",
-                "HPLCPlateT1_C7",
-                "HPLCPlateT1_D7",
-                "HPLCPlateT1_E7",
-                "HPLCPlateT1_F7",
-                "HPLCPlateT1_G7",
-                "HPLCPlateT1_H7",
-                "HPLCPlateT1_A8",
-                "HPLCPlateT1_B8",
-                "HPLCPlateT1_C8",
-                "HPLCPlateT1_D8",
-                "HPLCPlateT1_E8",
-                "HPLCPlateT1_F8",
-                "HPLCPlateT1_G8",
-                "HPLCPlateT1_H8",
-                "HPLCPlateT1_A9",
-                "HPLCPlateT1_B9",
-                "HPLCPlateT1_C9",
-                "HPLCPlateT1_D9",
-                "HPLCPlateT1_E9",
-                "HPLCPlateT1_F9",
-                "HPLCPlateT1_G9",
-                "HPLCPlateT1_H9",
-                "HPLCPlateT1_A10",
-                "HPLCPlateT1_B10",
-                "HPLCPlateT1_C10",
-                "HPLCPlateT1_D10",
-                "HPLCPlateT1_E10",
-                "HPLCPlateT1_F10",
-                "HPLCPlateT1_G10",
-                "HPLCPlateT1_H10",
-                "HPLCPlateT1_A11",
-                "HPLCPlateT1_B11",
-                "HPLCPlateT1_C11",
-                "HPLCPlateT1_D11",
-                "HPLCPlateT1_E11",
-                "HPLCPlateT1_F11",
-                "HPLCPlateT1_G11",
-                "HPLCPlateT1_H11",
-                "HPLCPlateT1_A12",
-                "HPLCPlateT1_B12",
-                "HPLCPlateT1_C12",
-                "HPLCPlateT1_D12",
-                "HPLCPlateT1_E12",
-                "HPLCPlateT1_F12",
-                "HPLCPlateT1_G12",
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-                "size_x": 50,
-                "size_y": 50,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {}
-            },
-            "data": {}
-        },
-        {
-            "id": "container_for_nothing",
-            "name": "container_for_nothing",
-            "sample_id": null,
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 50,
-                "size_y": 50,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {}
-            },
-            "data": {}
-        },
-        {
-            "id": "container_for_nothing4",
-            "name": "container_for_nothing4",
-            "sample_id": null,
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 50,
-                "size_y": 50,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {}
-            },
-            "data": {}
-        },
-        {
-            "id": "RackT8",
-            "name": "RackT8",
-            "sample_id": null,
-            "children": [
-                "name_A1",
-                "name_B1",
-                "name_C1",
-                "name_D1",
-                "name_E1",
-                "name_F1",
-                "name_G1",
-                "name_H1",
-                "name_A2",
-                "name_B2",
-                "name_C2",
-                "name_D2",
-                "name_E2",
-                "name_F2",
-                "name_G2",
-                "name_H2",
-                "name_A3",
-                "name_B3",
-                "name_C3",
-                "name_D3",
-                "name_E3",
-                "name_F3",
-                "name_G3",
-                "name_H3",
-                "name_A4",
-                "name_B4",
-                "name_C4",
-                "name_D4",
-                "name_E4",
-                "name_F4",
-                "name_G4",
-                "name_H4",
-                "name_A5",
-                "name_B5",
-                "name_C5",
-                "name_D5",
-                "name_E5",
-                "name_F5",
-                "name_G5",
-                "name_H5",
-                "name_A6",
-                "name_B6",
-                "name_C6",
-                "name_D6",
-                "name_E6",
-                "name_F6",
-                "name_G6",
-                "name_H6",
-                "name_A7",
-                "name_B7",
-                "name_C7",
-                "name_D7",
-                "name_E7",
-                "name_F7",
-                "name_G7",
-                "name_H7",
-                "name_A8",
-                "name_B8",
-                "name_C8",
-                "name_D8",
-                "name_E8",
-                "name_F8",
-                "name_G8",
-                "name_H8",
-                "name_A9",
-                "name_B9",
-                "name_C9",
-                "name_D9",
-                "name_E9",
-                "name_F9",
-                "name_G9",
-                "name_H9",
-                "name_A10",
-                "name_B10",
-                "name_C10",
-                "name_D10",
-                "name_E10",
-                "name_F10",
-                "name_G10",
-                "name_H10",
-                "name_A11",
-                "name_B11",
-                "name_C11",
-                "name_D11",
-                "name_E11",
-                "name_F11",
-                "name_G11",
-                "name_H11",
-                "name_A12",
-                "name_B12",
-                "name_C12",
-                "name_D12",
-                "name_E12",
-                "name_F12",
-                "name_G12",
-                "name_H12"
+                "RackT1_A1",
+                "RackT1_B1",
+                "RackT1_C1",
+                "RackT1_D1",
+                "RackT1_E1",
+                "RackT1_F1",
+                "RackT1_G1",
+                "RackT1_H1",
+                "RackT1_A2",
+                "RackT1_B2",
+                "RackT1_C2",
+                "RackT1_D2",
+                "RackT1_E2",
+                "RackT1_F2",
+                "RackT1_G2",
+                "RackT1_H2",
+                "RackT1_A3",
+                "RackT1_B3",
+                "RackT1_C3",
+                "RackT1_D3",
+                "RackT1_E3",
+                "RackT1_F3",
+                "RackT1_G3",
+                "RackT1_H3",
+                "RackT1_A4",
+                "RackT1_B4",
+                "RackT1_C4",
+                "RackT1_D4",
+                "RackT1_E4",
+                "RackT1_F4",
+                "RackT1_G4",
+                "RackT1_H4",
+                "RackT1_A5",
+                "RackT1_B5",
+                "RackT1_C5",
+                "RackT1_D5",
+                "RackT1_E5",
+                "RackT1_F5",
+                "RackT1_G5",
+                "RackT1_H5",
+                "RackT1_A6",
+                "RackT1_B6",
+                "RackT1_C6",
+                "RackT1_D6",
+                "RackT1_E6",
+                "RackT1_F6",
+                "RackT1_G6",
+                "RackT1_H6",
+                "RackT1_A7",
+                "RackT1_B7",
+                "RackT1_C7",
+                "RackT1_D7",
+                "RackT1_E7",
+                "RackT1_F7",
+                "RackT1_G7",
+                "RackT1_H7",
+                "RackT1_A8",
+                "RackT1_B8",
+                "RackT1_C8",
+                "RackT1_D8",
+                "RackT1_E8",
+                "RackT1_F8",
+                "RackT1_G8",
+                "RackT1_H8",
+                "RackT1_A9",
+                "RackT1_B9",
+                "RackT1_C9",
+                "RackT1_D9",
+                "RackT1_E9",
+                "RackT1_F9",
+                "RackT1_G9",
+                "RackT1_H9",
+                "RackT1_A10",
+                "RackT1_B10",
+                "RackT1_C10",
+                "RackT1_D10",
+                "RackT1_E10",
+                "RackT1_F10",
+                "RackT1_G10",
+                "RackT1_H10",
+                "RackT1_A11",
+                "RackT1_B11",
+                "RackT1_C11",
+                "RackT1_D11",
+                "RackT1_E11",
+                "RackT1_F11",
+                "RackT1_G11",
+                "RackT1_H11",
+                "RackT1_A12",
+                "RackT1_B12",
+                "RackT1_C12",
+                "RackT1_D12",
+                "RackT1_E12",
+                "RackT1_F12",
+                "RackT1_G12",
+                "RackT1_H12"
             ],
             "parent": "PRCXI_Deck",
             "type": "container",
@@ -4368,7 +202,104 @@
                 "category": "tip_rack",
                 "model": null,
                 "barcode": null,
-                "ordering": {}
+                "ordering": {
+                    "A1": "tip_A1",
+                    "B1": "tip_B1",
+                    "C1": "tip_C1",
+                    "D1": "tip_D1",
+                    "E1": "tip_E1",
+                    "F1": "tip_F1",
+                    "G1": "tip_G1",
+                    "H1": "tip_H1",
+                    "A2": "tip_A2",
+                    "B2": "tip_B2",
+                    "C2": "tip_C2",
+                    "D2": "tip_D2",
+                    "E2": "tip_E2",
+                    "F2": "tip_F2",
+                    "G2": "tip_G2",
+                    "H2": "tip_H2",
+                    "A3": "tip_A3",
+                    "B3": "tip_B3",
+                    "C3": "tip_C3",
+                    "D3": "tip_D3",
+                    "E3": "tip_E3",
+                    "F3": "tip_F3",
+                    "G3": "tip_G3",
+                    "H3": "tip_H3",
+                    "A4": "tip_A4",
+                    "B4": "tip_B4",
+                    "C4": "tip_C4",
+                    "D4": "tip_D4",
+                    "E4": "tip_E4",
+                    "F4": "tip_F4",
+                    "G4": "tip_G4",
+                    "H4": "tip_H4",
+                    "A5": "tip_A5",
+                    "B5": "tip_B5",
+                    "C5": "tip_C5",
+                    "D5": "tip_D5",
+                    "E5": "tip_E5",
+                    "F5": "tip_F5",
+                    "G5": "tip_G5",
+                    "H5": "tip_H5",
+                    "A6": "tip_A6",
+                    "B6": "tip_B6",
+                    "C6": "tip_C6",
+                    "D6": "tip_D6",
+                    "E6": "tip_E6",
+                    "F6": "tip_F6",
+                    "G6": "tip_G6",
+                    "H6": "tip_H6",
+                    "A7": "tip_A7",
+                    "B7": "tip_B7",
+                    "C7": "tip_C7",
+                    "D7": "tip_D7",
+                    "E7": "tip_E7",
+                    "F7": "tip_F7",
+                    "G7": "tip_G7",
+                    "H7": "tip_H7",
+                    "A8": "tip_A8",
+                    "B8": "tip_B8",
+                    "C8": "tip_C8",
+                    "D8": "tip_D8",
+                    "E8": "tip_E8",
+                    "F8": "tip_F8",
+                    "G8": "tip_G8",
+                    "H8": "tip_H8",
+                    "A9": "tip_A9",
+                    "B9": "tip_B9",
+                    "C9": "tip_C9",
+                    "D9": "tip_D9",
+                    "E9": "tip_E9",
+                    "F9": "tip_F9",
+                    "G9": "tip_G9",
+                    "H9": "tip_H9",
+                    "A10": "tip_A10",
+                    "B10": "tip_B10",
+                    "C10": "tip_C10",
+                    "D10": "tip_D10",
+                    "E10": "tip_E10",
+                    "F10": "tip_F10",
+                    "G10": "tip_G10",
+                    "H10": "tip_H10",
+                    "A11": "tip_A11",
+                    "B11": "tip_B11",
+                    "C11": "tip_C11",
+                    "D11": "tip_D11",
+                    "E11": "tip_E11",
+                    "F11": "tip_F11",
+                    "G11": "tip_G11",
+                    "H11": "tip_H11",
+                    "A12": "tip_A12",
+                    "B12": "tip_B12",
+                    "C12": "tip_C12",
+                    "D12": "tip_D12",
+                    "E12": "tip_E12",
+                    "F12": "tip_F12",
+                    "G12": "tip_G12",
+                    "H12": "tip_H12"
+                }
             },
             "data": {
                 "Material": {
@@ -4379,11 +310,11 @@
             }
         },
         {
-            "id": "name_A1",
-            "name": "name_A1",
+            "id": "RackT1_A1",
+            "name": "RackT1_A1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4420,11 +351,11 @@
             }
         },
         {
-            "id": "name_B1",
-            "name": "name_B1",
+            "id": "RackT1_B1",
+            "name": "RackT1_B1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4461,11 +392,11 @@
             }
         },
         {
-            "id": "name_C1",
-            "name": "name_C1",
+            "id": "RackT1_C1",
+            "name": "RackT1_C1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4502,11 +433,11 @@
             }
         },
         {
-            "id": "name_D1",
-            "name": "name_D1",
+            "id": "RackT1_D1",
+            "name": "RackT1_D1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4543,11 +474,11 @@
             }
         },
         {
-            "id": "name_E1",
-            "name": "name_E1",
+            "id": "RackT1_E1",
+            "name": "RackT1_E1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4584,11 +515,11 @@
             }
         },
         {
-            "id": "name_F1",
-            "name": "name_F1",
+            "id": "RackT1_F1",
+            "name": "RackT1_F1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4625,11 +556,11 @@
             }
         },
         {
-            "id": "name_G1",
-            "name": "name_G1",
+            "id": "RackT1_G1",
+            "name": "RackT1_G1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4666,11 +597,11 @@
             }
         },
         {
-            "id": "name_H1",
-            "name": "name_H1",
+            "id": "RackT1_H1",
+            "name": "RackT1_H1",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4707,11 +638,11 @@
             }
         },
         {
-            "id": "name_A2",
-            "name": "name_A2",
+            "id": "RackT1_A2",
+            "name": "RackT1_A2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4748,11 +679,11 @@
             }
         },
         {
-            "id": "name_B2",
-            "name": "name_B2",
+            "id": "RackT1_B2",
+            "name": "RackT1_B2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4789,11 +720,11 @@
             }
         },
         {
-            "id": "name_C2",
-            "name": "name_C2",
+            "id": "RackT1_C2",
+            "name": "RackT1_C2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4830,11 +761,11 @@
             }
         },
         {
-            "id": "name_D2",
-            "name": "name_D2",
+            "id": "RackT1_D2",
+            "name": "RackT1_D2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4871,11 +802,11 @@
             }
         },
         {
-            "id": "name_E2",
-            "name": "name_E2",
+            "id": "RackT1_E2",
+            "name": "RackT1_E2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4912,11 +843,11 @@
             }
         },
         {
-            "id": "name_F2",
-            "name": "name_F2",
+            "id": "RackT1_F2",
+            "name": "RackT1_F2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4953,11 +884,11 @@
             }
         },
         {
-            "id": "name_G2",
-            "name": "name_G2",
+            "id": "RackT1_G2",
+            "name": "RackT1_G2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -4994,11 +925,11 @@
             }
         },
         {
-            "id": "name_H2",
-            "name": "name_H2",
+            "id": "RackT1_H2",
+            "name": "RackT1_H2",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5035,11 +966,11 @@
             }
         },
         {
-            "id": "name_A3",
-            "name": "name_A3",
+            "id": "RackT1_A3",
+            "name": "RackT1_A3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5076,11 +1007,11 @@
             }
         },
         {
-            "id": "name_B3",
-            "name": "name_B3",
+            "id": "RackT1_B3",
+            "name": "RackT1_B3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5117,11 +1048,11 @@
             }
         },
         {
-            "id": "name_C3",
-            "name": "name_C3",
+            "id": "RackT1_C3",
+            "name": "RackT1_C3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5158,11 +1089,11 @@
             }
         },
         {
-            "id": "name_D3",
-            "name": "name_D3",
+            "id": "RackT1_D3",
+            "name": "RackT1_D3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5199,11 +1130,11 @@
             }
         },
         {
-            "id": "name_E3",
-            "name": "name_E3",
+            "id": "RackT1_E3",
+            "name": "RackT1_E3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5240,11 +1171,11 @@
             }
         },
         {
-            "id": "name_F3",
-            "name": "name_F3",
+            "id": "RackT1_F3",
+            "name": "RackT1_F3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5281,11 +1212,11 @@
             }
         },
         {
-            "id": "name_G3",
-            "name": "name_G3",
+            "id": "RackT1_G3",
+            "name": "RackT1_G3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5322,11 +1253,11 @@
             }
         },
         {
-            "id": "name_H3",
-            "name": "name_H3",
+            "id": "RackT1_H3",
+            "name": "RackT1_H3",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5363,11 +1294,11 @@
             }
         },
         {
-            "id": "name_A4",
-            "name": "name_A4",
+            "id": "RackT1_A4",
+            "name": "RackT1_A4",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -5404,11 +1335,11 @@
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@@ -5445,11 +1376,11 @@
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@@ -5486,11 +1417,11 @@
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@@ -5527,11 +1458,11 @@
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@@ -5568,11 +1499,11 @@
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@@ -5609,11 +1540,11 @@
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@@ -5650,11 +1581,11 @@
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@@ -5691,11 +1622,11 @@
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@@ -5732,11 +1663,11 @@
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@@ -5773,11 +1704,11 @@
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@@ -5814,11 +1745,11 @@
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@@ -5855,11 +1786,11 @@
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@@ -5896,11 +1827,11 @@
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@@ -5937,11 +1868,11 @@
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@@ -5978,11 +1909,11 @@
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@@ -6019,11 +1950,11 @@
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@@ -6060,11 +1991,11 @@
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@@ -6101,11 +2032,11 @@
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@@ -6142,11 +2073,11 @@
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@@ -6183,11 +2114,11 @@
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@@ -6224,11 +2155,11 @@
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@@ -6265,11 +2196,11 @@
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@@ -6306,11 +2237,11 @@
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@@ -6347,11 +2278,11 @@
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@@ -6388,11 +2319,11 @@
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@@ -6429,11 +2360,11 @@
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@@ -6470,11 +2401,11 @@
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@@ -6511,11 +2442,11 @@
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@@ -6552,11 +2483,11 @@
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@@ -6593,11 +2524,11 @@
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@@ -6634,11 +2565,11 @@
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@@ -6675,11 +2606,11 @@
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@@ -6716,11 +2647,11 @@
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@@ -6757,11 +2688,11 @@
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@@ -6798,11 +2729,11 @@
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@@ -6839,11 +2770,11 @@
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@@ -6880,11 +2811,11 @@
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@@ -6921,11 +2852,11 @@
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@@ -6962,11 +2893,11 @@
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@@ -7003,11 +2934,11 @@
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@@ -7044,11 +2975,11 @@
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@@ -7085,11 +3016,11 @@
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@@ -7126,11 +3057,11 @@
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@@ -7167,11 +3098,11 @@
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@@ -7208,11 +3139,11 @@
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@@ -7249,11 +3180,11 @@
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@@ -7290,11 +3221,11 @@
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@@ -7331,11 +3262,11 @@
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@@ -7372,11 +3303,11 @@
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@@ -7413,11 +3344,11 @@
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@@ -7454,11 +3385,11 @@
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@@ -7495,11 +3426,11 @@
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@@ -7536,11 +3467,11 @@
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@@ -7577,11 +3508,11 @@
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@@ -7618,11 +3549,11 @@
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+            "id": "RackT1_H10",
+            "name": "RackT1_H10",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7659,11 +3590,11 @@
             }
         },
         {
-            "id": "name_A11",
-            "name": "name_A11",
+            "id": "RackT1_A11",
+            "name": "RackT1_A11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7700,11 +3631,11 @@
             }
         },
         {
-            "id": "name_B11",
-            "name": "name_B11",
+            "id": "RackT1_B11",
+            "name": "RackT1_B11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7741,11 +3672,11 @@
             }
         },
         {
-            "id": "name_C11",
-            "name": "name_C11",
+            "id": "RackT1_C11",
+            "name": "RackT1_C11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7782,11 +3713,11 @@
             }
         },
         {
-            "id": "name_D11",
-            "name": "name_D11",
+            "id": "RackT1_D11",
+            "name": "RackT1_D11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7823,11 +3754,11 @@
             }
         },
         {
-            "id": "name_E11",
-            "name": "name_E11",
+            "id": "RackT1_E11",
+            "name": "RackT1_E11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7864,11 +3795,11 @@
             }
         },
         {
-            "id": "name_F11",
-            "name": "name_F11",
+            "id": "RackT1_F11",
+            "name": "RackT1_F11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7905,11 +3836,11 @@
             }
         },
         {
-            "id": "name_G11",
-            "name": "name_G11",
+            "id": "RackT1_G11",
+            "name": "RackT1_G11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7946,11 +3877,11 @@
             }
         },
         {
-            "id": "name_H11",
-            "name": "name_H11",
+            "id": "RackT1_H11",
+            "name": "RackT1_H11",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -7987,11 +3918,11 @@
             }
         },
         {
-            "id": "name_A12",
-            "name": "name_A12",
+            "id": "RackT1_A12",
+            "name": "RackT1_A12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8028,11 +3959,11 @@
             }
         },
         {
-            "id": "name_B12",
-            "name": "name_B12",
+            "id": "RackT1_B12",
+            "name": "RackT1_B12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8069,11 +4000,11 @@
             }
         },
         {
-            "id": "name_C12",
-            "name": "name_C12",
+            "id": "RackT1_C12",
+            "name": "RackT1_C12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8110,11 +4041,11 @@
             }
         },
         {
-            "id": "name_D12",
-            "name": "name_D12",
+            "id": "RackT1_D12",
+            "name": "RackT1_D12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8151,11 +4082,11 @@
             }
         },
         {
-            "id": "name_E12",
-            "name": "name_E12",
+            "id": "RackT1_E12",
+            "name": "RackT1_E12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8192,11 +4123,11 @@
             }
         },
         {
-            "id": "name_F12",
-            "name": "name_F12",
+            "id": "RackT1_F12",
+            "name": "RackT1_F12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8233,11 +4164,11 @@
             }
         },
         {
-            "id": "name_G12",
-            "name": "name_G12",
+            "id": "RackT1_G12",
+            "name": "RackT1_G12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8274,11 +4205,11 @@
             }
         },
         {
-            "id": "name_H12",
-            "name": "name_H12",
+            "id": "RackT1_H12",
+            "name": "RackT1_H12",
             "sample_id": null,
             "children": [],
-            "parent": "RackT8",
+            "parent": "RackT1",
             "type": "container",
             "class": "",
             "position": {
@@ -8315,168 +4246,106 @@
             }
         },
         {
-            "id": "container_for_nothing5",
-            "name": "container_for_nothing5",
-            "sample_id": null,
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 50,
-                "size_y": 50,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {}
-            },
-            "data": {}
-        },
-        {
-            "id": "container_for_nothing6",
-            "name": "container_for_nothing6",
-            "sample_id": null,
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 50,
-                "size_y": 50,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {}
-            },
-            "data": {}
-        },
-        {
-            "id": "PlateT11",
-            "name": "PlateT11",
+            "id": "PlateT2",
+            "name": "PlateT2",
             "sample_id": null,
             "children": [
-                "PlateT11_A1",
-                "PlateT11_B1",
-                "PlateT11_C1",
-                "PlateT11_D1",
-                "PlateT11_E1",
-                "PlateT11_F1",
-                "PlateT11_G1",
-                "PlateT11_H1",
-                "PlateT11_A2",
-                "PlateT11_B2",
-                "PlateT11_C2",
-                "PlateT11_D2",
-                "PlateT11_E2",
-                "PlateT11_F2",
-                "PlateT11_G2",
-                "PlateT11_H2",
-                "PlateT11_A3",
-                "PlateT11_B3",
-                "PlateT11_C3",
-                "PlateT11_D3",
-                "PlateT11_E3",
-                "PlateT11_F3",
-                "PlateT11_G3",
-                "PlateT11_H3",
-                "PlateT11_A4",
-                "PlateT11_B4",
-                "PlateT11_C4",
-                "PlateT11_D4",
-                "PlateT11_E4",
-                "PlateT11_F4",
-                "PlateT11_G4",
-                "PlateT11_H4",
-                "PlateT11_A5",
-                "PlateT11_B5",
-                "PlateT11_C5",
-                "PlateT11_D5",
-                "PlateT11_E5",
-                "PlateT11_F5",
-                "PlateT11_G5",
-                "PlateT11_H5",
-                "PlateT11_A6",
-                "PlateT11_B6",
-                "PlateT11_C6",
-                "PlateT11_D6",
-                "PlateT11_E6",
-                "PlateT11_F6",
-                "PlateT11_G6",
-                "PlateT11_H6",
-                "PlateT11_A7",
-                "PlateT11_B7",
-                "PlateT11_C7",
-                "PlateT11_D7",
-                "PlateT11_E7",
-                "PlateT11_F7",
-                "PlateT11_G7",
-                "PlateT11_H7",
-                "PlateT11_A8",
-                "PlateT11_B8",
-                "PlateT11_C8",
-                "PlateT11_D8",
-                "PlateT11_E8",
-                "PlateT11_F8",
-                "PlateT11_G8",
-                "PlateT11_H8",
-                "PlateT11_A9",
-                "PlateT11_B9",
-                "PlateT11_C9",
-                "PlateT11_D9",
-                "PlateT11_E9",
-                "PlateT11_F9",
-                "PlateT11_G9",
-                "PlateT11_H9",
-                "PlateT11_A10",
-                "PlateT11_B10",
-                "PlateT11_C10",
-                "PlateT11_D10",
-                "PlateT11_E10",
-                "PlateT11_F10",
-                "PlateT11_G10",
-                "PlateT11_H10",
-                "PlateT11_A11",
-                "PlateT11_B11",
-                "PlateT11_C11",
-                "PlateT11_D11",
-                "PlateT11_E11",
-                "PlateT11_F11",
-                "PlateT11_G11",
-                "PlateT11_H11",
-                "PlateT11_A12",
-                "PlateT11_B12",
-                "PlateT11_C12",
-                "PlateT11_D12",
-                "PlateT11_E12",
-                "PlateT11_F12",
-                "PlateT11_G12",
-                "PlateT11_H12"
+                "PlateT2_A1",
+                "PlateT2_B1",
+                "PlateT2_C1",
+                "PlateT2_D1",
+                "PlateT2_E1",
+                "PlateT2_F1",
+                "PlateT2_G1",
+                "PlateT2_H1",
+                "PlateT2_A2",
+                "PlateT2_B2",
+                "PlateT2_C2",
+                "PlateT2_D2",
+                "PlateT2_E2",
+                "PlateT2_F2",
+                "PlateT2_G2",
+                "PlateT2_H2",
+                "PlateT2_A3",
+                "PlateT2_B3",
+                "PlateT2_C3",
+                "PlateT2_D3",
+                "PlateT2_E3",
+                "PlateT2_F3",
+                "PlateT2_G3",
+                "PlateT2_H3",
+                "PlateT2_A4",
+                "PlateT2_B4",
+                "PlateT2_C4",
+                "PlateT2_D4",
+                "PlateT2_E4",
+                "PlateT2_F4",
+                "PlateT2_G4",
+                "PlateT2_H4",
+                "PlateT2_A5",
+                "PlateT2_B5",
+                "PlateT2_C5",
+                "PlateT2_D5",
+                "PlateT2_E5",
+                "PlateT2_F5",
+                "PlateT2_G5",
+                "PlateT2_H5",
+                "PlateT2_A6",
+                "PlateT2_B6",
+                "PlateT2_C6",
+                "PlateT2_D6",
+                "PlateT2_E6",
+                "PlateT2_F6",
+                "PlateT2_G6",
+                "PlateT2_H6",
+                "PlateT2_A7",
+                "PlateT2_B7",
+                "PlateT2_C7",
+                "PlateT2_D7",
+                "PlateT2_E7",
+                "PlateT2_F7",
+                "PlateT2_G7",
+                "PlateT2_H7",
+                "PlateT2_A8",
+                "PlateT2_B8",
+                "PlateT2_C8",
+                "PlateT2_D8",
+                "PlateT2_E8",
+                "PlateT2_F8",
+                "PlateT2_G8",
+                "PlateT2_H8",
+                "PlateT2_A9",
+                "PlateT2_B9",
+                "PlateT2_C9",
+                "PlateT2_D9",
+                "PlateT2_E9",
+                "PlateT2_F9",
+                "PlateT2_G9",
+                "PlateT2_H9",
+                "PlateT2_A10",
+                "PlateT2_B10",
+                "PlateT2_C10",
+                "PlateT2_D10",
+                "PlateT2_E10",
+                "PlateT2_F10",
+                "PlateT2_G10",
+                "PlateT2_H10",
+                "PlateT2_A11",
+                "PlateT2_B11",
+                "PlateT2_C11",
+                "PlateT2_D11",
+                "PlateT2_E11",
+                "PlateT2_F11",
+                "PlateT2_G11",
+                "PlateT2_H11",
+                "PlateT2_A12",
+                "PlateT2_B12",
+                "PlateT2_C12",
+                "PlateT2_D12",
+                "PlateT2_E12",
+                "PlateT2_F12",
+                "PlateT2_G12",
+                "PlateT2_H12"
             ],
             "parent": "PRCXI_Deck",
             "type": "plate",
@@ -8500,20 +4369,119 @@
                 "category": "plate",
                 "model": null,
                 "barcode": null,
-                "ordering": {}
+                "ordering": {
+                    "A1": "PlateT2_A1",
+                    "B1": "PlateT2_B1",
+                    "C1": "PlateT2_C1",
+                    "D1": "PlateT2_D1",
+                    "E1": "PlateT2_E1",
+                    "F1": "PlateT2_F1",
+                    "G1": "PlateT2_G1",
+                    "H1": "PlateT2_H1",
+                    "A2": "PlateT2_A2",
+                    "B2": "PlateT2_B2",
+                    "C2": "PlateT2_C2",
+                    "D2": "PlateT2_D2",
+                    "E2": "PlateT2_E2",
+                    "F2": "PlateT2_F2",
+                    "G2": "PlateT2_G2",
+                    "H2": "PlateT2_H2",
+                    "A3": "PlateT2_A3",
+                    "B3": "PlateT2_B3",
+                    "C3": "PlateT2_C3",
+                    "D3": "PlateT2_D3",
+                    "E3": "PlateT2_E3",
+                    "F3": "PlateT2_F3",
+                    "G3": "PlateT2_G3",
+                    "H3": "PlateT2_H3",
+                    "A4": "PlateT2_A4",
+                    "B4": "PlateT2_B4",
+                    "C4": "PlateT2_C4",
+                    "D4": "PlateT2_D4",
+                    "E4": "PlateT2_E4",
+                    "F4": "PlateT2_F4",
+                    "G4": "PlateT2_G4",
+                    "H4": "PlateT2_H4",
+                    "A5": "PlateT2_A5",
+                    "B5": "PlateT2_B5",
+                    "C5": "PlateT2_C5",
+                    "D5": "PlateT2_D5",
+                    "E5": "PlateT2_E5",
+                    "F5": "PlateT2_F5",
+                    "G5": "PlateT2_G5",
+                    "H5": "PlateT2_H5",
+                    "A6": "PlateT2_A6",
+                    "B6": "PlateT2_B6",
+                    "C6": "PlateT2_C6",
+                    "D6": "PlateT2_D6",
+                    "E6": "PlateT2_E6",
+                    "F6": "PlateT2_F6",
+                    "G6": "PlateT2_G6",
+                    "H6": "PlateT2_H6",
+                    "A7": "PlateT2_A7",
+                    "B7": "PlateT2_B7",
+                    "C7": "PlateT2_C7",
+                    "D7": "PlateT2_D7",
+                    "E7": "PlateT2_E7",
+                    "F7": "PlateT2_F7",
+                    "G7": "PlateT2_G7",
+                    "H7": "PlateT2_H7",
+                    "A8": "PlateT2_A8",
+                    "B8": "PlateT2_B8",
+                    "C8": "PlateT2_C8",
+                    "D8": "PlateT2_D8",
+                    "E8": "PlateT2_E8",
+                    "F8": "PlateT2_F8",
+                    "G8": "PlateT2_G8",
+                    "H8": "PlateT2_H8",
+                    "A9": "PlateT2_A9",
+                    "B9": "PlateT2_B9",
+                    "C9": "PlateT2_C9",
+                    "D9": "PlateT2_D9",
+                    "E9": "PlateT2_E9",
+                    "F9": "PlateT2_F9",
+                    "G9": "PlateT2_G9",
+                    "H9": "PlateT2_H9",
+                    "A10": "PlateT2_A10",
+                    "B10": "PlateT2_B10",
+                    "C10": "PlateT2_C10",
+                    "D10": "PlateT2_D10",
+                    "E10": "PlateT2_E10",
+                    "F10": "PlateT2_F10",
+                    "G10": "PlateT2_G10",
+                    "H10": "PlateT2_H10",
+                    "A11": "PlateT2_A11",
+                    "B11": "PlateT2_B11",
+                    "C11": "PlateT2_C11",
+                    "D11": "PlateT2_D11",
+                    "E11": "PlateT2_E11",
+                    "F11": "PlateT2_F11",
+                    "G11": "PlateT2_G11",
+                    "H11": "PlateT2_H11",
+                    "A12": "PlateT2_A12",
+                    "B12": "PlateT2_B12",
+                    "C12": "PlateT2_C12",
+                    "D12": "PlateT2_D12",
+                    "E12": "PlateT2_E12",
+                    "F12": "PlateT2_F12",
+                    "G12": "PlateT2_G12",
+                    "H12": "PlateT2_H12"
+                }
             },
             "data": {
                 "Material": {
-                    "uuid": "57b1e4711e9e4a32b529f3132fc5931f"
+                    "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
+                    "Code": "ZX-78-096",
+                    "Name": "细菌培养皿"
                 }
             }
         },
         {
-            "id": "PlateT11_A1",
-            "name": "PlateT11_A1",
+            "id": "PlateT2_A1",
+            "name": "PlateT2_A1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -8543,29 +4511,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B1",
-            "name": "PlateT11_B1",
+            "id": "PlateT2_B1",
+            "name": "PlateT2_B1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -8595,29 +4551,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C1",
-            "name": "PlateT11_C1",
+            "id": "PlateT2_C1",
+            "name": "PlateT2_C1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -8647,29 +4591,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
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-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D1",
-            "name": "PlateT11_D1",
+            "id": "PlateT2_D1",
+            "name": "PlateT2_D1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -8699,29 +4631,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
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-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E1",
-            "name": "PlateT11_E1",
+            "id": "PlateT2_E1",
+            "name": "PlateT2_E1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -8751,29 +4671,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F1",
-            "name": "PlateT11_F1",
+            "id": "PlateT2_F1",
+            "name": "PlateT2_F1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -8803,29 +4711,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G1",
-            "name": "PlateT11_G1",
+            "id": "PlateT2_G1",
+            "name": "PlateT2_G1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -8855,29 +4751,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H1",
-            "name": "PlateT11_H1",
+            "id": "PlateT2_H1",
+            "name": "PlateT2_H1",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -8907,29 +4791,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A2",
-            "name": "PlateT11_A2",
+            "id": "PlateT2_A2",
+            "name": "PlateT2_A2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -8959,29 +4831,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B2",
-            "name": "PlateT11_B2",
+            "id": "PlateT2_B2",
+            "name": "PlateT2_B2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9011,29 +4871,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C2",
-            "name": "PlateT11_C2",
+            "id": "PlateT2_C2",
+            "name": "PlateT2_C2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9063,29 +4911,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D2",
-            "name": "PlateT11_D2",
+            "id": "PlateT2_D2",
+            "name": "PlateT2_D2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9115,29 +4951,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
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-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E2",
-            "name": "PlateT11_E2",
+            "id": "PlateT2_E2",
+            "name": "PlateT2_E2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9167,29 +4991,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F2",
-            "name": "PlateT11_F2",
+            "id": "PlateT2_F2",
+            "name": "PlateT2_F2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9219,29 +5031,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G2",
-            "name": "PlateT11_G2",
+            "id": "PlateT2_G2",
+            "name": "PlateT2_G2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9271,29 +5071,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H2",
-            "name": "PlateT11_H2",
+            "id": "PlateT2_H2",
+            "name": "PlateT2_H2",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9323,29 +5111,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A3",
-            "name": "PlateT11_A3",
+            "id": "PlateT2_A3",
+            "name": "PlateT2_A3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9375,29 +5151,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B3",
-            "name": "PlateT11_B3",
+            "id": "PlateT2_B3",
+            "name": "PlateT2_B3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9427,29 +5191,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C3",
-            "name": "PlateT11_C3",
+            "id": "PlateT2_C3",
+            "name": "PlateT2_C3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9479,29 +5231,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D3",
-            "name": "PlateT11_D3",
+            "id": "PlateT2_D3",
+            "name": "PlateT2_D3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9531,29 +5271,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E3",
-            "name": "PlateT11_E3",
+            "id": "PlateT2_E3",
+            "name": "PlateT2_E3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9583,29 +5311,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F3",
-            "name": "PlateT11_F3",
+            "id": "PlateT2_F3",
+            "name": "PlateT2_F3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9635,29 +5351,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G3",
-            "name": "PlateT11_G3",
+            "id": "PlateT2_G3",
+            "name": "PlateT2_G3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9687,29 +5391,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H3",
-            "name": "PlateT11_H3",
+            "id": "PlateT2_H3",
+            "name": "PlateT2_H3",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9739,29 +5431,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A4",
-            "name": "PlateT11_A4",
+            "id": "PlateT2_A4",
+            "name": "PlateT2_A4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9791,29 +5471,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B4",
-            "name": "PlateT11_B4",
+            "id": "PlateT2_B4",
+            "name": "PlateT2_B4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9843,29 +5511,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C4",
-            "name": "PlateT11_C4",
+            "id": "PlateT2_C4",
+            "name": "PlateT2_C4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9895,29 +5551,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D4",
-            "name": "PlateT11_D4",
+            "id": "PlateT2_D4",
+            "name": "PlateT2_D4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9947,29 +5591,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E4",
-            "name": "PlateT11_E4",
+            "id": "PlateT2_E4",
+            "name": "PlateT2_E4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -9999,29 +5631,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F4",
-            "name": "PlateT11_F4",
+            "id": "PlateT2_F4",
+            "name": "PlateT2_F4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -10051,29 +5671,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
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-                    [
-                        null,
-                        100
-                    ]
-                ],
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G4",
-            "name": "PlateT11_G4",
+            "id": "PlateT2_G4",
+            "name": "PlateT2_G4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -10103,29 +5711,17 @@
                 "cross_section_type": "circle"
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-                        100
-                    ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H4",
-            "name": "PlateT11_H4",
+            "id": "PlateT2_H4",
+            "name": "PlateT2_H4",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -10155,29 +5751,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A5",
-            "name": "PlateT11_A5",
+            "id": "PlateT2_A5",
+            "name": "PlateT2_A5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -10207,29 +5791,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B5",
-            "name": "PlateT11_B5",
+            "id": "PlateT2_B5",
+            "name": "PlateT2_B5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10259,29 +5831,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C5",
-            "name": "PlateT11_C5",
+            "id": "PlateT2_C5",
+            "name": "PlateT2_C5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10311,29 +5871,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
-                ],
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-                    null
-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D5",
-            "name": "PlateT11_D5",
+            "id": "PlateT2_D5",
+            "name": "PlateT2_D5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10363,29 +5911,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E5",
-            "name": "PlateT11_E5",
+            "id": "PlateT2_E5",
+            "name": "PlateT2_E5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10415,29 +5951,17 @@
                 "cross_section_type": "circle"
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F5",
-            "name": "PlateT11_F5",
+            "id": "PlateT2_F5",
+            "name": "PlateT2_F5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -10467,29 +5991,17 @@
                 "cross_section_type": "circle"
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G5",
-            "name": "PlateT11_G5",
+            "id": "PlateT2_G5",
+            "name": "PlateT2_G5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -10519,29 +6031,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
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-                        100
-                    ]
-                ],
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-                    null
-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H5",
-            "name": "PlateT11_H5",
+            "id": "PlateT2_H5",
+            "name": "PlateT2_H5",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10571,29 +6071,17 @@
                 "cross_section_type": "circle"
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-                    [
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-                        100
-                    ]
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-                    null
-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A6",
-            "name": "PlateT11_A6",
+            "id": "PlateT2_A6",
+            "name": "PlateT2_A6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -10623,29 +6111,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        "Water",
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    "Water"
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B6",
-            "name": "PlateT11_B6",
+            "id": "PlateT2_B6",
+            "name": "PlateT2_B6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10675,29 +6151,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C6",
-            "name": "PlateT11_C6",
+            "id": "PlateT2_C6",
+            "name": "PlateT2_C6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10727,29 +6191,17 @@
                 "cross_section_type": "circle"
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-                    [
-                        null,
-                        100
-                    ]
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-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D6",
-            "name": "PlateT11_D6",
+            "id": "PlateT2_D6",
+            "name": "PlateT2_D6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10779,29 +6231,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                ],
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-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E6",
-            "name": "PlateT11_E6",
+            "id": "PlateT2_E6",
+            "name": "PlateT2_E6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10831,29 +6271,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
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-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F6",
-            "name": "PlateT11_F6",
+            "id": "PlateT2_F6",
+            "name": "PlateT2_F6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -10883,29 +6311,17 @@
                 "cross_section_type": "circle"
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G6",
-            "name": "PlateT11_G6",
+            "id": "PlateT2_G6",
+            "name": "PlateT2_G6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -10935,29 +6351,17 @@
                 "cross_section_type": "circle"
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-                "liquids": [
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H6",
-            "name": "PlateT11_H6",
+            "id": "PlateT2_H6",
+            "name": "PlateT2_H6",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -10987,29 +6391,17 @@
                 "cross_section_type": "circle"
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-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A7",
-            "name": "PlateT11_A7",
+            "id": "PlateT2_A7",
+            "name": "PlateT2_A7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11039,29 +6431,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B7",
-            "name": "PlateT11_B7",
+            "id": "PlateT2_B7",
+            "name": "PlateT2_B7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11091,29 +6471,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C7",
-            "name": "PlateT11_C7",
+            "id": "PlateT2_C7",
+            "name": "PlateT2_C7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -11143,29 +6511,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D7",
-            "name": "PlateT11_D7",
+            "id": "PlateT2_D7",
+            "name": "PlateT2_D7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11195,29 +6551,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E7",
-            "name": "PlateT11_E7",
+            "id": "PlateT2_E7",
+            "name": "PlateT2_E7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -11247,29 +6591,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F7",
-            "name": "PlateT11_F7",
+            "id": "PlateT2_F7",
+            "name": "PlateT2_F7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11299,29 +6631,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G7",
-            "name": "PlateT11_G7",
+            "id": "PlateT2_G7",
+            "name": "PlateT2_G7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11351,29 +6671,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H7",
-            "name": "PlateT11_H7",
+            "id": "PlateT2_H7",
+            "name": "PlateT2_H7",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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             "position": {
@@ -11403,29 +6711,17 @@
                 "cross_section_type": "circle"
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-                "pending_liquids": [
-                    [
-                        null,
-                        100
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-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A8",
-            "name": "PlateT11_A8",
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@@ -11455,29 +6751,17 @@
                 "cross_section_type": "circle"
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-            "id": "PlateT11_B8",
-            "name": "PlateT11_B8",
+            "id": "PlateT2_B8",
+            "name": "PlateT2_B8",
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             "children": [],
-            "parent": "PlateT11",
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@@ -11507,29 +6791,17 @@
                 "cross_section_type": "circle"
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         {
-            "id": "PlateT11_C8",
-            "name": "PlateT11_C8",
+            "id": "PlateT2_C8",
+            "name": "PlateT2_C8",
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             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11559,29 +6831,17 @@
                 "cross_section_type": "circle"
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         {
-            "id": "PlateT11_D8",
-            "name": "PlateT11_D8",
+            "id": "PlateT2_D8",
+            "name": "PlateT2_D8",
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             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11611,29 +6871,17 @@
                 "cross_section_type": "circle"
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         {
-            "id": "PlateT11_E8",
-            "name": "PlateT11_E8",
+            "id": "PlateT2_E8",
+            "name": "PlateT2_E8",
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             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11663,29 +6911,17 @@
                 "cross_section_type": "circle"
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         {
-            "id": "PlateT11_F8",
-            "name": "PlateT11_F8",
+            "id": "PlateT2_F8",
+            "name": "PlateT2_F8",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11715,29 +6951,17 @@
                 "cross_section_type": "circle"
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             }
         },
         {
-            "id": "PlateT11_G8",
-            "name": "PlateT11_G8",
+            "id": "PlateT2_G8",
+            "name": "PlateT2_G8",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11767,29 +6991,17 @@
                 "cross_section_type": "circle"
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-                        100
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             }
         },
         {
-            "id": "PlateT11_H8",
-            "name": "PlateT11_H8",
+            "id": "PlateT2_H8",
+            "name": "PlateT2_H8",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11819,29 +7031,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A9",
-            "name": "PlateT11_A9",
+            "id": "PlateT2_A9",
+            "name": "PlateT2_A9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11871,29 +7071,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B9",
-            "name": "PlateT11_B9",
+            "id": "PlateT2_B9",
+            "name": "PlateT2_B9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11923,29 +7111,17 @@
                 "cross_section_type": "circle"
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C9",
-            "name": "PlateT11_C9",
+            "id": "PlateT2_C9",
+            "name": "PlateT2_C9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -11975,29 +7151,17 @@
                 "cross_section_type": "circle"
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D9",
-            "name": "PlateT11_D9",
+            "id": "PlateT2_D9",
+            "name": "PlateT2_D9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12027,29 +7191,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E9",
-            "name": "PlateT11_E9",
+            "id": "PlateT2_E9",
+            "name": "PlateT2_E9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12079,29 +7231,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F9",
-            "name": "PlateT11_F9",
+            "id": "PlateT2_F9",
+            "name": "PlateT2_F9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12131,29 +7271,17 @@
                 "cross_section_type": "circle"
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-                        100
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G9",
-            "name": "PlateT11_G9",
+            "id": "PlateT2_G9",
+            "name": "PlateT2_G9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12183,29 +7311,17 @@
                 "cross_section_type": "circle"
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-                        100
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-                ]
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H9",
-            "name": "PlateT11_H9",
+            "id": "PlateT2_H9",
+            "name": "PlateT2_H9",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12235,29 +7351,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A10",
-            "name": "PlateT11_A10",
+            "id": "PlateT2_A10",
+            "name": "PlateT2_A10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12287,29 +7391,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B10",
-            "name": "PlateT11_B10",
+            "id": "PlateT2_B10",
+            "name": "PlateT2_B10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12339,29 +7431,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C10",
-            "name": "PlateT11_C10",
+            "id": "PlateT2_C10",
+            "name": "PlateT2_C10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12391,29 +7471,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D10",
-            "name": "PlateT11_D10",
+            "id": "PlateT2_D10",
+            "name": "PlateT2_D10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12443,29 +7511,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E10",
-            "name": "PlateT11_E10",
+            "id": "PlateT2_E10",
+            "name": "PlateT2_E10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12495,29 +7551,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquids": [],
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F10",
-            "name": "PlateT11_F10",
+            "id": "PlateT2_F10",
+            "name": "PlateT2_F10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12547,29 +7591,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G10",
-            "name": "PlateT11_G10",
+            "id": "PlateT2_G10",
+            "name": "PlateT2_G10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12599,29 +7631,17 @@
                 "cross_section_type": "circle"
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-                        100
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-                    null
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H10",
-            "name": "PlateT11_H10",
+            "id": "PlateT2_H10",
+            "name": "PlateT2_H10",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
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@@ -12651,29 +7671,17 @@
                 "cross_section_type": "circle"
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-                        100
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-                    null
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A11",
-            "name": "PlateT11_A11",
+            "id": "PlateT2_A11",
+            "name": "PlateT2_A11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12703,29 +7711,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B11",
-            "name": "PlateT11_B11",
+            "id": "PlateT2_B11",
+            "name": "PlateT2_B11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12755,29 +7751,17 @@
                 "cross_section_type": "circle"
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-                        100
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+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C11",
-            "name": "PlateT11_C11",
+            "id": "PlateT2_C11",
+            "name": "PlateT2_C11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
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@@ -12807,29 +7791,17 @@
                 "cross_section_type": "circle"
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         },
         {
-            "id": "PlateT11_D11",
-            "name": "PlateT11_D11",
+            "id": "PlateT2_D11",
+            "name": "PlateT2_D11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -12859,29 +7831,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E11",
-            "name": "PlateT11_E11",
+            "id": "PlateT2_E11",
+            "name": "PlateT2_E11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -12911,29 +7871,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F11",
-            "name": "PlateT11_F11",
+            "id": "PlateT2_F11",
+            "name": "PlateT2_F11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -12963,29 +7911,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G11",
-            "name": "PlateT11_G11",
+            "id": "PlateT2_G11",
+            "name": "PlateT2_G11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13015,29 +7951,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H11",
-            "name": "PlateT11_H11",
+            "id": "PlateT2_H11",
+            "name": "PlateT2_H11",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13067,29 +7991,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_A12",
-            "name": "PlateT11_A12",
+            "id": "PlateT2_A12",
+            "name": "PlateT2_A12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13119,29 +8031,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_B12",
-            "name": "PlateT11_B12",
+            "id": "PlateT2_B12",
+            "name": "PlateT2_B12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13171,29 +8071,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_C12",
-            "name": "PlateT11_C12",
+            "id": "PlateT2_C12",
+            "name": "PlateT2_C12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13223,29 +8111,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_D12",
-            "name": "PlateT11_D12",
+            "id": "PlateT2_D12",
+            "name": "PlateT2_D12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13275,29 +8151,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_E12",
-            "name": "PlateT11_E12",
+            "id": "PlateT2_E12",
+            "name": "PlateT2_E12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13327,29 +8191,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_F12",
-            "name": "PlateT11_F12",
+            "id": "PlateT2_F12",
+            "name": "PlateT2_F12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13379,29 +8231,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_G12",
-            "name": "PlateT11_G12",
+            "id": "PlateT2_G12",
+            "name": "PlateT2_G12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13431,29 +8271,17 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
-            "id": "PlateT11_H12",
-            "name": "PlateT11_H12",
+            "id": "PlateT2_H12",
+            "name": "PlateT2_H12",
             "sample_id": null,
             "children": [],
-            "parent": "PlateT11",
+            "parent": "PlateT2",
             "type": "well",
             "class": "",
             "position": {
@@ -13483,21 +8311,12352 @@
                 "cross_section_type": "circle"
             },
             "data": {
-                "liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "pending_liquids": [
-                    [
-                        null,
-                        100
-                    ]
-                ],
-                "liquid_history": [
-                    null
-                ]
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        },
+        {
+            "id": "container_for_nothin3",
+            "name": "container_for_nothin3",
+            "sample_id": null,
+            "children": [],
+            "parent": "PRCXI_Deck",
+            "type": "plate",
+            "class": "",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "PRCXI9300Container",
+                "size_x": 50,
+                "size_y": 50,
+                "size_z": 10,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "plate",
+                "model": null,
+                "barcode": null,
+                "ordering": {}
+            },
+            "data": {}
+        },
+        {
+            "id": "PlateT4",
+            "name": "PlateT4",
+            "sample_id": null,
+            "children": [
+                "PlateT4_A1",
+                "PlateT4_B1",
+                "PlateT4_C1",
+                "PlateT4_D1",
+                "PlateT4_E1",
+                "PlateT4_F1",
+                "PlateT4_G1",
+                "PlateT4_H1",
+                "PlateT4_A2",
+                "PlateT4_B2",
+                "PlateT4_C2",
+                "PlateT4_D2",
+                "PlateT4_E2",
+                "PlateT4_F2",
+                "PlateT4_G2",
+                "PlateT4_H2",
+                "PlateT4_A3",
+                "PlateT4_B3",
+                "PlateT4_C3",
+                "PlateT4_D3",
+                "PlateT4_E3",
+                "PlateT4_F3",
+                "PlateT4_G3",
+                "PlateT4_H3",
+                "PlateT4_A4",
+                "PlateT4_B4",
+                "PlateT4_C4",
+                "PlateT4_D4",
+                "PlateT4_E4",
+                "PlateT4_F4",
+                "PlateT4_G4",
+                "PlateT4_H4",
+                "PlateT4_A5",
+                "PlateT4_B5",
+                "PlateT4_C5",
+                "PlateT4_D5",
+                "PlateT4_E5",
+                "PlateT4_F5",
+                "PlateT4_G5",
+                "PlateT4_H5",
+                "PlateT4_A6",
+                "PlateT4_B6",
+                "PlateT4_C6",
+                "PlateT4_D6",
+                "PlateT4_E6",
+                "PlateT4_F6",
+                "PlateT4_G6",
+                "PlateT4_H6",
+                "PlateT4_A7",
+                "PlateT4_B7",
+                "PlateT4_C7",
+                "PlateT4_D7",
+                "PlateT4_E7",
+                "PlateT4_F7",
+                "PlateT4_G7",
+                "PlateT4_H7",
+                "PlateT4_A8",
+                "PlateT4_B8",
+                "PlateT4_C8",
+                "PlateT4_D8",
+                "PlateT4_E8",
+                "PlateT4_F8",
+                "PlateT4_G8",
+                "PlateT4_H8",
+                "PlateT4_A9",
+                "PlateT4_B9",
+                "PlateT4_C9",
+                "PlateT4_D9",
+                "PlateT4_E9",
+                "PlateT4_F9",
+                "PlateT4_G9",
+                "PlateT4_H9",
+                "PlateT4_A10",
+                "PlateT4_B10",
+                "PlateT4_C10",
+                "PlateT4_D10",
+                "PlateT4_E10",
+                "PlateT4_F10",
+                "PlateT4_G10",
+                "PlateT4_H10",
+                "PlateT4_A11",
+                "PlateT4_B11",
+                "PlateT4_C11",
+                "PlateT4_D11",
+                "PlateT4_E11",
+                "PlateT4_F11",
+                "PlateT4_G11",
+                "PlateT4_H11",
+                "PlateT4_A12",
+                "PlateT4_B12",
+                "PlateT4_C12",
+                "PlateT4_D12",
+                "PlateT4_E12",
+                "PlateT4_F12",
+                "PlateT4_G12",
+                "PlateT4_H12"
+            ],
+            "parent": "PRCXI_Deck",
+            "type": "plate",
+            "class": "",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "PRCXI9300Container",
+                "size_x": 50,
+                "size_y": 50,
+                "size_z": 10,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "plate",
+                "model": null,
+                "barcode": null,
+                "ordering": {
+                    "A1": "PlateT4_A1",
+                    "B1": "PlateT4_B1",
+                    "C1": "PlateT4_C1",
+                    "D1": "PlateT4_D1",
+                    "E1": "PlateT4_E1",
+                    "F1": "PlateT4_F1",
+                    "G1": "PlateT4_G1",
+                    "H1": "PlateT4_H1",
+                    "A2": "PlateT4_A2",
+                    "B2": "PlateT4_B2",
+                    "C2": "PlateT4_C2",
+                    "D2": "PlateT4_D2",
+                    "E2": "PlateT4_E2",
+                    "F2": "PlateT4_F2",
+                    "G2": "PlateT4_G2",
+                    "H2": "PlateT4_H2",
+                    "A3": "PlateT4_A3",
+                    "B3": "PlateT4_B3",
+                    "C3": "PlateT4_C3",
+                    "D3": "PlateT4_D3",
+                    "E3": "PlateT4_E3",
+                    "F3": "PlateT4_F3",
+                    "G3": "PlateT4_G3",
+                    "H3": "PlateT4_H3",
+                    "A4": "PlateT4_A4",
+                    "B4": "PlateT4_B4",
+                    "C4": "PlateT4_C4",
+                    "D4": "PlateT4_D4",
+                    "E4": "PlateT4_E4",
+                    "F4": "PlateT4_F4",
+                    "G4": "PlateT4_G4",
+                    "H4": "PlateT4_H4",
+                    "A5": "PlateT4_A5",
+                    "B5": "PlateT4_B5",
+                    "C5": "PlateT4_C5",
+                    "D5": "PlateT4_D5",
+                    "E5": "PlateT4_E5",
+                    "F5": "PlateT4_F5",
+                    "G5": "PlateT4_G5",
+                    "H5": "PlateT4_H5",
+                    "A6": "PlateT4_A6",
+                    "B6": "PlateT4_B6",
+                    "C6": "PlateT4_C6",
+                    "D6": "PlateT4_D6",
+                    "E6": "PlateT4_E6",
+                    "F6": "PlateT4_F6",
+                    "G6": "PlateT4_G6",
+                    "H6": "PlateT4_H6",
+                    "A7": "PlateT4_A7",
+                    "B7": "PlateT4_B7",
+                    "C7": "PlateT4_C7",
+                    "D7": "PlateT4_D7",
+                    "E7": "PlateT4_E7",
+                    "F7": "PlateT4_F7",
+                    "G7": "PlateT4_G7",
+                    "H7": "PlateT4_H7",
+                    "A8": "PlateT4_A8",
+                    "B8": "PlateT4_B8",
+                    "C8": "PlateT4_C8",
+                    "D8": "PlateT4_D8",
+                    "E8": "PlateT4_E8",
+                    "F8": "PlateT4_F8",
+                    "G8": "PlateT4_G8",
+                    "H8": "PlateT4_H8",
+                    "A9": "PlateT4_A9",
+                    "B9": "PlateT4_B9",
+                    "C9": "PlateT4_C9",
+                    "D9": "PlateT4_D9",
+                    "E9": "PlateT4_E9",
+                    "F9": "PlateT4_F9",
+                    "G9": "PlateT4_G9",
+                    "H9": "PlateT4_H9",
+                    "A10": "PlateT4_A10",
+                    "B10": "PlateT4_B10",
+                    "C10": "PlateT4_C10",
+                    "D10": "PlateT4_D10",
+                    "E10": "PlateT4_E10",
+                    "F10": "PlateT4_F10",
+                    "G10": "PlateT4_G10",
+                    "H10": "PlateT4_H10",
+                    "A11": "PlateT4_A11",
+                    "B11": "PlateT4_B11",
+                    "C11": "PlateT4_C11",
+                    "D11": "PlateT4_D11",
+                    "E11": "PlateT4_E11",
+                    "F11": "PlateT4_F11",
+                    "G11": "PlateT4_G11",
+                    "H11": "PlateT4_H11",
+                    "A12": "PlateT4_A12",
+                    "B12": "PlateT4_B12",
+                    "C12": "PlateT4_C12",
+                    "D12": "PlateT4_D12",
+                    "E12": "PlateT4_E12",
+                    "F12": "PlateT4_F12",
+                    "G12": "PlateT4_G12",
+                    "H12": "PlateT4_H12"
+                }
+            },
+            "data": {
+                "Material": {
+                    "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
+                    "Code": "ZX-78-096",
+                    "Name": "细菌培养皿"
+                }
+            }
+        },
+        {
+            "id": "PlateT4_A1",
+            "name": "PlateT4_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "PlateT4",
+            "type": "well",
+            "class": "",
+            "position": {
+                "x": 11.9545,
+                "y": 71.8145,
+                "z": 3.55
+            },
+            "config": {
+                "type": "Well",
+                "size_x": 4.851,
+                "size_y": 4.851,
+                "size_z": 10.67,
+                "rotation": {
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+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "well",
+                "model": null,
+                "barcode": null,
+                "max_volume": 360,
+                "material_z_thickness": null,
+                "compute_volume_from_height": null,
+                "compute_height_from_volume": null,
+                "bottom_type": "unknown",
+                "cross_section_type": "circle"
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        },
+        {
+            "id": "PlateT4_B1",
+            "name": "PlateT4_B1",
+            "sample_id": null,
+            "children": [],
+            "parent": "PlateT4",
+            "type": "well",
+            "class": "",
+            "position": {
+                "x": 11.9545,
+                "y": 62.8145,
+                "z": 3.55
+            },
+            "config": {
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+                "size_x": 4.851,
+                "size_y": 4.851,
+                "size_z": 10.67,
+                "rotation": {
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+                    "type": "Rotation"
+                },
+                "category": "well",
+                "model": null,
+                "barcode": null,
+                "max_volume": 360,
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+            }
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+        },
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+            }
+        },
+        {
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+            }
+        },
+        {
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+            "name": "PlateT6_D12",
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+            }
+        },
+        {
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+            }
+        },
+        {
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+            },
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+            }
+        },
+        {
+            "id": "PlateT6_G12",
+            "name": "PlateT6_G12",
+            "sample_id": null,
+            "children": [],
+            "parent": "PlateT6",
+            "type": "well",
+            "class": "",
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+                "bottom_type": "unknown",
+                "cross_section_type": "circle"
+            },
+            "data": {
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+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        },
+        {
+            "id": "PlateT6_H12",
+            "name": "PlateT6_H12",
+            "sample_id": null,
+            "children": [],
+            "parent": "PlateT6",
+            "type": "well",
+            "class": "",
+            "position": {
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+                "y": 8.8145,
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+            },
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+                "rotation": {
+                    "x": 0,
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+                    "z": 0,
+                    "type": "Rotation"
+                },
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+                "material_z_thickness": null,
+                "compute_volume_from_height": null,
+                "compute_height_from_volume": null,
+                "bottom_type": "unknown",
+                "cross_section_type": "circle"
+            },
+            "data": {
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+                "pending_liquids": [],
+                "liquid_history": []
             }
         },
         {
@@ -13561,6 +20720,20470 @@
                 "ordering": {}
             },
             "data": {}
+        },
+        {
+            "id": "PlateT9",
+            "name": "PlateT9",
+            "sample_id": null,
+            "children": [
+                "PlateT9_A1",
+                "PlateT9_B1",
+                "PlateT9_C1",
+                "PlateT9_D1",
+                "PlateT9_E1",
+                "PlateT9_F1",
+                "PlateT9_G1",
+                "PlateT9_H1",
+                "PlateT9_A2",
+                "PlateT9_B2",
+                "PlateT9_C2",
+                "PlateT9_D2",
+                "PlateT9_E2",
+                "PlateT9_F2",
+                "PlateT9_G2",
+                "PlateT9_H2",
+                "PlateT9_A3",
+                "PlateT9_B3",
+                "PlateT9_C3",
+                "PlateT9_D3",
+                "PlateT9_E3",
+                "PlateT9_F3",
+                "PlateT9_G3",
+                "PlateT9_H3",
+                "PlateT9_A4",
+                "PlateT9_B4",
+                "PlateT9_C4",
+                "PlateT9_D4",
+                "PlateT9_E4",
+                "PlateT9_F4",
+                "PlateT9_G4",
+                "PlateT9_H4",
+                "PlateT9_A5",
+                "PlateT9_B5",
+                "PlateT9_C5",
+                "PlateT9_D5",
+                "PlateT9_E5",
+                "PlateT9_F5",
+                "PlateT9_G5",
+                "PlateT9_H5",
+                "PlateT9_A6",
+                "PlateT9_B6",
+                "PlateT9_C6",
+                "PlateT9_D6",
+                "PlateT9_E6",
+                "PlateT9_F6",
+                "PlateT9_G6",
+                "PlateT9_H6",
+                "PlateT9_A7",
+                "PlateT9_B7",
+                "PlateT9_C7",
+                "PlateT9_D7",
+                "PlateT9_E7",
+                "PlateT9_F7",
+                "PlateT9_G7",
+                "PlateT9_H7",
+                "PlateT9_A8",
+                "PlateT9_B8",
+                "PlateT9_C8",
+                "PlateT9_D8",
+                "PlateT9_E8",
+                "PlateT9_F8",
+                "PlateT9_G8",
+                "PlateT9_H8",
+                "PlateT9_A9",
+                "PlateT9_B9",
+                "PlateT9_C9",
+                "PlateT9_D9",
+                "PlateT9_E9",
+                "PlateT9_F9",
+                "PlateT9_G9",
+                "PlateT9_H9",
+                "PlateT9_A10",
+                "PlateT9_B10",
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new file mode 100644
index 00000000..2a18d90a
--- /dev/null
+++ b/test/experiments/reaction_station_bioyond.json
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+{
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diff --git a/test/experiments/reaction_station_bioyond_test.json b/test/experiments/reaction_station_bioyond_test.json
new file mode 100644
index 00000000..8446373a
--- /dev/null
+++ b/test/experiments/reaction_station_bioyond_test.json
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+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}
\ No newline at end of file
diff --git a/test/experiments/test_laiyu.json b/test/experiments/test_laiyu.json
new file mode 100644
index 00000000..fa439407
--- /dev/null
+++ b/test/experiments/test_laiyu.json
@@ -0,0 +1,394 @@
+{
+    "nodes": [
+        {
+            "id": "liquid_handler",
+            "name": "liquid_handler",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "data": {},
+            "children": [
+                "deck"
+            ],
+            "config": {
+                "deck": {
+                    "_resource_child_name": "deck",
+                    "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
+                    "name": "deck"
+                },
+                "backend": {
+                    "type": "UniLiquidHandlerRvizBackend"
+                    
+                },
+                "simulator": true,
+                "total_height": 300
+            }
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "tip_rack",
+                "plate_well",
+                "tube_rack",
+                "bottle_rack"
+            ],
+            "parent": "liquid_handler",
+            "type": "deck",
+            "class": "TransformXYZDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 18
+            },
+            "config": {
+                "type": "TransformXYZDeck",
+                "size_x": 624.3,
+                "size_y": 565.2,
+                "size_z": 900,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "tip_rack",
+            "name": "tip_rack",
+            "sample_id": null,
+            "children": [
+                "tip_rack_A1"
+            ],
+            "parent": "deck",
+            "type": "tip_rack",
+            "class": "tiprack_box",
+            "position": {
+                "x": 150,
+                "y": 7,
+                "z": 103
+            },
+            "config": {
+                "type": "TipRack",
+                "size_x": 134,
+                "size_y": 96,
+                "size_z": 7.0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_rack",
+                "model": "tiprack_box",
+                "ordering": [
+                    "A1"
+                ]
+            },
+            "data": {}
+        },
+
+
+
+
+        {
+            "id": "tip_rack_A1",
+            "name": "tip_rack_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tip_rack",
+            "type": "container",
+            "class": "",
+            "position": {
+                "x": 11.12,
+                "y": 75,
+                "z": -91.54
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 9,
+                "size_y": 9,
+                "size_z": 95,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 95,
+                    "has_filter": false,
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "tip": null,
+                "tip_state": null,
+                "pending_tip": null
+            }
+        },
+
+
+        {
+            "id": "plate_well",
+            "name": "plate_well",
+            "sample_id": null,
+            "children": [
+                "plate_well_A1"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "plate_96",
+            "position": {
+                "x": 161,
+                "y": 116,
+                "z": 48.5
+            },
+            "pose": {
+                "position_3d": {
+                    "x": 161,
+                    "y": 116,
+                    "z": 48.5
+                },
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0
+                }
+            },
+            "config": {
+                "type": "Plate",
+                "size_x": 127.76,
+                "size_y": 85.48,
+                "size_z": 45.5,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "plate",
+                "model": "plate_96",
+                "ordering": [
+                    "A1"
+                ]
+            },
+            "data": {}
+        },
+
+
+
+
+
+        {
+            "id": "plate_well_A1",
+            "name": "plate_well_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "plate_well",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.1,
+                "y": 70,
+                "z": 6.1
+            },
+            "config": {
+                "type": "Well",
+                "size_x": 8.2,
+                "size_y": 8.2,
+                "size_z": 38,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "well",
+                "model": null,
+                "max_volume": 2000,
+                "material_z_thickness": null,
+                "compute_volume_from_height": null,
+                "compute_height_from_volume": null,
+                "bottom_type": "unknown",
+                "cross_section_type": "rectangle"
+            },
+            "data": {
+                "liquids": [["water", 50.0]],
+                "pending_liquids": [["water", 50.0]],
+                "liquid_history": []
+            }
+        },
+
+
+        {
+            "id": "tube_rack",
+            "name": "tube_rack",
+            "sample_id": null,
+            "children": [
+                "tube_rack_A1"
+            ],
+            "parent": "deck",
+            "type": "container",
+            "class": "tube_container",
+            "position": {
+                "x": 0,
+                "y": 127,
+                "z": 0
+            },
+            "config": {
+                "type": "Plate",
+                "size_x": 151,
+                "size_y": 75,
+                "size_z": 75,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "model": "tube_container",
+                "ordering": [
+                    "A1"
+                ]
+            },
+            "data": {}
+        },
+
+
+        {
+            "id": "tube_rack_A1",
+            "name": "tube_rack_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "tube_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 6,
+                "y": 38,
+                "z": 10
+            },
+            "config": {
+                "type": "Well",
+                "size_x": 34,
+                "size_y": 34,
+                "size_z": 117,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tube",
+                "model": null,
+                "max_volume": 2000,
+                "material_z_thickness": null,
+                "compute_volume_from_height": null,
+                "compute_height_from_volume": null,
+                "bottom_type": "unknown",
+                "cross_section_type": "rectangle"
+            },
+            "data": {
+                "liquids": [["water", 50.0]],
+                "pending_liquids": [["water", 50.0]],
+                "liquid_history": []
+            }
+        }
+
+
+        ,
+
+
+        {
+            "id": "bottle_rack",
+            "name": "bottle_rack",
+            "sample_id": null,
+            "children": [
+                "bottle_rack_A1"
+            ],
+            "parent": "deck",
+            "type": "container",
+            "class": "bottle_container",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "Plate",
+                "size_x": 130,
+                "size_y": 117,
+                "size_z": 8,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tube_rack",
+                "model": "bottle_container",
+                "ordering": [
+                    "A1"
+                ]
+            },
+            "data": {}
+        },
+
+
+        {
+            "id": "bottle_rack_A1",
+            "name": "bottle_rack_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "bottle_rack",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 25,
+                "y": 18.5,
+                "z": 8
+            },
+            "config": {
+                "type": "Well",
+                "size_x": 80,
+                "size_y": 80,
+                "size_z": 117,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tube",
+                "model": null,
+                "max_volume": 2000,
+                "material_z_thickness": null,
+                "compute_volume_from_height": null,
+                "compute_height_from_volume": null,
+                "bottom_type": "unknown",
+                "cross_section_type": "rectangle"
+            },
+            "data": {
+                "liquids": [["water", 50.0]],
+                "pending_liquids": [["water", 50.0]],
+                "liquid_history": []
+            }
+        }
+
+
+    ],
+    "links": []
+}
\ No newline at end of file
diff --git a/test/registry/example_devices.py b/test/registry/example_devices.py
new file mode 100644
index 00000000..d5b26b2c
--- /dev/null
+++ b/test/registry/example_devices.py
@@ -0,0 +1,588 @@
+"""
+示例设备类文件，用于测试注册表编辑器
+"""
+
+import asyncio
+from typing import Dict, Any, Optional, List
+
+
+class SmartPumpController:
+    """
+    智能泵控制器
+
+    支持多种泵送模式，具有高精度流量控制和自动校准功能。
+    适用于实验室自动化系统中的液体处理任务。
+    """
+
+    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
+        """
+        初始化智能泵控制器
+
+        Args:
+            device_id: 设备唯一标识符
+            port: 通信端口
+        """
+        self.device_id = device_id
+        self.port = port
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        self.total_volume_pumped = 0.0
+        self.calibration_factor = 1.0
+        self.pump_mode = "continuous"  # continuous, volume, rate
+
+    def connect_device(self, timeout: int = 10) -> bool:
+        """
+        连接到泵设备
+
+        Args:
+            timeout: 连接超时时间（秒）
+
+        Returns:
+            bool: 连接是否成功
+        """
+        # 模拟连接过程
+        self.is_connected = True
+        return True
+
+    def disconnect_device(self) -> bool:
+        """
+        断开设备连接
+
+        Returns:
+            bool: 断开连接是否成功
+        """
+        self.is_connected = False
+        self.current_flow_rate = 0.0
+        return True
+
+    def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
+        """
+        设置泵流速
+
+        Args:
+            flow_rate: 流速值
+            units: 流速单位
+
+        Returns:
+            bool: 设置是否成功
+        """
+        if not self.is_connected:
+            return False
+
+        self.current_flow_rate = flow_rate
+        return True
+
+    async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
+        """
+        异步泵送指定体积的液体
+
+        Args:
+            volume: 目标体积 (mL)
+            flow_rate: 泵送流速 (mL/min)
+
+        Returns:
+            Dict: 包含操作结果的字典
+        """
+        if not self.is_connected:
+            return {"success": False, "error": "设备未连接"}
+
+        # 计算泵送时间
+        pump_time = (volume / flow_rate) * 60  # 转换为秒
+
+        self.current_flow_rate = flow_rate
+        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+
+        self.total_volume_pumped += volume
+        self.current_flow_rate = 0.0
+
+        return {
+            "success": True,
+            "pumped_volume": volume,
+            "actual_time": min(pump_time, 3.0),
+            "total_volume": self.total_volume_pumped,
+        }
+
+    def emergency_stop(self) -> bool:
+        """
+        紧急停止泵
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.current_flow_rate = 0.0
+        return True
+
+    def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
+        """
+        执行泵校准
+
+        Args:
+            reference_volume: 参考体积
+            measured_volume: 实际测量体积
+
+        Returns:
+            bool: 校准是否成功
+        """
+        if measured_volume > 0:
+            self.calibration_factor = reference_volume / measured_volume
+            return True
+        return False
+
+    # 状态查询方法
+    def get_connection_status(self) -> str:
+        """获取连接状态"""
+        return "connected" if self.is_connected else "disconnected"
+
+    def get_current_flow_rate(self) -> float:
+        """获取当前流速 (mL/min)"""
+        return self.current_flow_rate
+
+    def get_total_volume(self) -> float:
+        """获取累计泵送体积 (mL)"""
+        return self.total_volume_pumped
+
+    def get_calibration_factor(self) -> float:
+        """获取校准因子"""
+        return self.calibration_factor
+
+    def get_pump_mode(self) -> str:
+        """获取泵送模式"""
+        return self.pump_mode
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备完整状态信息"""
+        return {
+            "device_id": self.device_id,
+            "connected": self.is_connected,
+            "flow_rate": self.current_flow_rate,
+            "total_volume": self.total_volume_pumped,
+            "calibration_factor": self.calibration_factor,
+            "mode": self.pump_mode,
+            "running": self.current_flow_rate > 0,
+        }
+
+
+class AdvancedTemperatureController:
+    """
+    高级温度控制器
+
+    支持PID控制、多点温度监控和程序化温度曲线。
+    适用于需要精确温度控制的化学反应和材料处理过程。
+    """
+
+    def __init__(self, controller_id: str = "temp_controller_01"):
+        """
+        初始化温度控制器
+
+        Args:
+            controller_id: 控制器ID
+        """
+        self.controller_id = controller_id
+        self.current_temperature = 25.0
+        self.target_temperature = 25.0
+        self.is_heating = False
+        self.is_cooling = False
+        self.pid_enabled = True
+        self.temperature_history: List[Dict] = []
+
+    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
+        """
+        设置目标温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            rate: 升温/降温速率 (°C/min)
+
+        Returns:
+            bool: 设置是否成功
+        """
+        self.target_temperature = temperature
+        return True
+
+    async def heat_to_temperature_async(
+        self, temperature: float, tolerance: float = 0.5, timeout: int = 600
+    ) -> Dict[str, Any]:
+        """
+        异步加热到指定温度
+
+        Args:
+            temperature: 目标温度 (°C)
+            tolerance: 温度容差 (°C)
+            timeout: 最大等待时间 (秒)
+
+        Returns:
+            Dict: 操作结果
+        """
+        self.target_temperature = temperature
+        start_temp = self.current_temperature
+
+        if temperature > start_temp:
+            self.is_heating = True
+        elif temperature < start_temp:
+            self.is_cooling = True
+
+        # 模拟温度变化过程
+        steps = min(abs(temperature - start_temp) * 2, 20)  # 计算步数
+        step_time = min(timeout / steps if steps > 0 else 1, 2.0)  # 每步最多2秒
+
+        for step in range(int(steps)):
+            progress = (step + 1) / steps
+            self.current_temperature = start_temp + (temperature - start_temp) * progress
+
+            # 记录温度历史
+            self.temperature_history.append(
+                {
+                    "timestamp": asyncio.get_event_loop().time(),
+                    "temperature": self.current_temperature,
+                    "target": self.target_temperature,
+                }
+            )
+
+            await asyncio.sleep(step_time)
+
+            # 保持历史记录不超过100条
+            if len(self.temperature_history) > 100:
+                self.temperature_history.pop(0)
+
+        # 最终设置为目标温度
+        self.current_temperature = temperature
+        self.is_heating = False
+        self.is_cooling = False
+
+        return {
+            "success": True,
+            "final_temperature": self.current_temperature,
+            "start_temperature": start_temp,
+            "time_taken": steps * step_time,
+        }
+
+    def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
+        """
+        启用PID控制
+
+        Args:
+            kp: 比例增益
+            ki: 积分增益
+            kd: 微分增益
+
+        Returns:
+            bool: 启用是否成功
+        """
+        self.pid_enabled = True
+        return True
+
+    def run_temperature_program(self, program: List[Dict]) -> bool:
+        """
+        运行温度程序
+
+        Args:
+            program: 温度程序列表，每个元素包含温度和持续时间
+
+        Returns:
+            bool: 程序启动是否成功
+        """
+        # 模拟程序启动
+        return True
+
+    # 状态查询方法
+    def get_current_temperature(self) -> float:
+        """获取当前温度 (°C)"""
+        return round(self.current_temperature, 2)
+
+    def get_target_temperature(self) -> float:
+        """获取目标温度 (°C)"""
+        return self.target_temperature
+
+    def get_heating_status(self) -> bool:
+        """获取加热状态"""
+        return self.is_heating
+
+    def get_cooling_status(self) -> bool:
+        """获取制冷状态"""
+        return self.is_cooling
+
+    def get_pid_status(self) -> bool:
+        """获取PID控制状态"""
+        return self.pid_enabled
+
+    def get_temperature_history(self) -> List[Dict]:
+        """获取温度历史记录"""
+        return self.temperature_history[-10:]  # 返回最近10条记录
+
+    def get_controller_status(self) -> Dict[str, Any]:
+        """获取控制器完整状态"""
+        return {
+            "controller_id": self.controller_id,
+            "current_temp": self.current_temperature,
+            "target_temp": self.target_temperature,
+            "is_heating": self.is_heating,
+            "is_cooling": self.is_cooling,
+            "pid_enabled": self.pid_enabled,
+            "history_count": len(self.temperature_history),
+        }
+
+
+class MultiChannelAnalyzer:
+    """
+    多通道分析仪
+
+    支持同时监测多个通道的信号，提供实时数据采集和分析功能。
+    常用于光谱分析、电化学测量等应用场景。
+    """
+
+    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
+        """
+        初始化多通道分析仪
+
+        Args:
+            analyzer_id: 分析仪ID
+            channels: 通道数量
+        """
+        self.analyzer_id = analyzer_id
+        self.channel_count = channels
+        self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
+        self.is_measuring = False
+        self.sample_rate = 1000  # Hz
+
+    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
+        """
+        配置通道
+
+        Args:
+            channel: 通道编号
+            enabled: 是否启用
+            unit: 测量单位
+
+        Returns:
+            bool: 配置是否成功
+        """
+        if 0 <= channel < self.channel_count:
+            self.channel_data[channel]["enabled"] = enabled
+            self.channel_data[channel]["unit"] = unit
+            return True
+        return False
+
+    async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
+        """
+        开始异步测量
+
+        Args:
+            duration: 测量持续时间（秒）
+
+        Returns:
+            Dict: 测量结果
+        """
+        self.is_measuring = True
+
+        # 模拟数据采集
+        measurements = []
+        for second in range(duration):
+            timestamp = asyncio.get_event_loop().time()
+            frame_data = {}
+
+            for channel in range(self.channel_count):
+                if self.channel_data[channel]["enabled"]:
+                    # 模拟传感器数据
+                    import random
+
+                    value = random.uniform(-5.0, 5.0)
+                    frame_data[f"channel_{channel}"] = value
+                    self.channel_data[channel]["value"] = value
+
+            measurements.append({"timestamp": timestamp, "data": frame_data})
+
+            await asyncio.sleep(1.0)  # 每秒采集一次
+
+        self.is_measuring = False
+
+        return {
+            "success": True,
+            "duration": duration,
+            "samples_count": len(measurements),
+            "measurements": measurements[-5:],  # 只返回最后5个样本
+            "channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
+        }
+
+    def stop_measurement(self) -> bool:
+        """
+        停止测量
+
+        Returns:
+            bool: 停止是否成功
+        """
+        self.is_measuring = False
+        return True
+
+    def reset_channels(self) -> bool:
+        """
+        重置所有通道
+
+        Returns:
+            bool: 重置是否成功
+        """
+        for channel in self.channel_data:
+            self.channel_data[channel]["value"] = 0.0
+        return True
+
+    # 状态查询方法
+    def get_measurement_status(self) -> bool:
+        """获取测量状态"""
+        return self.is_measuring
+
+    def get_channel_count(self) -> int:
+        """获取通道数量"""
+        return self.channel_count
+
+    def get_sample_rate(self) -> float:
+        """获取采样率 (Hz)"""
+        return self.sample_rate
+
+    def get_channel_values(self) -> Dict[int, float]:
+        """获取所有通道的当前值"""
+        return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
+
+    def get_enabled_channels(self) -> List[int]:
+        """获取已启用的通道列表"""
+        return [ch for ch, data in self.channel_data.items() if data["enabled"]]
+
+    def get_analyzer_status(self) -> Dict[str, Any]:
+        """获取分析仪完整状态"""
+        return {
+            "analyzer_id": self.analyzer_id,
+            "channel_count": self.channel_count,
+            "is_measuring": self.is_measuring,
+            "sample_rate": self.sample_rate,
+            "active_channels": len(self.get_enabled_channels()),
+            "channel_data": self.channel_data,
+        }
+
+
+class AutomatedDispenser:
+    """
+    自动分配器
+
+    精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
+    集成称重功能，确保分配精度和重现性。
+    """
+
+    def __init__(self, dispenser_id: str = "dispenser_01"):
+        """
+        初始化自动分配器
+
+        Args:
+            dispenser_id: 分配器ID
+        """
+        self.dispenser_id = dispenser_id
+        self.is_ready = True
+        self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
+        self.dispensed_total = 0.0
+        self.container_capacity = 1000.0  # mL
+        self.precision_mode = True
+
+    def move_to_position(self, x: float, y: float, z: float) -> bool:
+        """
+        移动到指定位置
+
+        Args:
+            x: X坐标 (mm)
+            y: Y坐标 (mm)
+            z: Z坐标 (mm)
+
+        Returns:
+            bool: 移动是否成功
+        """
+        self.current_position = {"x": x, "y": y, "z": z}
+        return True
+
+    async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
+        """
+        异步分配液体
+
+        Args:
+            volume: 分配体积 (mL)
+            container_id: 容器ID
+            viscosity: 液体粘度等级
+
+        Returns:
+            Dict: 分配结果
+        """
+        if not self.is_ready:
+            return {"success": False, "error": "设备未就绪"}
+
+        if volume <= 0:
+            return {"success": False, "error": "体积必须大于0"}
+
+        # 模拟分配过程
+        dispense_time = volume * 0.1  # 每mL需要0.1秒
+        if viscosity == "high":
+            dispense_time *= 2  # 高粘度液体需要更长时间
+
+        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+
+        self.dispensed_total += volume
+
+        return {
+            "success": True,
+            "dispensed_volume": volume,
+            "container_id": container_id,
+            "actual_time": min(dispense_time, 5.0),
+            "total_dispensed": self.dispensed_total,
+        }
+
+    def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
+        """
+        清洗分配器
+
+        Args:
+            wash_volume: 清洗液体积 (mL)
+
+        Returns:
+            bool: 清洗是否成功
+        """
+        # 模拟清洗过程
+        return True
+
+    def calibrate_volume(self, target_volume: float) -> bool:
+        """
+        校准分配体积
+
+        Args:
+            target_volume: 校准目标体积 (mL)
+
+        Returns:
+            bool: 校准是否成功
+        """
+        # 模拟校准过程
+        return True
+
+    # 状态查询方法
+    def get_ready_status(self) -> bool:
+        """获取就绪状态"""
+        return self.is_ready
+
+    def get_current_position(self) -> Dict[str, float]:
+        """获取当前位置坐标"""
+        return self.current_position.copy()
+
+    def get_dispensed_total(self) -> float:
+        """获取累计分配体积 (mL)"""
+        return self.dispensed_total
+
+    def get_container_capacity(self) -> float:
+        """获取容器容量 (mL)"""
+        return self.container_capacity
+
+    def get_precision_mode(self) -> bool:
+        """获取精密模式状态"""
+        return self.precision_mode
+
+    def get_dispenser_status(self) -> Dict[str, Any]:
+        """获取分配器完整状态"""
+        return {
+            "dispenser_id": self.dispenser_id,
+            "ready": self.is_ready,
+            "position": self.current_position,
+            "dispensed_total": self.dispensed_total,
+            "capacity": self.container_capacity,
+            "precision_mode": self.precision_mode,
+        }
diff --git a/test/resources/bioyond_materials_liquidhandling_1.json b/test/resources/bioyond_materials_liquidhandling_1.json
new file mode 100644
index 00000000..a532fa59
--- /dev/null
+++ b/test/resources/bioyond_materials_liquidhandling_1.json
@@ -0,0 +1,181 @@
+[
+    {
+        "id": "3a1c62c4-c3d2-b803-b72d-7f1153ffef3b",
+        "typeName": "试剂瓶",
+        "code": "0004-00050",
+        "barCode": "",
+        "name": "NMP",
+        "quantity": 287.16699029126215,
+        "lockQuantity": 285.16699029126215,
+        "unit": "毫升",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198c-c2d0-efce-0939-69ca5a7dfd39",
+                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
+                "whName": "试剂堆栈",
+                "code": "0001-0008",
+                "x": 2,
+                "y": 4,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": []
+    },
+    {
+        "id": "3a1cdefe-0e03-1bc1-1296-dae1905c4108",
+        "typeName": "试剂瓶",
+        "code": "0004-00052",
+        "barCode": "",
+        "name": "NMP",
+        "quantity": 386.8990291262136,
+        "lockQuantity": 45.89902912621359,
+        "unit": "毫升",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198c-c2d0-f3e7-871a-e470d144296f",
+                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
+                "whName": "试剂堆栈",
+                "code": "0001-0005",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": []
+    },
+    {
+        "id": "3a1cdefe-0e03-68a4-bcb3-02fc6ba72d1b",
+        "typeName": "试剂瓶",
+        "code": "0004-00053",
+        "barCode": "",
+        "name": "NMP",
+        "quantity": 400.0,
+        "lockQuantity": 0.0,
+        "unit": "",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
+                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
+                "whName": "试剂堆栈",
+                "code": "0001-0006",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": []
+    },
+    {
+        "id": "3a1cdefe-d5e0-d850-5439-4499f20f07fe",
+        "typeName": "分装板",
+        "code": "0007-00185",
+        "barCode": "",
+        "name": "1010",
+        "quantity": 1.0,
+        "lockQuantity": 2.0,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
+                "whName": "粉末堆栈",
+                "code": "0002-0009",
+                "x": 3,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1cdefe-d5e0-28a4-f5d0-f7e2436c575f",
+                "detailMaterialId": "3a1cdefe-d5e0-94ae-f770-27847e73ad38",
+                "code": null,
+                "name": "90%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 2,
+                "y": 3,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdefe-d5e0-3ed6-3607-133df89baf5b",
+                "detailMaterialId": "3a1cdefe-d5e0-f2fa-66bf-94c565d852fb",
+                "code": null,
+                "name": "10%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 1,
+                "y": 3,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdefe-d5e0-72b6-e015-be7b93cf09eb",
+                "detailMaterialId": "3a1cdefe-d5e0-81cf-7dad-2e51cab9ffd6",
+                "code": null,
+                "name": "90%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdefe-d5e0-81d3-ad30-48134afc9ce7",
+                "detailMaterialId": "3a1cdefe-d5e0-3fa1-cc72-fda6276ae38d",
+                "code": null,
+                "name": "10%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdefe-d5e0-dbdf-d966-9a8926fe1e06",
+                "detailMaterialId": "3a1cdefe-d5e0-c632-c7da-02d385b18628",
+                "code": null,
+                "name": "10%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdefe-d5e0-f099-b260-e3089a2d08c3",
+                "detailMaterialId": "3a1cdefe-d5e0-561f-73b6-f8501f814dbb",
+                "code": null,
+                "name": "90%分装小瓶",
+                "quantity": "1",
+                "lockQuantity": "1",
+                "unit": "个",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "associateId": null
+            }
+        ]
+    }
+]
\ No newline at end of file
diff --git a/test/resources/bioyond_materials_liquidhandling_2.json b/test/resources/bioyond_materials_liquidhandling_2.json
new file mode 100644
index 00000000..9f56d426
--- /dev/null
+++ b/test/resources/bioyond_materials_liquidhandling_2.json
@@ -0,0 +1,216 @@
+[
+    {
+        "id": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
+        "typeName": "样品瓶",
+        "code": "0002-00407",
+        "barCode": "",
+        "name": "ODA",
+        "quantity": 25.0,
+        "lockQuantity": 2.0,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    },
+    {
+        "id": "3a1cde21-a4f4-7887-9258-e8f8ab7c8a7a",
+        "typeName": "样品板",
+        "code": "0008-00160",
+        "barCode": "",
+        "name": "1010sample",
+        "quantity": 1.0,
+        "lockQuantity": 27.69187,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198e-6929-4379-affa-9a2935c17f99",
+                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
+                "whName": "粉末堆栈",
+                "code": "0002-0002",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1cde21-a4f4-0339-f2b6-8e680ad7e8c7",
+                "detailMaterialId": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
+                "code": null,
+                "name": "MPDA",
+                "quantity": "10.505",
+                "lockQuantity": "-0.0174",
+                "unit": "克",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cde21-a4f4-a21a-23cf-bb7857b41947",
+                "detailMaterialId": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
+                "code": null,
+                "name": "ODA",
+                "quantity": "1.795",
+                "lockQuantity": "2.0093",
+                "unit": "克",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cde21-a4f4-af1b-ba0b-2874836800e9",
+                "detailMaterialId": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
+                "code": null,
+                "name": "ODA",
+                "quantity": "25",
+                "lockQuantity": "2",
+                "unit": "克",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null
+            }
+        ]
+    },
+    {
+        "id": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
+        "typeName": "样品瓶",
+        "code": "0002-00406",
+        "barCode": "",
+        "name": "ODA",
+        "quantity": 1.795,
+        "lockQuantity": 2.00927,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    },
+    {
+        "id": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
+        "typeName": "样品瓶",
+        "code": "0002-00408",
+        "barCode": "",
+        "name": "MPDA",
+        "quantity": 10.505,
+        "lockQuantity": -0.0174,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    },
+    {
+        "id": "3a1cdeff-c92a-08f6-c822-732ab734154c",
+        "typeName": "样品板",
+        "code": "0008-00161",
+        "barCode": "",
+        "name": "1010sample2",
+        "quantity": 1.0,
+        "lockQuantity": 3.0,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a14198e-6929-31f0-8a22-0f98f72260df",
+                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
+                "whName": "粉末堆栈",
+                "code": "0002-0001",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1cdeff-c92b-3ace-9623-0bcdef6fa07d",
+                "detailMaterialId": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
+                "code": null,
+                "name": "BTDA1",
+                "quantity": "0.362",
+                "lockQuantity": "14.494",
+                "unit": "克",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdeff-c92b-856e-f481-792b91b6dbde",
+                "detailMaterialId": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
+                "code": null,
+                "name": "BTDA3",
+                "quantity": "1.935",
+                "lockQuantity": "13.067",
+                "unit": "克",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null
+            },
+            {
+                "id": "3a1cdeff-c92b-d144-c5e5-ab9d94e21187",
+                "detailMaterialId": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
+                "code": null,
+                "name": "BTDA2",
+                "quantity": "1.903",
+                "lockQuantity": "13.035",
+                "unit": "克",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "associateId": null
+            }
+        ]
+    },
+    {
+        "id": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
+        "typeName": "样品瓶",
+        "code": "0002-00411",
+        "barCode": "",
+        "name": "BTDA3",
+        "quantity": 1.935,
+        "lockQuantity": 13.067,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    },
+    {
+        "id": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
+        "typeName": "样品瓶",
+        "code": "0002-00410",
+        "barCode": "",
+        "name": "BTDA2",
+        "quantity": 1.903,
+        "lockQuantity": 13.035,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    },
+    {
+        "id": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
+        "typeName": "样品瓶",
+        "code": "0002-00409",
+        "barCode": "",
+        "name": "BTDA1",
+        "quantity": 0.362,
+        "lockQuantity": 14.494,
+        "unit": "克",
+        "status": 1,
+        "isUse": false,
+        "locations": [],
+        "detail": []
+    }
+]
\ No newline at end of file
diff --git a/test/resources/bioyond_materials_reaction.json b/test/resources/bioyond_materials_reaction.json
new file mode 100644
index 00000000..10e4d442
--- /dev/null
+++ b/test/resources/bioyond_materials_reaction.json
@@ -0,0 +1,193 @@
+[
+        {
+            "id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
+            "typeName": "烧杯",
+            "code": "0006-00160",
+            "barCode": "",
+            "name": "ODA",
+            "quantity": 120000.00000000000000000000000,
+            "lockQuantity": 695374.00000000000000000000000,
+            "unit": "微升",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0001",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
+            "typeName": "烧杯",
+            "code": "0006-00161",
+            "barCode": "",
+            "name": "MPDA",
+            "quantity": 120000.00000000000000000000000,
+            "lockQuantity": 681618.00000000000000000000000,
+            "unit": "",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0002",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
+            "typeName": "试剂瓶",
+            "code": "0004-00041",
+            "barCode": "",
+            "name": "NMP",
+            "quantity": 300000.00000000000000000000000,
+            "lockQuantity": 380000.00000000000000000000000,
+            "unit": "微升",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
+                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+                    "whName": "站内试剂存放堆栈",
+                    "code": "0003-0001",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
+            "typeName": "试剂瓶",
+            "code": "0004-00042",
+            "barCode": "",
+            "name": "PGME",
+            "quantity": 300000.00000000000000000000000,
+            "lockQuantity": 337892.00000000000000000000000,
+            "unit": "",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
+                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+                    "whName": "站内试剂存放堆栈",
+                    "code": "0003-0002",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c68c8-0574-d748-725e-97a2e549f085",
+            "typeName": "样品板",
+            "code": "0001-00004",
+            "barCode": "",
+            "name": "0917",
+            "quantity": 1.0000000000000000000000000000,
+            "lockQuantity": 4.0000000000000000000000000000,
+            "unit": "块",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0009",
+                    "x": 2,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": [
+                {
+                    "id": "3a1c68c8-0574-69a1-9858-4637e0193451",
+                    "detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
+                    "code": null,
+                    "name": "SIDA",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
+                    "detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
+                    "code": null,
+                    "name": "BTDA-2",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 2,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-da80-735b-53ae2197a360",
+                    "detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
+                    "code": null,
+                    "name": "BTDA-DD",
+                    "quantity": "300000",
+                    "lockQuantity": "28",
+                    "unit": "微升",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-e717-1b1b-99891f875455",
+                    "detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
+                    "code": null,
+                    "name": "BTDA-3",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 3,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
+                    "detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
+                    "code": null,
+                    "name": "BTDA-1",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 1,
+                    "z": 1,
+                    "associateId": null
+                }
+            ]
+        }
+    ]
\ No newline at end of file
diff --git a/test/resources/test_bottle_carrier.py b/test/resources/test_bottle_carrier.py
new file mode 100644
index 00000000..c981eeeb
--- /dev/null
+++ b/test/resources/test_bottle_carrier.py
@@ -0,0 +1,48 @@
+import pytest
+
+from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
+from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
+
+
+def test_bottle_carrier() -> "BottleCarrier":
+    print("创建载架...")
+
+    # 创建6瓶载架
+    bottle_carrier = BIOYOND_Electrolyte_6VialCarrier("powder_carrier_01")
+    print(f"6瓶载架: {bottle_carrier.name}, 位置数: {len(bottle_carrier.sites)}")
+
+    # 创建1烧杯载架
+    beaker_carrier = BIOYOND_Electrolyte_1BottleCarrier("solution_carrier_01")
+    print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
+
+    # 创建瓶子和烧杯
+    powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
+    solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
+    reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
+
+    print(f"\n创建的物料:")
+    print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
+    print(f"溶液烧杯: {solution_beaker.name} - {solution_beaker.diameter}mm x {solution_beaker.height}mm, {solution_beaker.max_volume}μL")
+    print(f"试剂瓶: {reagent_bottle.name} - {reagent_bottle.diameter}mm x {reagent_bottle.height}mm, {reagent_bottle.max_volume}μL")
+
+    # 测试放置容器
+    print(f"\n测试放置容器...")
+
+    # 通过载架的索引操作来放置容器
+    # bottle_carrier[0] = powder_bottle  # 放置粉末瓶到第一个位置
+    print(f"粉末瓶已放置到6瓶载架的位置 0")
+
+    # beaker_carrier[0] = solution_beaker  # 放置烧杯到第一个位置
+    print(f"溶液烧杯已放置到1烧杯载架的位置 0")
+
+    # 验证放置结果
+    print(f"\n验证放置结果:")
+    bottle_at_0 = bottle_carrier[0].resource
+    beaker_at_0 = beaker_carrier[0].resource
+
+    if bottle_at_0:
+        print(f"位置 0 的瓶子: {bottle_at_0.name}")
+    if beaker_at_0:
+        print(f"位置 0 的烧杯: {beaker_at_0.name}")
+
+    print("\n载架设置完成！")
\ No newline at end of file
diff --git a/test/resources/test_converter_bioyond.py b/test/resources/test_converter_bioyond.py
new file mode 100644
index 00000000..84db8ca5
--- /dev/null
+++ b/test/resources/test_converter_bioyond.py
@@ -0,0 +1,76 @@
+import pytest
+import json
+import os
+
+from pylabrobot.resources import Resource as ResourcePLR
+from unilabos.resources.graphio import resource_bioyond_to_plr
+from unilabos.registry.registry import lab_registry
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+lab_registry.setup()
+
+
+type_mapping = {
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
+    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
+    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
+    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
+    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
+}
+
+type_uuid_mapping = {
+    "烧杯": "",
+    "试剂瓶": "",
+    "样品板": "",
+    "分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
+    "样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+    "90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+    "10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
+}
+
+
+@pytest.fixture
+def bioyond_materials_reaction() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_1() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_2() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.mark.parametrize("materials_fixture", [
+    "bioyond_materials_reaction",
+    "bioyond_materials_liquidhandling_1",
+])
+def test_bioyond_to_plr(materials_fixture, request) -> list[dict]:
+    materials = request.getfixturevalue(materials_fixture)
+    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
+    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
+    print(deck.summary())
+    print([resource.serialize() for resource in output])
+    print([resource.serialize_all_state() for resource in output])
+    json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
diff --git a/unilabos/__init__.py b/unilabos/__init__.py
index e69de29b..5b0f7f2f 100644
--- a/unilabos/__init__.py
+++ b/unilabos/__init__.py
@@ -0,0 +1 @@
+__version__ = "0.10.7"
diff --git a/unilabos/app/backend.py b/unilabos/app/backend.py
index 9f7d4279..d43b9544 100644
--- a/unilabos/app/backend.py
+++ b/unilabos/app/backend.py
@@ -1,38 +1,48 @@
 import threading
 
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 
 # 根据选择的 backend 启动相应的功能
 def start_backend(
     backend: str,
-    devices_config: dict = {},
-    resources_config: list = [],
-    resources_edge_config: list = [],
+    devices_config: ResourceTreeSet,
+    resources_config: ResourceTreeSet,
+    resources_edge_config: list[dict] = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
     without_host: bool = False,
     visual: str = "None",
     resources_mesh_config: dict = {},
-    **kwargs
+    **kwargs,
 ):
     if backend == "ros":
         # 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
         from unilabos.ros.main_slave_run import main, slave  # 如果选择 'ros' 作为 backend
-    elif backend == 'simple':
+    elif backend == "simple":
         # 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
         # from simple_backend import main as simple_main
         pass
-    elif backend == 'automancer':
+    elif backend == "automancer":
         # from automancer_backend import main as automancer_main
         pass
     else:
         raise ValueError(f"Unsupported backend: {backend}")
-    
+
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, resources_edge_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,
     )
diff --git a/unilabos/app/communication.py b/unilabos/app/communication.py
new file mode 100644
index 00000000..436fa98a
--- /dev/null
+++ b/unilabos/app/communication.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python
+# coding=utf-8
+"""
+通信模块
+
+提供WebSocket的统一接口，支持通过配置选择通信协议。
+包含通信抽象层基类和通信客户端工厂。
+"""
+
+from abc import ABC, abstractmethod
+from typing import Optional
+from unilabos.config.config import BasicConfig
+from unilabos.utils import logger
+
+
+class BaseCommunicationClient(ABC):
+    """
+    通信客户端抽象基类
+
+    定义了所有通信客户端（WebSocket等）需要实现的接口。
+    """
+
+    def __init__(self):
+        self.is_disabled = True
+        self.client_id = ""
+
+    @abstractmethod
+    def start(self) -> None:
+        """
+        启动通信客户端连接
+        """
+        pass
+
+    @abstractmethod
+    def stop(self) -> None:
+        """
+        停止通信客户端连接
+        """
+        pass
+
+    @abstractmethod
+    def publish_device_status(self, device_status: dict, device_id: str, property_name: str) -> None:
+        """
+        发布设备状态信息
+
+        Args:
+            device_status: 设备状态字典
+            device_id: 设备ID
+            property_name: 属性名称
+        """
+        pass
+
+    @abstractmethod
+    def publish_job_status(
+        self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
+    ) -> None:
+        """
+        发布作业状态信息
+
+        Args:
+            feedback_data: 反馈数据
+            job_id: 作业ID
+            status: 作业状态
+            return_info: 返回信息
+        """
+        pass
+
+    @abstractmethod
+    def send_ping(self, ping_id: str, timestamp: float) -> None:
+        """
+        发送ping消息
+
+        Args:
+            ping_id: ping ID
+            timestamp: 时间戳
+        """
+        pass
+
+    def setup_pong_subscription(self) -> None:
+        """
+        设置pong消息订阅（可选实现）
+        """
+        pass
+
+    @property
+    def is_connected(self) -> bool:
+        """
+        检查是否已连接
+
+        Returns:
+            是否已连接
+        """
+        return not self.is_disabled
+
+
+class CommunicationClientFactory:
+    """
+    通信客户端工厂类
+
+    根据配置文件中的通信协议设置创建相应的客户端实例。
+    """
+
+    _client_cache: Optional[BaseCommunicationClient] = None
+
+    @classmethod
+    def create_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
+        """
+        创建通信客户端实例
+
+        Args:
+            protocol: 指定的协议类型，如果为None则使用配置文件中的设置
+
+        Returns:
+            通信客户端实例
+
+        Raises:
+            ValueError: 当协议类型不支持时
+        """
+        if protocol is None:
+            protocol = BasicConfig.communication_protocol
+
+        protocol = protocol.lower()
+
+        if protocol == "websocket":
+            return cls._create_websocket_client()
+        else:
+            logger.error(f"[CommunicationFactory] Unsupported protocol: {protocol}")
+            logger.warning(f"[CommunicationFactory] Falling back to WebSocket")
+            return cls._create_websocket_client()
+
+    @classmethod
+    def get_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
+        """
+        获取通信客户端实例（单例模式）
+
+        Args:
+            protocol: 指定的协议类型，如果为None则使用配置文件中的设置
+
+        Returns:
+            通信客户端实例
+        """
+        if cls._client_cache is None:
+            cls._client_cache = cls.create_client(protocol)
+            logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
+
+        return cls._client_cache
+
+    @classmethod
+    def _create_websocket_client(cls) -> BaseCommunicationClient:
+        """创建WebSocket客户端"""
+        try:
+            from unilabos.app.ws_client import WebSocketClient
+
+            return WebSocketClient()
+        except Exception as e:
+            logger.error(f"[CommunicationFactory] Failed to create WebSocket client: {str(e)}")
+            raise
+
+    @classmethod
+    def reset_client(cls):
+        """重置客户端缓存（用于测试或重新配置）"""
+        if cls._client_cache:
+            try:
+                cls._client_cache.stop()
+            except Exception as e:
+                logger.warning(f"[CommunicationFactory] Error stopping old client: {str(e)}")
+
+        cls._client_cache = None
+        logger.info("[CommunicationFactory] Client cache reset")
+
+    @classmethod
+    def get_supported_protocols(cls) -> list[str]:
+        """
+        获取支持的协议列表
+
+        Returns:
+            支持的协议列表
+        """
+        return ["websocket"]
+
+
+def get_communication_client(protocol: Optional[str] = None) -> BaseCommunicationClient:
+    """
+    获取通信客户端实例的便捷函数
+
+    Args:
+        protocol: 指定的协议类型，如果为None则使用配置文件中的设置
+
+    Returns:
+        通信客户端实例
+    """
+    return CommunicationClientFactory.get_client(protocol)
diff --git a/unilabos/app/main.py b/unilabos/app/main.py
index 295069c5..2f7f825e 100644
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -6,11 +6,12 @@ import signal
 import sys
 import threading
 import time
-from copy import deepcopy
+from typing import Dict, Any, List
 
+import networkx as nx
 import yaml
 
-from unilabos.resources.graphio import modify_to_backend_format
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -18,11 +19,12 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig
+from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.resources.graphio import modify_to_backend_format
 
 
-def load_config_from_file(config_path, override_labid=None):
+def load_config_from_file(config_path):
     if config_path is None:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
     if config_path:
@@ -31,10 +33,10 @@ def load_config_from_file(config_path, override_labid=None):
         elif not config_path.endswith(".py"):
             print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
         else:
-            load_config(config_path, override_labid)
+            load_config(config_path)
     else:
         print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
-        load_config(config_path, override_labid)
+        load_config(config_path)
 
 
 def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
@@ -43,7 +45,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
                 sys.argv[i] = new_arg
                 break
 
@@ -51,16 +53,14 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    parser.add_argument("-g", "--graph", help="Physical setup graph.")
-    # parser.add_argument("-d", "--devices", help="Devices config file.")
-    # parser.add_argument("-r", "--resources", help="Resources config file.")
-    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
+    parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
+    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
     parser.add_argument(
         "--registry_path",
         type=str,
         default=None,
         action="append",
-        help="Path to the registry",
+        help="Path to the registry directory",
     )
     parser.add_argument(
         "--working_dir",
@@ -77,72 +77,85 @@ def parse_args():
     parser.add_argument(
         "--app_bridges",
         nargs="+",
-        default=["mqtt", "fastapi"],
-        help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
+        default=["websocket", "fastapi"],
+        help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
     )
     parser.add_argument(
-        "--without_host",
+        "--is_slave",
         action="store_true",
-        help="Run the backend as slave (without host).",
+        help="Run the backend as slave node (without host privileges).",
     )
     parser.add_argument(
         "--slave_no_host",
         action="store_true",
-        help="Slave模式下跳过等待host服务",
+        help="Skip waiting for host service in slave mode",
     )
     parser.add_argument(
         "--upload_registry",
         action="store_true",
-        help="启动unilab时同时报送注册表信息",
+        help="Upload registry information when starting unilab",
     )
     parser.add_argument(
         "--use_remote_resource",
         action="store_true",
-        help="启动unilab时使用远程资源启动",
+        help="Use remote resources when starting unilab",
     )
     parser.add_argument(
         "--config",
         type=str,
         default=None,
-        help="配置文件路径，支持.py格式的Python配置文件",
+        help="Configuration file path, supports .py format Python config files",
     )
     parser.add_argument(
         "--port",
         type=int,
         default=8002,
-        help="信息页web服务的启动端口",
+        help="Port for web service information page",
     )
     parser.add_argument(
         "--disable_browser",
         action="store_true",
-        help="是否在启动时关闭信息页",
+        help="Disable opening information page on startup",
     )
     parser.add_argument(
         "--2d_vis",
         action="store_true",
-        help="是否在pylabrobot实例启动时，同时启动可视化",
+        help="Enable 2D visualization when starting pylabrobot instance",
     )
     parser.add_argument(
         "--visual",
         choices=["rviz", "web", "disable"],
         default="disable",
-        help="选择可视化工具: rviz, web",
+        help="Choose visualization tool: rviz, web, or disable",
     )
     parser.add_argument(
-        "--labid",
+        "--ak",
         type=str,
         default="",
-        help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
+        help="Access key for laboratory requests",
+    )
+    parser.add_argument(
+        "--sk",
+        type=str,
+        default="",
+        help="Secret key for laboratory requests",
+    )
+    parser.add_argument(
+        "--addr",
+        type=str,
+        default="https://uni-lab.bohrium.com/api/v1",
+        help="Laboratory backend address",
     )
     parser.add_argument(
         "--skip_env_check",
         action="store_true",
-        help="跳过启动时的环境依赖检查",
+        help="Skip environment dependency check on startup",
     )
     parser.add_argument(
-        "--direct_end",
+        "--complete_registry",
         action="store_true",
-        help="直接结束任务",
+        default=False,
+        help="Complete registry information",
     )
     return parser
 
@@ -172,7 +185,7 @@ def main():
     else:
         working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
     if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir")
+        working_dir = args_dict.get("working_dir", "")
         if config_path and not os.path.exists(config_path):
             config_path = os.path.join(working_dir, "local_config.py")
             if not os.path.exists(config_path):
@@ -197,17 +210,36 @@ def main():
                 os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
             )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
-            os._exit(1)
         else:
             os._exit(1)
     # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
-    load_config_from_file(config_path, args_dict["labid"])
+    load_config_from_file(config_path)
+    if args_dict["addr"] == "test":
+        print_status("使用测试环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+    elif args_dict["addr"] == "uat":
+        print_status("使用uat环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+    elif args_dict["addr"] == "local":
+        print_status("使用本地环境地址", "info")
+        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+    else:
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
+    # 设置BasicConfig参数
+    if args_dict.get("ak", ""):
+        BasicConfig.ak = args_dict.get("ak", "")
+        print_status("传入了ak参数，优先采用传入参数！", "info")
+    if args_dict.get("sk", ""):
+        BasicConfig.sk = args_dict.get("sk", "")
+        print_status("传入了sk参数，优先采用传入参数！", "info")
+
+    # 使用远程资源启动
     if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
+
         res = http_client.resource_get("host_node", False)
         if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
             print_status("远程资源已存在，使用云端物料！", "info")
@@ -215,12 +247,11 @@ def main():
         else:
             print_status("远程资源不存在，本地将进行首次上报！", "info")
 
-    # 设置BasicConfig参数
     BasicConfig.working_dir = working_dir
-    BasicConfig.direct_end = args_dict.get("direct_end", False)
-    BasicConfig.is_host_mode = not args_dict.get("without_host", False)
+    BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
+    BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
@@ -230,22 +261,30 @@ def main():
         read_node_link_json,
         read_graphml,
         dict_from_graph,
-        dict_to_nested_dict,
-        initialize_resources,
     )
-    from unilabos.app.mq import mqtt_client
+    from unilabos.app.communication import get_communication_client
     from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
+    from unilabos.app.register import register_devices_and_resources
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
     # 注册表
-    build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
+    lab_registry = build_registry(
+        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
+    )
+
+    if not BasicConfig.ak or not BasicConfig.sk:
+        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+        os._exit(1)
+    graph: nx.Graph
+    resource_tree_set: ResourceTreeSet
+    resource_links: List[Dict[str, Any]]
+    request_startup_json = http_client.request_startup_json()
     if args_dict["graph"] is None:
-        request_startup_json = http_client.request_startup_json()
         if not request_startup_json:
             print_status(
                 "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
@@ -253,26 +292,74 @@ def main():
             os._exit(1)
         else:
             print_status("联网获取设备加载文件成功", "info")
-        graph, data = read_node_link_json(request_startup_json)
+        graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
         file_path = args_dict["graph"]
         if file_path.endswith(".json"):
-            graph, data = read_node_link_json(file_path)
+            graph, resource_tree_set, resource_links = read_node_link_json(file_path)
         else:
-            graph, data = read_graphml(file_path)
+            graph, resource_tree_set, resource_links = read_graphml(file_path)
     import unilabos.resources.graphio as graph_res
 
     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"] = list(devices_and_resources.values())
-    args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
+    resource_edge_info = modify_to_backend_format(resource_links)
+    materials = lab_registry.obtain_registry_resource_info()
+    materials.extend(lab_registry.obtain_registry_device_info())
+    materials = {k["id"]: k for k in materials}
+    # 从 ResourceTreeSet 中获取节点信息
+    nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
+    edge_info = len(resource_edge_info)
+    for ind, i in enumerate(resource_edge_info[::-1]):
+        source_node: ResourceDict = nodes[i["source"]]
+        target_node: ResourceDict = nodes[i["target"]]
+        source_handle = i["sourceHandle"]
+        target_handle = i["targetHandle"]
+        source_handler_keys = [
+            h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
+        ]
+        target_handler_keys = [
+            h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
+        ]
+        if source_handle not in source_handler_keys:
+            print_status(
+                f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
+                "error",
+            )
+            resource_edge_info.pop(edge_info - ind - 1)
+            continue
+        if target_handle not in target_handler_keys:
+            print_status(
+                f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
+                "error",
+            )
+            resource_edge_info.pop(edge_info - ind - 1)
+            continue
+
+    # 如果从远端获取了物料信息，则与本地物料进行同步
+    if request_startup_json and "nodes" in request_startup_json:
+        print_status("开始同步远端物料到本地...", "info")
+        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
+        resource_tree_set.merge_remote_resources(remote_tree_set)
+        print_status("远端物料同步完成", "info")
+
+    # 使用 ResourceTreeSet 代替 list
+    args_dict["resources_config"] = resource_tree_set
+    args_dict["devices_config"] = resource_tree_set
     args_dict["graph"] = graph_res.physical_setup_graph
 
-    print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
-    for i in args_dict["resources_config"]:
-        print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
+    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
+        if args_dict.get("ak") and args_dict.get("sk"):
+            print_status("开始注册设备到服务端...", "info")
+            try:
+                register_devices_and_resources(lab_registry)
+                print_status("设备注册完成", "info")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
 
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
@@ -281,31 +368,37 @@ def main():
 
     args_dict["bridges"] = []
 
-    if "mqtt" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(mqtt_client)
+    # 获取通信客户端（仅支持WebSocket）
+    comm_client = get_communication_client()
+
+    if "websocket" in args_dict["app_bridges"]:
+        args_dict["bridges"].append(comm_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
-    if "mqtt" in args_dict["app_bridges"]:
+    if "websocket" in args_dict["app_bridges"]:
 
         def _exit(signum, frame):
-            mqtt_client.stop()
+            comm_client.stop()
             sys.exit(0)
 
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
-        mqtt_client.start()
+        comm_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"
+        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
         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
+                devices_and_resources,
+                [n.res_content for n in args_dict["resources_config"].all_nodes],  # type: ignore  # FIXME
+                enable_rviz=enable_rviz,
             )
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
diff --git a/unilabos/app/model.py b/unilabos/app/model.py
index a5b8c786..a7c199c9 100644
--- a/unilabos/app/model.py
+++ b/unilabos/app/model.py
@@ -50,11 +50,16 @@ class Resp(BaseModel):
 
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
+    action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
+    action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
+    action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
+    task_id: str = Field(examples=["task_id"], description="task uuid")
     job_id: str = Field(examples=["job_id"], description="goal uuid")
     node_id: str = Field(examples=["node_id"], description="node uuid")
     server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
 
+    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
+
 
 class JobStepFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
diff --git a/unilabos/app/mq.py b/unilabos/app/mq.py
deleted file mode 100644
index 1d3f9695..00000000
--- a/unilabos/app/mq.py
+++ /dev/null
@@ -1,221 +0,0 @@
-import json
-import time
-import traceback
-from typing import Optional
-import uuid
-
-import paho.mqtt.client as mqtt
-import ssl
-import base64
-import hmac
-from hashlib import sha1
-import tempfile
-import os
-
-from unilabos.config.config import MQConfig
-from unilabos.app.controler import job_add
-from unilabos.app.model import JobAddReq
-from unilabos.utils import logger
-from unilabos.utils.type_check import TypeEncoder
-
-from paho.mqtt.enums import CallbackAPIVersion
-
-
-class MQTTClient:
-    mqtt_disable = True
-
-    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()
-
-    def _setup_callbacks(self):
-        self.client.on_log = self._on_log
-        self.client.on_connect = self._on_connect
-        self.client.on_message = self._on_message
-        self.client.on_disconnect = self._on_disconnect
-
-    def _on_log(self, client, userdata, level, buf):
-        # logger.info(f"[MQTT] log: {buf}")
-        pass
-
-    def _on_connect(self, client, userdata, flags, rc, properties=None):
-        logger.info("[MQTT] Connected with result code " + str(rc))
-        client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
-        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
-
-    def _on_message(self, client, userdata, msg) -> None:
-        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
-        try:
-            payload_str = msg.payload.decode("utf-8")
-            payload_json = json.loads(payload_str)
-            if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                if "data" not in payload_json:
-                    payload_json["data"] = {}
-                if "action" in payload_json:
-                    payload_json["data"]["action"] = payload_json.pop("action")
-                if "action_type" in payload_json:
-                    payload_json["data"]["action_type"] = payload_json.pop("action_type")
-                if "action_args" in payload_json:
-                    payload_json["data"]["action_args"] = payload_json.pop("action_args")
-                if "action_kwargs" in payload_json:
-                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
-                job_req = JobAddReq.model_validate(payload_json)
-                data = job_add(job_req)
-                return
-            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
-                # 处理pong响应，通知HostNode
-                from unilabos.ros.nodes.presets.host_node import HostNode
-
-                host_instance = HostNode.get_instance(0)
-                if host_instance:
-                    host_instance.handle_pong_response(payload_json)
-                return
-
-        except json.JSONDecodeError as e:
-            logger.error(f"[MQTT] JSON 解析错误: {e}")
-            logger.error(f"[MQTT] Raw message: {msg.payload}")
-            logger.error(traceback.format_exc())
-        except Exception as e:
-            logger.error(f"[MQTT] 处理消息时出错: {e}")
-            logger.error(traceback.format_exc())
-
-    def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
-        if rc != 0:
-            logger.error(f"[MQTT] Unexpected disconnection {rc}")
-
-    def _setup_ssl_context(self):
-        temp_files = []
-        try:
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
-                ca_temp.write(MQConfig.ca_content)
-                temp_files.append(ca_temp.name)
-
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
-                cert_temp.write(MQConfig.cert_content)
-                temp_files.append(cert_temp.name)
-
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
-                key_temp.write(MQConfig.key_content)
-                temp_files.append(key_temp.name)
-
-            context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
-            context.load_verify_locations(cafile=temp_files[0])
-            context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
-            self.client.tls_set_context(context)
-        finally:
-            for temp_file in temp_files:
-                try:
-                    os.unlink(temp_file)
-                except Exception as e:
-                    pass
-
-    def start(self):
-        if self.mqtt_disable:
-            logger.warning("MQTT is disabled, skipping connection.")
-            return
-        userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
-        password = base64.b64encode(
-            hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
-        ).decode()
-
-        self.client.username_pw_set(userName, password)
-        self._setup_ssl_context()
-
-        # 创建连接线程
-        def connect_thread_func():
-            try:
-                self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
-                self.client.loop_start()
-
-                # 添加连接超时检测
-                max_attempts = 5
-                attempt = 0
-                while not self.client.is_connected() and attempt < max_attempts:
-                    logger.info(
-                        f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
-                    )
-                    time.sleep(3)
-                    attempt += 1
-
-                if self.client.is_connected():
-                    logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
-                else:
-                    logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
-                    self.client.loop_stop()
-            except Exception as e:
-                logger.error(f"[MQTT] 连接失败: {str(e)}")
-
-        connect_thread_func()
-        # connect_thread = threading.Thread(target=connect_thread_func)
-        # connect_thread.daemon = True
-        # connect_thread.start()
-
-    def stop(self):
-        if self.mqtt_disable:
-            return
-        self.client.disconnect()
-        self.client.loop_stop()
-
-    def publish_device_status(self, device_status: dict, device_id, property_name):
-        # status = device_status.get(device_id, {})
-        if self.mqtt_disable:
-            return
-        status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
-        address = f"labs/{MQConfig.lab_id}/devices/"
-        self.client.publish(address, json.dumps(status), qos=2)
-        # logger.info(f"Device {device_id} status published: address: {address}, {status}")
-
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
-        if self.mqtt_disable:
-            return
-        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, print_debug: bool = True):
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/registry/"
-        registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
-        self.client.publish(address, registry_data, qos=2)
-        if print_debug:
-            logger.debug(f"Registry data published: address: {address}, {registry_data}")
-
-    def publish_actions(self, action_id: str, action_info: dict):
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/actions/"
-        self.client.publish(address, json.dumps(action_info), qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
-
-    def send_ping(self, ping_id: str, timestamp: float):
-        """发送ping消息到服务端"""
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/ping/"
-        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
-        self.client.publish(address, json.dumps(ping_data), qos=2)
-
-    def setup_pong_subscription(self):
-        """设置pong消息订阅"""
-        if self.mqtt_disable:
-            return
-        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
-        self.client.subscribe(pong_topic, 0)
-        logger.debug(f"Subscribed to pong topic: {pong_topic}")
-
-    def handle_pong(self, pong_data: dict):
-        """处理pong响应（这个方法会在收到pong消息时被调用）"""
-        logger.debug(f"Pong received: {pong_data}")
-        # 这里会被HostNode的ping-pong处理逻辑调用
-        pass
-
-
-mqtt_client = MQTTClient()
-
-if __name__ == "__main__":
-    mqtt_client.start()
diff --git a/unilabos/app/register.py b/unilabos/app/register.py
index 2d61f82e..f456183d 100644
--- a/unilabos/app/register.py
+++ b/unilabos/app/register.py
@@ -1,85 +1,57 @@
-import argparse
+import json
 import time
 
-from unilabos.registry.registry import build_registry
-
-from unilabos.app.main import load_config_from_file
 from unilabos.utils.log import logger
+from unilabos.utils.type_check import TypeEncoder
 
 
-def register_devices_and_resources(mqtt_client, lab_registry):
+def register_devices_and_resources(lab_registry):
     """
-    注册设备和资源到 MQTT
+    注册设备和资源到服务器（仅支持HTTP）
     """
-    logger.info("[UniLab Register] 开始注册设备和资源...")
-
-    # 注册设备信息
-    for device_info in lab_registry.obtain_registry_device_info():
-        mqtt_client.publish_registry(device_info["id"], device_info, False)
-        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
-
-    # # 注册资源信息
-    # for resource_info in lab_registry.obtain_registry_resource_info():
-    #     mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-    #     logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
 
     # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
+    logger.info("[UniLab Register] 开始注册设备和资源...")
+
+    # 注册设备信息
+    devices_to_register = {}
+    for device_info in lab_registry.obtain_registry_device_info():
+        devices_to_register[device_info["id"]] = json.loads(
+            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
+        )
+        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
+        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
+    # 注册设备
+    if devices_to_register:
+        try:
+            start_time = time.time()
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
+            cost_time = time.time() - start_time
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
+            else:
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
+        except Exception as e:
+            logger.error(f"[UniLab Register] 设备注册异常: {e}")
+
+    # 注册资源
     if resources_to_register:
-        start_time = time.time()
-        response = http_client.resource_registry(resources_to_register)
-        cost_time = time.time() - start_time
-        if response.status_code in [200, 201]:
-            logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
-        else:
-            logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
+        try:
+            start_time = time.time()
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
+            cost_time = time.time() - start_time
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+            else:
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
+        except Exception as e:
+            logger.error(f"[UniLab Register] 资源注册异常: {e}")
+
     logger.info("[UniLab Register] 设备和资源注册完成.")
-
-
-def main():
-    """
-    命令行入口函数
-    """
-    parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
-    parser.add_argument(
-        "--registry",
-        type=str,
-        default=None,
-        action="append",
-        help="注册表路径",
-    )
-    parser.add_argument(
-        "--config",
-        type=str,
-        default=None,
-        help="配置文件路径，支持.py格式的Python配置文件",
-    )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="是否补全注册表",
-    )
-    args = parser.parse_args()
-    load_config_from_file(args.config)
-    # 构建注册表
-    build_registry(args.registry, args.complete_registry, True)
-    from unilabos.app.mq import mqtt_client
-
-    # 连接mqtt
-    mqtt_client.start()
-
-    from unilabos.registry.registry import lab_registry
-
-    # 注册设备和资源
-    register_devices_and_resources(mqtt_client, lab_registry)
-
-
-if __name__ == "__main__":
-    main()
diff --git a/unilabos/app/web/api.py b/unilabos/app/web/api.py
index eb18b4dc..868de44a 100644
--- a/unilabos/app/web/api.py
+++ b/unilabos/app/web/api.py
@@ -7,18 +7,19 @@ API模块
 from fastapi import APIRouter, WebSocket, WebSocketDisconnect
 import asyncio
 
-from unilabos.app.controler import devices, job_add, job_info
+import yaml
+
+from unilabos.app.web.controler import devices, job_add, job_info
 from unilabos.app.model import (
     Resp,
     RespCode,
     JobStatusResp,
     JobAddResp,
     JobAddReq,
-    JobStepFinishReq,
-    JobPreintakeFinishReq,
-    JobFinishReq,
 )
 from unilabos.app.web.utils.host_utils import get_host_node_info
+from unilabos.registry.registry import lab_registry
+from unilabos.utils.type_check import NoAliasDumper
 
 # 创建API路由器
 api = APIRouter()
@@ -26,6 +27,49 @@ admin = APIRouter()
 
 # 存储所有活动的WebSocket连接
 active_connections: set[WebSocket] = set()
+# 存储注册表编辑器的WebSocket连接
+registry_editor_connections: set[WebSocket] = set()
+# 存储状态页面的WebSocket连接
+status_page_connections: set[WebSocket] = set()
+
+# 状态跟踪变量，用于差异检测
+_static_data_sent_connections: set[WebSocket] = set()
+_previous_host_node_info: dict = {}
+_previous_local_devices: dict = {}
+
+
+def compute_host_node_diff(current: dict, previous: dict) -> dict:
+    """计算主机节点信息的差异，只返回有变化的部分"""
+    diff = {}
+
+    # 检查可用性变化
+    if current.get("available") != previous.get("available"):
+        diff["available"] = current.get("available")
+
+    # 检查设备列表变化
+    current_devices = current.get("devices", {})
+    previous_devices = previous.get("devices", {})
+    if current_devices != previous_devices:
+        diff["devices"] = current_devices
+
+    # 检查动作客户端变化
+    current_action_clients = current.get("action_clients", {})
+    previous_action_clients = previous.get("action_clients", {})
+    if current_action_clients != previous_action_clients:
+        diff["action_clients"] = current_action_clients
+
+    # 检查订阅主题变化
+    current_topics = current.get("subscribed_topics", [])
+    previous_topics = previous.get("subscribed_topics", [])
+    if current_topics != previous_topics:
+        diff["subscribed_topics"] = current_topics
+
+    # 设备状态始终包含（因为需要实时更新）
+    if "device_status" in current:
+        diff["device_status"] = current["device_status"]
+        diff["device_status_timestamps"] = current.get("device_status_timestamps", {})
+
+    return diff
 
 
 async def broadcast_device_status():
@@ -56,6 +100,137 @@ async def broadcast_device_status():
             await asyncio.sleep(1)
 
 
+async def broadcast_status_page_data():
+    """广播状态页面数据到所有连接的客户端（优化版：增量更新）"""
+    global _previous_local_devices, _static_data_sent_connections, _previous_host_node_info
+
+    while True:
+        try:
+            if status_page_connections:
+                from unilabos.app.web.utils.host_utils import get_host_node_info
+                from unilabos.app.web.utils.ros_utils import get_ros_node_info
+                from unilabos.app.web.utils.device_utils import get_registry_info
+                from unilabos.config.config import BasicConfig
+                from unilabos.registry.registry import lab_registry
+                from unilabos.ros.msgs.message_converter import msg_converter_manager
+                from unilabos.utils.type_check import TypeEncoder
+                import json
+
+                # 获取当前数据
+                host_node_info = get_host_node_info()
+                ros_node_info = get_ros_node_info()
+
+                # 检查需要发送静态数据的新连接
+                new_connections = status_page_connections - _static_data_sent_connections
+
+                # 向新连接发送静态数据（Device Types、Resource Types、Converter Modules）
+                if new_connections:
+                    devices = []
+                    resources = []
+                    modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
+
+                    if lab_registry:
+                        devices = json.loads(
+                            json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
+                        )
+                        # 资源类型
+                        for resource_id, resource_info in lab_registry.resource_type_registry.items():
+                            resources.append(
+                                {
+                                    "id": resource_id,
+                                    "name": resource_info.get("name", "未命名"),
+                                    "file_path": resource_info.get("file_path", ""),
+                                }
+                            )
+
+                    # 获取导入的模块
+                    if msg_converter_manager:
+                        modules["names"] = msg_converter_manager.list_modules()
+                        all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
+                        modules["total_count"] = len(all_classes)
+                        modules["classes"] = all_classes
+
+                    # 静态数据
+                    registry_info = get_registry_info()
+                    static_data = {
+                        "type": "static_data_init",
+                        "data": {
+                            "devices": devices,
+                            "resources": resources,
+                            "modules": modules,
+                            "registry_info": registry_info,
+                            "is_host_mode": BasicConfig.is_host_mode,
+                            "host_node_info": host_node_info,  # 添加主机节点初始信息
+                            "ros_node_info": ros_node_info,  # 添加本地设备初始信息
+                        },
+                    }
+
+                    # 发送到新连接
+                    disconnected_new_connections = set()
+                    for connection in new_connections:
+                        try:
+                            await connection.send_json(static_data)
+                            _static_data_sent_connections.add(connection)
+                        except Exception as e:
+                            print(f"Error sending static data to new client: {e}")
+                            disconnected_new_connections.add(connection)
+
+                    # 清理断开的新连接
+                    for conn in disconnected_new_connections:
+                        status_page_connections.discard(conn)
+                        _static_data_sent_connections.discard(conn)
+
+                # 检查主机节点信息是否有变更
+                host_node_diff = compute_host_node_diff(host_node_info, _previous_host_node_info)
+                host_changed = bool(host_node_diff)
+
+                # 检查Local Devices是否有变更
+                current_devices = ros_node_info.get("registered_devices", {})
+                devices_changed = current_devices != _previous_local_devices
+
+                # 只有当有真正的变化时才发送更新
+                if host_changed or devices_changed:
+                    # 发送增量更新数据
+                    update_data = {
+                        "type": "incremental_update",
+                        "data": {
+                            "timestamp": asyncio.get_event_loop().time(),
+                        },
+                    }
+
+                    # 只包含有变化的主机节点信息
+                    if host_changed:
+                        update_data["data"]["host_node_info"] = host_node_diff
+
+                    # 如果Local Devices发生变更，添加到更新数据中
+                    if devices_changed:
+                        update_data["data"]["ros_node_info"] = ros_node_info
+                        _previous_local_devices = current_devices.copy()
+
+                    # 更新主机节点状态
+                    if host_changed:
+                        _previous_host_node_info = host_node_info.copy()
+
+                    # 发送增量更新到所有连接
+                    disconnected_connections = set()
+                    for connection in status_page_connections:
+                        try:
+                            await connection.send_json(update_data)
+                        except Exception as e:
+                            print(f"Error sending incremental update to client: {e}")
+                            disconnected_connections.add(connection)
+
+                    # 清理断开的连接
+                    for conn in disconnected_connections:
+                        status_page_connections.discard(conn)
+                        _static_data_sent_connections.discard(conn)
+
+            await asyncio.sleep(1)  # 每秒检查一次更新
+        except Exception as e:
+            print(f"Error in status page broadcast: {e}")
+            await asyncio.sleep(1)
+
+
 @api.websocket("/ws/device_status")
 async def websocket_device_status(websocket: WebSocket):
     """WebSocket端点，用于实时获取设备状态"""
@@ -72,6 +247,973 @@ async def websocket_device_status(websocket: WebSocket):
         active_connections.remove(websocket)
 
 
+@api.websocket("/ws/registry_editor")
+async def websocket_registry_editor(websocket: WebSocket):
+    """WebSocket端点，用于注册表编辑器"""
+    await websocket.accept()
+    registry_editor_connections.add(websocket)
+
+    try:
+        while True:
+            # 接收来自客户端的消息
+            message = await websocket.receive_text()
+            import json
+
+            data = json.loads(message)
+
+            if data.get("type") == "import_file":
+                await handle_file_import(websocket, data["data"])
+            elif data.get("type") == "analyze_file":
+                await handle_file_analysis(websocket, data["data"])
+            elif data.get("type") == "analyze_file_content":
+                await handle_file_content_analysis(websocket, data["data"])
+            elif data.get("type") == "import_file_content":
+                await handle_file_content_import(websocket, data["data"])
+
+    except WebSocketDisconnect:
+        registry_editor_connections.remove(websocket)
+    except Exception as e:
+        print(f"Registry Editor WebSocket error: {e}")
+        if websocket in registry_editor_connections:
+            registry_editor_connections.remove(websocket)
+
+
+@api.websocket("/ws/status_page")
+async def websocket_status_page(websocket: WebSocket):
+    """WebSocket端点，用于状态页面实时数据更新"""
+    await websocket.accept()
+    status_page_connections.add(websocket)
+
+    try:
+        while True:
+            # 接收来自客户端的消息（用于保持连接活跃）
+            message = await websocket.receive_text()
+            # 状态页面通常只需要接收数据，不需要发送复杂指令
+
+    except WebSocketDisconnect:
+        status_page_connections.remove(websocket)
+    except Exception as e:
+        print(f"Status Page WebSocket error: {e}")
+        if websocket in status_page_connections:
+            status_page_connections.remove(websocket)
+
+
+async def handle_file_analysis(websocket: WebSocket, request_data: dict):
+    """处理文件分析请求，获取文件中的类列表"""
+    import json
+    import os
+    import sys
+    import inspect
+    import traceback
+    from pathlib import Path
+    from unilabos.config.config import BasicConfig
+
+    file_path = request_data.get("file_path")
+
+    async def send_log(message: str, level: str = "info"):
+        """发送日志消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "log", "message": message, "level": level}))
+        except Exception as e:
+            print(f"Failed to send log: {e}")
+
+    async def send_analysis_result(result_data: dict):
+        """发送分析结果到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "file_analysis_result", "data": result_data}))
+        except Exception as e:
+            print(f"Failed to send analysis result: {e}")
+
+    try:
+        # 验证文件路径参数
+        if not file_path:
+            await send_analysis_result({"success": False, "error": "文件路径为空", "file_path": ""})
+            return
+
+        # 获取工作目录并构建完整路径
+        working_dir_str = getattr(BasicConfig, "working_dir", None) or os.getcwd()
+        working_dir = Path(working_dir_str)
+        full_file_path = working_dir / file_path
+
+        # 验证文件路径
+        if not full_file_path.exists():
+            await send_analysis_result(
+                {"success": False, "error": f"文件路径不存在: {file_path}", "file_path": file_path}
+            )
+            return
+
+        await send_log(f"开始分析文件: {file_path}")
+
+        # 验证文件是Python文件
+        if not file_path.endswith(".py"):
+            await send_analysis_result({"success": False, "error": "请选择Python文件 (.py)", "file_path": file_path})
+            return
+
+        full_file_path = full_file_path.absolute()
+        await send_log(f"文件绝对路径: {full_file_path}")
+
+        # 添加文件目录到sys.path
+        file_dir = str(full_file_path.parent)
+        if file_dir not in sys.path:
+            sys.path.insert(0, file_dir)
+            await send_log(f"已添加路径到sys.path: {file_dir}")
+
+        # 确定模块名
+        module_name = full_file_path.stem
+        await send_log(f"使用模块名: {module_name}")
+
+        # 导入模块进行分析
+        try:
+            # 如果模块已经导入，先删除以便重新导入
+            if module_name in sys.modules:
+                del sys.modules[module_name]
+                await send_log(f"已删除旧模块: {module_name}")
+
+            import importlib.util
+
+            spec = importlib.util.spec_from_file_location(module_name, full_file_path)
+            if spec is None or spec.loader is None:
+                await send_analysis_result(
+                    {"success": False, "error": "无法创建模块规范", "file_path": str(full_file_path)}
+                )
+                return
+
+            module = importlib.util.module_from_spec(spec)
+            sys.modules[module_name] = module
+            spec.loader.exec_module(module)
+
+            await send_log(f"成功导入模块用于分析: {module_name}")
+
+        except Exception as e:
+            await send_analysis_result(
+                {"success": False, "error": f"导入模块失败: {str(e)}", "file_path": str(full_file_path)}
+            )
+            return
+
+        # 分析模块中的类
+        classes = []
+        for name in dir(module):
+            try:
+                obj = getattr(module, name)
+                if isinstance(obj, type) and obj.__module__ == module_name:
+                    # 获取类的文档字符串
+                    docstring = inspect.getdoc(obj) or ""
+                    # 只取第一行作为简短描述
+                    short_desc = docstring.split("\n")[0] if docstring else ""
+
+                    classes.append({"name": name, "docstring": short_desc, "full_docstring": docstring})
+            except Exception as e:
+                await send_log(f"分析类 {name} 时出错: {str(e)}", "warning")
+                continue
+
+        if not classes:
+            await send_analysis_result(
+                {
+                    "success": False,
+                    "error": "模块中未找到任何类定义",
+                    "file_path": str(full_file_path),
+                    "module_name": module_name,
+                }
+            )
+            return
+
+        await send_log(f"找到 {len(classes)} 个类: {[cls['name'] for cls in classes]}")
+
+        # 发送分析结果
+        await send_analysis_result(
+            {"success": True, "file_path": str(full_file_path), "module_name": module_name, "classes": classes}
+        )
+
+    except Exception as e:
+        await send_analysis_result(
+            {
+                "success": False,
+                "error": f"分析过程中发生错误: {str(e)}",
+                "file_path": file_path,
+                "traceback": traceback.format_exc(),
+            }
+        )
+
+
+async def handle_file_content_analysis(websocket: WebSocket, request_data: dict):
+    """处理文件内容分析请求，直接分析上传的文件内容"""
+    import json
+    import os
+    import sys
+    import inspect
+    import traceback
+    import tempfile
+    from pathlib import Path
+
+    file_name = request_data.get("file_name")
+    file_content = request_data.get("file_content")
+    file_size = request_data.get("file_size", 0)
+
+    async def send_log(message: str, level: str = "info"):
+        """发送日志消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "log", "message": message, "level": level}))
+        except Exception as e:
+            print(f"Failed to send log: {e}")
+
+    async def send_analysis_result(result_data: dict):
+        """发送分析结果到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "file_analysis_result", "data": result_data}))
+        except Exception as e:
+            print(f"Failed to send analysis result: {e}")
+
+    try:
+        # 验证文件内容
+        if not file_name or not file_content:
+            await send_analysis_result({"success": False, "error": "文件名或文件内容为空", "file_name": file_name})
+            return
+
+        await send_log(f"开始分析文件: {file_name} ({file_size} 字节)")
+
+        # 验证文件是Python文件
+        if not file_name.endswith(".py"):
+            await send_analysis_result({"success": False, "error": "请选择Python文件 (.py)", "file_name": file_name})
+            return
+
+        # 创建临时文件
+        with tempfile.NamedTemporaryFile(mode="w", suffix=".py", delete=False, encoding="utf-8") as temp_file:
+            temp_file.write(file_content)
+            temp_file_path = temp_file.name
+
+        await send_log(f"创建临时文件: {temp_file_path}")
+
+        try:
+            # 添加临时文件目录到sys.path
+            temp_dir = str(Path(temp_file_path).parent)
+            if temp_dir not in sys.path:
+                sys.path.insert(0, temp_dir)
+                await send_log(f"已添加临时目录到sys.path: {temp_dir}")
+
+            # 确定模块名（去掉.py扩展名）
+            module_name = file_name.replace(".py", "").replace("-", "_").replace(" ", "_")
+            await send_log(f"使用模块名: {module_name}")
+
+            # 导入模块进行分析
+            try:
+                # 如果模块已经导入，先删除以便重新导入
+                if module_name in sys.modules:
+                    del sys.modules[module_name]
+                    await send_log(f"已删除旧模块: {module_name}")
+
+                import importlib.util
+
+                spec = importlib.util.spec_from_file_location(module_name, temp_file_path)
+                if spec is None or spec.loader is None:
+                    raise Exception("无法创建模块规范")
+
+                module = importlib.util.module_from_spec(spec)
+                sys.modules[module_name] = module
+                spec.loader.exec_module(module)
+
+                await send_log(f"成功导入模块用于分析: {module_name}")
+
+            except Exception as e:
+                await send_analysis_result(
+                    {"success": False, "error": f"导入模块失败: {str(e)}", "file_name": file_name}
+                )
+                return
+
+            # 分析模块中的类
+            classes = []
+            for name in dir(module):
+                try:
+                    obj = getattr(module, name)
+                    if isinstance(obj, type) and obj.__module__ == module_name:
+                        # 获取类的文档字符串
+                        docstring = inspect.getdoc(obj) or ""
+                        # 只取第一行作为简短描述
+                        short_desc = docstring.split("\n")[0] if docstring else "无描述"
+
+                        classes.append({"name": name, "docstring": short_desc, "full_docstring": docstring})
+                except Exception as e:
+                    await send_log(f"分析类 {name} 时出错: {str(e)}", "warning")
+                    continue
+
+            if not classes:
+                await send_analysis_result(
+                    {
+                        "success": False,
+                        "error": "模块中未找到任何类定义",
+                        "file_name": file_name,
+                        "module_name": module_name,
+                    }
+                )
+                return
+
+            await send_log(f"找到 {len(classes)} 个类: {[cls['name'] for cls in classes]}")
+
+            # 发送分析结果
+            await send_analysis_result(
+                {
+                    "success": True,
+                    "file_name": file_name,
+                    "module_name": module_name,
+                    "classes": classes,
+                    "temp_file_path": temp_file_path,  # 保存临时文件路径供后续使用
+                }
+            )
+
+        finally:
+            # 清理临时文件（在导入完成后再删除）
+            try:
+                if os.path.exists(temp_file_path):
+                    # 延迟删除，给导入操作留出时间
+                    import threading
+
+                    def delayed_cleanup():
+                        import time
+
+                        time.sleep(60)  # 等待60秒后删除
+                        try:
+                            os.unlink(temp_file_path)
+                        except OSError:
+                            pass
+
+                    threading.Thread(target=delayed_cleanup, daemon=True).start()
+            except Exception as e:
+                await send_log(f"清理临时文件时出错: {str(e)}", "warning")
+
+    except Exception as e:
+        await send_analysis_result(
+            {
+                "success": False,
+                "error": f"分析过程中发生错误: {str(e)}",
+                "file_name": file_name,
+                "traceback": traceback.format_exc(),
+            }
+        )
+
+
+async def handle_file_content_import(websocket: WebSocket, request_data: dict):
+    """处理基于文件内容的导入请求"""
+    import json
+    import os
+    import sys
+    import traceback
+    import tempfile
+    from pathlib import Path
+
+    file_name = request_data.get("file_name")
+    file_content = request_data.get("file_content")
+    file_size = request_data.get("file_size", 0)
+    registry_type = request_data.get("registry_type", "device")
+    class_name = request_data.get("class_name")
+    module_prefix = request_data.get("module_prefix", "")
+
+    async def send_log(message: str, level: str = "info"):
+        """发送日志消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "log", "message": message, "level": level}))
+        except Exception as e:
+            print(f"Failed to send log: {e}")
+
+    async def send_progress(message: str):
+        """发送进度消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "progress", "message": message}))
+        except Exception as e:
+            print(f"Failed to send progress: {e}")
+
+    async def send_error(message: str):
+        """发送错误消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "error", "message": message}))
+        except Exception as e:
+            print(f"Failed to send error: {e}")
+
+    async def send_result(result_data: dict):
+        """发送结果数据到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "result", "data": result_data}))
+        except Exception as e:
+            print(f"Failed to send result: {e}")
+
+    try:
+        # 验证输入参数
+        if not file_name or not file_content or not class_name:
+            await send_error("文件名、文件内容或类名为空")
+            return
+
+        await send_log(f"开始处理文件: {file_name} ({file_size} 字节)")
+        await send_progress("正在创建临时文件...")
+
+        # 创建临时文件
+        with tempfile.NamedTemporaryFile(mode="w", suffix=".py", delete=False, encoding="utf-8") as temp_file:
+            temp_file.write(file_content)
+            temp_file_path = temp_file.name
+
+        await send_log(f"创建临时文件: {temp_file_path}")
+
+        # 添加临时文件目录到sys.path
+        temp_dir = str(Path(temp_file_path).parent)
+        if temp_dir not in sys.path:
+            sys.path.insert(0, temp_dir)
+            await send_log(f"已添加临时目录到sys.path: {temp_dir}")
+
+        # 确定模块名
+        module_name = file_name.replace(".py", "").replace("-", "_").replace(" ", "_")
+
+        # 如果有 module_prefix，则使用完整的模块路径
+        full_module_name = f"{module_prefix}.{module_name}" if module_prefix else module_name
+        await send_log(f"使用模块名: {module_name}")
+        if module_prefix:
+            await send_log(f"完整模块路径: {full_module_name}")
+
+        # 导入模块
+        try:
+            # 如果模块已经导入，先删除以便重新导入
+            if module_name in sys.modules:
+                del sys.modules[module_name]
+                await send_log(f"已删除旧模块: {module_name}")
+
+            import importlib.util
+
+            spec = importlib.util.spec_from_file_location(module_name, temp_file_path)
+            if spec is None or spec.loader is None:
+                await send_error("无法创建模块规范")
+                return
+
+            module = importlib.util.module_from_spec(spec)
+            sys.modules[module_name] = module
+            spec.loader.exec_module(module)
+
+            await send_log(f"成功导入模块: {module_name}")
+
+        except Exception as e:
+            await send_error(f"导入模块失败: {str(e)}")
+            return
+
+        # 验证类存在
+        if not hasattr(module, class_name):
+            await send_error(f"模块中未找到类: {class_name}")
+            return
+
+        target_class = getattr(module, class_name)
+        await send_log(f"找到目标类: {class_name}")
+
+        # 使用registry.py的增强类信息功能进行分析
+        await send_progress("正在生成注册表信息...")
+
+        try:
+            from unilabos.utils.import_manager import get_enhanced_class_info
+
+            # 分析类信息
+            enhanced_info = get_enhanced_class_info(f"{full_module_name}:{class_name}", use_dynamic=True)
+
+            if not enhanced_info.get("dynamic_import_success", False):
+                await send_error("动态导入类信息失败")
+                return
+
+            await send_log("成功分析类信息")
+
+            # 根据注册表类型生成不同的schema
+            if registry_type == "resource":
+                # 资源类型的简单结构
+                category_name = file_name.replace(".py", "") if file_name else "unknown"
+                registry_schema = {
+                    "description": enhanced_info.get("class_docstring", ""),
+                    "category": [category_name],
+                    "class": {
+                        "module": f"{full_module_name}:{class_name}",
+                        "type": "python",
+                    },
+                    "handles": [],
+                    "icon": "",
+                    "init_param_schema": {},
+                    "registry_type": "resource",
+                    "version": "1.0.0",
+                    "file_path": f"uploaded_file://{file_name}",
+                }
+            else:
+                # 设备类型的复杂结构
+                registry_schema = {
+                    "description": enhanced_info.get("class_docstring", ""),
+                    "class": {
+                        "module": f"{full_module_name}:{class_name}",
+                        "type": "python",
+                        "status_types": {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()},
+                        "action_value_mappings": {},
+                    },
+                    "version": "1.0.0",
+                    "handles": [],
+                    "init_param_schema": {},
+                    "registry_type": "device",
+                    "file_path": f"uploaded_file://{file_name}",
+                }
+
+                # 处理动作方法（仅对设备类型）
+                for method_name, method_info in enhanced_info["action_methods"].items():
+                    registry_schema["class"]["action_value_mappings"][f"auto-{method_name}"] = {
+                        "type": "UniLabJsonCommandAsync" if method_info["is_async"] else "UniLabJsonCommand",
+                        "goal": {},
+                        "feedback": {},
+                        "result": {},
+                        "args": method_info["args"],
+                        "description": method_info.get("docstring", ""),
+                    }
+
+            await send_log("成功生成注册表schema")
+
+            # 格式化状态方法信息
+            status_info = {}
+            for status_name, status_data in enhanced_info.get("status_methods", {}).items():
+                status_info[status_name] = {
+                    "return_type": status_data.get("return_type", "未知类型"),
+                    "docstring": status_data.get("docstring", "无描述"),
+                    "is_property": status_data.get("is_property", False),
+                }
+
+            # 格式化动作方法信息
+            action_info = {}
+            for action_name, action_data in enhanced_info.get("action_methods", {}).items():
+                args = action_data.get("args", [])
+                action_info[action_name] = {
+                    "param_count": len(args),
+                    "params": [
+                        {"name": arg.get("name", ""), "type": arg.get("type", ""), "default": arg.get("default")}
+                        for arg in args
+                    ],
+                    "is_async": action_data.get("is_async", False),
+                    "docstring": action_data.get("docstring", "无描述"),
+                    "return_suggestion": "建议返回字典类型 (dict) 以便更好地结构化结果数据",
+                }
+
+            # 准备结果数据
+            result = {
+                "class_info": {
+                    "class_name": class_name,
+                    "module_name": module_name,
+                    "module_prefix": module_prefix,
+                    "full_module_name": full_module_name,
+                    "file_name": file_name,
+                    "file_size": file_size,
+                    "docstring": enhanced_info.get("class_docstring", ""),
+                    "dynamic_import_success": enhanced_info.get("dynamic_import_success", False),
+                    "registry_type": registry_type,
+                },
+                "registry_schema": registry_schema,
+                "class_analysis": {
+                    "status_methods": status_info,
+                    "action_methods": action_info,
+                    "init_params": enhanced_info.get("init_params", []),
+                    "status_methods_count": len(status_info),
+                    "action_methods_count": len(action_info),
+                },
+                # 保持向后兼容
+                "action_methods": enhanced_info.get("action_methods", {}),
+                "status_methods": enhanced_info.get("status_methods", {}),
+            }
+
+            # 发送结果
+            await send_result(result)
+            await send_log("分析完成")
+
+        except Exception as e:
+            await send_error(f"分析类信息时发生错误: {str(e)}")
+            await send_log(f"详细错误信息: {traceback.format_exc()}")
+            return
+
+        finally:
+            # 清理临时文件
+            try:
+                if os.path.exists(temp_file_path):
+                    import threading
+
+                    def delayed_cleanup():
+                        import time
+
+                        time.sleep(30)  # 等待30秒后删除
+                        try:
+                            os.unlink(temp_file_path)
+                        except OSError:
+                            pass
+
+                    threading.Thread(target=delayed_cleanup, daemon=True).start()
+            except Exception as e:
+                await send_log(f"清理临时文件时出错: {str(e)}", "warning")
+
+    except Exception as e:
+        await send_error(f"处理过程中发生错误: {str(e)}")
+        await send_log(f"详细错误信息: {traceback.format_exc()}")
+
+
+async def handle_file_import(websocket: WebSocket, request_data: dict):
+    """处理文件导入请求"""
+    import json
+    import os
+    import sys
+    import traceback
+    from pathlib import Path
+    from unilabos.config.config import BasicConfig
+
+    file_path = request_data.get("file_path")
+    registry_type = request_data.get("registry_type", "device")
+    class_name = request_data.get("class_name")
+    module_name = request_data.get("module_name")
+    description = request_data.get("description", "")
+    safe_class_name = request_data.get("safe_class_name", "")
+    icon = request_data.get("icon", "")
+    module_prefix = request_data.get("module_prefix", "")
+    handles = request_data.get("handles", [])
+
+    async def send_log(message: str, level: str = "info"):
+        """发送日志消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "log", "message": message, "level": level}))
+        except Exception as e:
+            print(f"Failed to send log: {e}")
+
+    async def send_progress(message: str):
+        """发送进度消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "progress", "message": message}))
+        except Exception as e:
+            print(f"Failed to send progress: {e}")
+
+    async def send_error(message: str):
+        """发送错误消息到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "error", "message": message}))
+        except Exception as e:
+            print(f"Failed to send error: {e}")
+
+    async def send_result(result_data: dict):
+        """发送结果数据到客户端"""
+        try:
+            await websocket.send_text(json.dumps({"type": "result", "data": result_data}))
+        except Exception as e:
+            print(f"Failed to send result: {e}")
+
+    try:
+        # 验证文件路径参数
+        if not file_path:
+            await send_error("文件路径为空")
+            return
+
+        # 获取工作目录并构建完整路径
+        working_dir_str = getattr(BasicConfig, "working_dir", None) or os.getcwd()
+        working_dir = Path(working_dir_str)
+        full_file_path = working_dir / file_path
+
+        # 验证文件路径
+        if not full_file_path.exists():
+            await send_error(f"文件路径不存在: {file_path}")
+            return
+
+        await send_log(f"开始处理文件: {file_path}")
+        await send_progress("正在验证文件...")
+
+        # 验证文件是Python文件
+        if not file_path.endswith(".py"):
+            await send_error("请选择Python文件 (.py)")
+            return
+
+        full_file_path = full_file_path.absolute()
+        await send_log(f"文件绝对路径: {full_file_path}")
+
+        # 动态导入模块
+        await send_progress("正在导入模块...")
+
+        # 添加文件目录到sys.path
+        file_dir = str(full_file_path.parent)
+        if file_dir not in sys.path:
+            sys.path.insert(0, file_dir)
+            await send_log(f"已添加路径到sys.path: {file_dir}")
+
+        # 确定模块名
+        if not module_name:
+            module_name = full_file_path.stem
+
+        # 如果有 module_prefix，则使用完整的模块路径
+        full_module_name = f"{module_prefix}.{module_name}" if module_prefix else module_name
+        await send_log(f"使用模块名: {module_name}")
+        if module_prefix:
+            await send_log(f"完整模块路径: {full_module_name}")
+
+        # 导入模块
+        try:
+            # 如果模块已经导入，先删除以便重新导入
+            if module_name in sys.modules:
+                del sys.modules[module_name]
+                await send_log(f"已删除旧模块: {module_name}")
+
+            import importlib.util
+
+            spec = importlib.util.spec_from_file_location(module_name, full_file_path)
+            if spec is None or spec.loader is None:
+                await send_error("无法创建模块规范")
+                return
+
+            module = importlib.util.module_from_spec(spec)
+            sys.modules[module_name] = module
+            spec.loader.exec_module(module)
+
+            await send_log(f"成功导入模块: {module_name}")
+
+        except Exception as e:
+            await send_error(f"导入模块失败: {str(e)}")
+            return
+
+        # 分析模块
+        await send_progress("正在分析模块...")
+
+        # 获取模块中的所有类
+        classes = []
+        for name in dir(module):
+            obj = getattr(module, name)
+            if isinstance(obj, type) and obj.__module__ == module_name:
+                classes.append((name, obj))
+
+        if not classes:
+            await send_error("模块中未找到任何类定义")
+            return
+
+        await send_log(f"找到 {len(classes)} 个类: {[name for name, _ in classes]}")
+
+        # 确定要分析的类
+        target_class = None
+        target_class_name = None
+
+        if class_name:
+            # 用户指定了类名
+            for name, cls in classes:
+                if name == class_name:
+                    target_class = cls
+                    target_class_name = name
+                    break
+            if not target_class:
+                await send_error(f"未找到指定的类: {class_name}")
+                return
+        else:
+            # 自动选择第一个类
+            target_class_name, target_class = classes[0]
+            await send_log(f"自动选择类: {target_class_name}")
+
+        # 使用registry.py的增强类信息功能进行分析
+        await send_progress("正在生成注册表信息...")
+
+        try:
+            from unilabos.utils.import_manager import get_enhanced_class_info
+
+            # 分析类信息
+            enhanced_info = get_enhanced_class_info(f"{full_module_name}:{target_class_name}", use_dynamic=True)
+
+            if not enhanced_info.get("dynamic_import_success", False):
+                await send_error("动态导入类信息失败")
+                return
+
+            await send_log("成功分析类信息")
+
+            # 根据注册表类型生成不同的schema
+            if registry_type == "resource":
+                # 资源类型的简单结构
+                category_name = Path(file_path).stem if file_path else "unknown"
+                registry_schema = {
+                    "description": description or enhanced_info.get("class_docstring", ""),
+                    "category": [category_name],
+                    "class": {
+                        "module": f"{full_module_name}:{target_class_name}",
+                        "type": "python",
+                    },
+                    "handles": handles,
+                    "icon": icon,
+                    "init_param_schema": {},
+                    "registry_type": "resource",
+                    "version": "1.0.0",
+                }
+            else:
+                # 设备类型的复杂结构
+                registry_schema = {
+                    "description": description or enhanced_info.get("class_docstring", ""),
+                    "class": {
+                        "module": f"{full_module_name}:{target_class_name}",
+                        "type": "python",
+                        "status_types": {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()},
+                        "action_value_mappings": {
+                            f"auto-{k}": {
+                                "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                "goal": {},
+                                "feedback": {},
+                                "result": {},
+                                "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
+                                "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                "handles": [],
+                            }
+                            # 不生成已配置action的动作
+                            for k, v in enhanced_info["action_methods"].items()
+                        },
+                    },
+                    "version": "1.0.0",
+                    "handles": handles,
+                    "icon": icon,
+                    "init_param_schema": {
+                        "config": lab_registry._generate_unilab_json_command_schema(
+                            enhanced_info["init_params"], "__init__"
+                        )["properties"]["goal"],
+                        "data": lab_registry._generate_status_types_schema(enhanced_info["status_methods"]),
+                    },
+                    "registry_type": "device",
+                }
+
+            await send_log("成功生成注册表schema")
+
+            # 创建最终的YAML配置（使用ID作为根键）
+            if safe_class_name:
+                item_id = safe_class_name
+            else:
+                class_name_safe = (target_class_name or "unknown").lower()
+                if registry_type == "resource":
+                    # 资源ID通常直接使用类名，不加后缀
+                    item_id = class_name_safe
+                else:
+                    # 设备ID使用类名加_device后缀
+                    item_id = f"{class_name_safe}_device"
+            final_config = {item_id: registry_schema}
+
+            yaml_content = yaml.dump(
+                final_config, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper, sort_keys=True
+            )
+
+            # 格式化状态方法信息
+            status_info = {}
+            for status_name, status_data in enhanced_info.get("status_methods", {}).items():
+                status_info[status_name] = {
+                    "return_type": status_data.get("return_type", "未知类型"),
+                    "docstring": status_data.get("docstring", "无描述"),
+                    "is_property": status_data.get("is_property", False),
+                }
+
+            # 格式化动作方法信息
+            action_info = {}
+            for action_name, action_data in enhanced_info.get("action_methods", {}).items():
+                args = action_data.get("args", [])
+                action_info[action_name] = {
+                    "param_count": len(args),
+                    "params": [
+                        {"name": arg.get("name", ""), "type": arg.get("type", ""), "default": arg.get("default")}
+                        for arg in args
+                    ],
+                    "is_async": action_data.get("is_async", False),
+                    "docstring": action_data.get("docstring", "无描述"),
+                    "return_suggestion": "建议返回字典类型 (dict) 以便更好地结构化结果数据",
+                }
+
+            # 准备结果数据（包含详细的类分析信息）
+            result = {
+                "registry_schema": yaml_content,
+                "item_id": item_id,
+                "registry_type": registry_type,
+                "class_name": target_class_name,
+                "module_name": module_name,
+                "file_path": file_path,
+                "config_params": {
+                    "safe_class_name": safe_class_name or item_id,
+                    "description": description,
+                    "icon": icon,
+                    "module_prefix": module_prefix,
+                    "full_module_name": full_module_name,
+                    "handles_count": len(handles),
+                    "handles": handles,
+                },
+                "class_analysis": {
+                    "class_docstring": enhanced_info.get("class_docstring", ""),
+                    "status_methods": status_info,
+                    "action_methods": action_info,
+                    "init_params": enhanced_info.get("init_params", []),
+                    "dynamic_import_success": enhanced_info.get("dynamic_import_success", False),
+                },
+            }
+
+            # 发送结果
+            await send_result(result)
+            await send_log("注册表生成完成")
+
+        except Exception as e:
+            await send_error(f"分析类信息时发生错误: {str(e)}")
+            await send_log(f"详细错误信息: {traceback.format_exc()}")
+            return
+
+    except Exception as e:
+        await send_error(f"处理过程中发生错误: {str(e)}")
+        await send_log(f"详细错误信息: {traceback.format_exc()}")
+
+
+@api.get("/file-browser", summary="Browse files and directories", response_model=Resp)
+def get_file_browser_data(path: str = ""):
+    """获取文件浏览器数据"""
+    import os
+    from pathlib import Path
+    from unilabos.config.config import BasicConfig
+
+    try:
+        # 获取工作目录
+        working_dir_str = getattr(BasicConfig, "working_dir", None) or os.getcwd()
+        working_dir = Path(working_dir_str)
+
+        # 如果提供了相对路径，则在工作目录下查找
+        if path:
+            target_path = working_dir / path
+        else:
+            target_path = working_dir
+
+        # 确保路径在工作目录内（安全检查）
+        target_path = target_path.resolve()
+
+        if not target_path.exists():
+            return Resp(code=RespCode.ErrorInvalidReq, message=f"路径不存在: {path}")
+
+        if not target_path.is_dir():
+            return Resp(code=RespCode.ErrorInvalidReq, message=f"不是目录: {path}")
+
+        # 获取目录内容
+        items = []
+
+        parent_path = target_path.parent
+        items.append(
+            {
+                "name": "..",
+                "type": "directory",
+                "path": str(parent_path),
+                "size": 0,
+                "is_parent": True,
+            }
+        )
+
+        # 获取子目录和文件
+        try:
+            for item in sorted(target_path.iterdir(), key=lambda x: (not x.is_dir(), x.name.lower())):
+                item_type = "directory" if item.is_dir() else "file"
+
+                item_info = {
+                    "name": item.name,
+                    "type": item_type,
+                    "path": str(item),
+                    "size": item.stat().st_size if item.is_file() else 0,
+                    "is_python": item.suffix == ".py" if item.is_file() else False,
+                    "is_parent": False,
+                }
+                items.append(item_info)
+        except PermissionError:
+            return Resp(code=RespCode.ErrorInvalidReq, message="无权限访问此目录")
+
+        return Resp(
+            data={
+                "current_path": str(target_path),
+                "working_dir": str(working_dir),
+                "items": items,
+            }
+        )
+
+    except Exception as e:
+        return Resp(code=RespCode.ErrorInvalidReq, message=f"获取目录信息失败: {str(e)}")
+
+
 @api.get("/resources", summary="Resource list", response_model=Resp)
 def get_resources():
     """获取资源列表"""
@@ -82,18 +1224,6 @@ def get_resources():
     return Resp(data=dict(data))
 
 
-@api.get("/repository", summary="Raw Material list", response_model=Resp)
-def get_raw_material():
-    """获取原材料列表"""
-    return Resp(data={})
-
-
-@api.post("/repository", summary="Raw Material set", response_model=Resp)
-def post_raw_material():
-    """设置原材料"""
-    return Resp(data={})
-
-
 @api.get("/devices", summary="Device list", response_model=Resp)
 def get_devices():
     """获取设备列表"""
@@ -104,12 +1234,6 @@ def get_devices():
     return Resp(data=dict(data))
 
 
-@api.get("/devices/{id}/info", summary="Device info", response_model=Resp)
-def device_info(id: str):
-    """获取设备信息"""
-    return Resp(data={})
-
-
 @api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
 def job_status(id: str):
     """获取任务状态"""
@@ -129,63 +1253,6 @@ def post_job_add(req: JobAddReq):
     return JobAddResp(data=data)
 
 
-@api.post("/job/step_finish", summary="步骤完成推送", response_model=Resp)
-def callback_step_finish(req: JobStepFinishReq):
-    """任务步骤完成回调"""
-    print(req)
-    return Resp(data={})
-
-
-@api.post("/job/preintake_finish", summary="通量完成推送", response_model=Resp)
-def callback_preintake_finish(req: JobPreintakeFinishReq):
-    """通量完成回调"""
-    print(req)
-    return Resp(data={})
-
-
-@api.post("/job/finish", summary="完成推送", response_model=Resp)
-def callback_order_finish(req: JobFinishReq):
-    """任务完成回调"""
-    print(req)
-    return Resp(data={})
-
-
-@admin.get("/device_models", summary="Device model list", response_model=Resp)
-def admin_device_models():
-    """获取设备模型列表"""
-    return Resp(data={})
-
-
-@admin.post("/device_model/add", summary="Add Device model", response_model=Resp)
-def admin_device_model_add():
-    """添加设备模型"""
-    return Resp(data={})
-
-
-@admin.delete("/device_model/{id}", summary="Delete device model", response_model=Resp)
-def admin_device_model_del(id: str):
-    """删除设备模型"""
-    return Resp(data={})
-
-
-@admin.get("/devices", summary="Device list", response_model=Resp)
-def admin_devices():
-    """获取设备列表(管理员)"""
-    return Resp(data={})
-
-
-@admin.post("/devices/add", summary="Add Device", response_model=Resp)
-def admin_device_add():
-    """添加设备"""
-    return Resp(data={})
-
-
-@admin.delete("/devices/{id}", summary="Delete device", response_model=Resp)
-def admin_device_del(id: str):
-    """删除设备"""
-    return Resp(data={})
-
-
 def setup_api_routes(app):
     """设置API路由"""
     app.include_router(admin, prefix="/admin/v1", tags=["admin"])
@@ -195,3 +1262,4 @@ def setup_api_routes(app):
     @app.on_event("startup")
     async def startup_event():
         asyncio.create_task(broadcast_device_status())
+        asyncio.create_task(broadcast_status_page_data())
diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py
index 7c35c151..d070e690 100644
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -3,13 +3,15 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
+
 import json
 import os
 from typing import List, Dict, Any, Optional
 
 import requests
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
+from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
 
 
@@ -24,14 +26,17 @@ class HTTPClient:
             remote_addr: 远程服务器地址，如果不提供则从配置中获取
             auth: 授权信息
         """
+        self.initialized = False
         self.remote_addr = remote_addr or HTTPConfig.remote_addr
         if auth is not None:
             self.auth = auth
         else:
-            self.auth = MQConfig.lab_id
+            auth_secret = BasicConfig.auth_secret()
+            self.auth = auth_secret
+            info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
         """
         添加资源
 
@@ -41,33 +46,128 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        database_param = 1 if database_process_later else 0
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
-            json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            f"{self.remote_addr}/edge/material/edge",
+            json={
+                "edges": resources,
+            },
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料关系失败: {response.text}")
         if response.status_code != 200 and response.status_code != 201:
             logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
         return response
 
-    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
+    def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
+        """
+        添加资源
+
+        Args:
+            resources: 要添加的资源树集合（ResourceTreeSet）
+            mount_uuid: 要挂载的资源的uuid
+            first_add: 是否为首次添加资源，可以是host也可以是slave来的
+        Returns:
+            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
+        """
+        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
+        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
+        if not self.initialized or first_add:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/edge/material",
+                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/edge/material",
+                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+
+        # 处理响应，构建UUID映射
+        uuid_mapping = {}
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
+            else:
+                data = res["data"]
+                for i in data:
+                    uuid_mapping[i["uuid"]] = i["cloud_uuid"]
+        else:
+            logger.error(f"添加物料失败: {response.text}")
+        for u, n in old_uuids.items():
+            if u in uuid_mapping:
+                n.res_content.uuid = uuid_mapping[u]
+                for c in n.children:
+                    c.res_content.parent_uuid = n.res_content.uuid
+            else:
+                logger.warning(f"资源UUID未更新: {u}")
+        return uuid_mapping
+
+    def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
+        """
+        添加资源
+
+        Args:
+            uuid_list: List[str]
+        Returns:
+            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
+        """
+        response = requests.post(
+            f"{self.remote_addr}/edge/material/query",
+            json={"uuids": uuid_list, "with_children": with_children},
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=100,
+        )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"查询物料失败: {response.text}")
+            else:
+                data = res["data"]["nodes"]
+                return data
+        else:
+            logger.error(f"查询物料失败: {response.text}")
+        return []
+
+    def resource_add(self, resources: List[Dict[str, Any]]) -> 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=100,
-        )
+        if not self.initialized:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
         if response.status_code != 200:
             logger.error(f"添加物料失败: {response.text}")
         return response
@@ -84,9 +184,9 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/?edge_format=1",
+            f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -104,7 +204,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response
@@ -119,13 +219,29 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        response = requests.patch(
-            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
-            json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
-            timeout=100,
-        )
-        return response
+        if not self.initialized:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
+        if response.status_code != 200:
+            logger.error(f"添加物料失败: {response.text}")
+        return response.json()
 
     def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
         """
@@ -146,25 +262,25 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"lab {self.auth}"},
+                headers={"Authorization": f"Lab {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
         """
         注册资源到服务器
 
         Args:
-            registry_data: 注册表数据，格式为 {resource_id: resource_info}
+            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
 
         Returns:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/registry/",
+            f"{self.remote_addr}/lab/resource",
             json=registry_data,
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=30,
         )
         if response.status_code not in [200, 201]:
@@ -182,8 +298,8 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/graph_info/",
-            headers={"Authorization": f"lab {self.auth}"},
+            f"{self.remote_addr}/edge/material/download",
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=(3, 30),
         )
         if response.status_code != 200:
diff --git a/unilabos/app/controler.py b/unilabos/app/web/controler.py
similarity index 100%
rename from unilabos/app/controler.py
rename to unilabos/app/web/controler.py
diff --git a/unilabos/app/web/pages.py b/unilabos/app/web/pages.py
index 9f9a6c0a..2887c2a0 100644
--- a/unilabos/app/web/pages.py
+++ b/unilabos/app/web/pages.py
@@ -78,21 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
             HTMLResponse: 渲染后的HTML页面
         """
         try:
-            # 准备设备数据
+            # 准备初始数据结构（这些数据将通过WebSocket实时更新）
             devices = []
             resources = []
             modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
 
-            # 获取在线设备信息
+            # 获取在线设备信息（用于初始渲染）
             ros_node_info = get_ros_node_info()
-            # 获取主机节点信息
+            # 获取主机节点信息（用于初始渲染）
             host_node_info = get_host_node_info()
-            # 获取Registry路径信息
+            # 获取Registry路径信息（静态信息，不需要实时更新）
             registry_info = get_registry_info()
 
-            # 获取已加载的设备
+            # 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
             if lab_registry:
-                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
+                devices = json.loads(
+                    json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
+                )
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(
@@ -103,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
                         }
                     )
 
-            # 获取导入的模块
+            # 获取导入的模块（初始数据）
             if msg_converter_manager:
                 modules["names"] = msg_converter_manager.list_modules()
                 all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
@@ -171,3 +173,20 @@ def setup_web_pages(router: APIRouter) -> None:
         except Exception as e:
             error(f"打开文件夹时出错: {str(e)}")
             return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
+
+    @router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
+    async def registry_editor_page() -> str:
+        """
+        注册表编辑页面，用于导入Python文件并生成注册表
+
+        Returns:
+            HTMLResponse: 渲染后的HTML页面
+        """
+        try:
+            # 使用模板渲染页面
+            template = env.get_template("registry_editor.html")
+            html = template.render()
+            return html
+        except Exception as e:
+            error(f"生成注册表编辑页面时出错: {str(e)}")
+            raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")
diff --git a/unilabos/app/web/templates/base.html b/unilabos/app/web/templates/base.html
index 8e3a31d7..cb3e1a4e 100644
--- a/unilabos/app/web/templates/base.html
+++ b/unilabos/app/web/templates/base.html
@@ -162,7 +162,6 @@
 <body>
     <h1>{% block header %}UniLab{% endblock %}</h1>
     {% block nav %}
-    <a href="/unilabos/webtic" class="home-link">Home</a>
     {% endblock %}
 
     {% block top_info %}{% endblock %}
diff --git a/unilabos/app/web/templates/home.html b/unilabos/app/web/templates/home.html
index a95f9d6a..ac716e57 100644
--- a/unilabos/app/web/templates/home.html
+++ b/unilabos/app/web/templates/home.html
@@ -1,22 +1,25 @@
-{% extends "base.html" %}
-
-{% block title %}UniLab API{% endblock %}
-
-{% block header %}UniLab API{% endblock %}
-
-{% block nav %}
-<a href="/status" class="status-link">System Status</a>
-{% endblock %}
-
-{% block content %}
-<div class="card">
-    <h2>Available Endpoints</h2>
-    {% for route in routes %}
-    <div class="endpoint">
-        <span class="method">{{ route.method }}</span>
-        <a href="{{ route.path }}">{{ route.path }}</a>
-        <p>{{ route.summary }}</p>
-    </div>
-    {% endfor %}
+{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
+header %}UniLab API{% endblock %} {% block nav %}
+<div class="nav-tabs">
+  <a
+    href="/"
+    class="nav-tab"
+    style="background-color: #2196f3; color: white"
+    target="_blank"
+    >主页</a
+  >
+  <a href="/status" class="nav-tab">状态</a>
+  <a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
 </div>
-{% endblock %} 
\ No newline at end of file
+{% endblock %} {% block content %}
+<div class="card">
+  <h2>Available Endpoints</h2>
+  {% for route in routes %}
+  <div class="endpoint">
+    <span class="method">{{ route.method }}</span>
+    <a href="{{ route.path }}">{{ route.path }}</a>
+    <p>{{ route.summary }}</p>
+  </div>
+  {% endfor %}
+</div>
+{% endblock %}
diff --git a/unilabos/app/web/templates/registry_editor.html b/unilabos/app/web/templates/registry_editor.html
new file mode 100644
index 00000000..4cb59c7f
--- /dev/null
+++ b/unilabos/app/web/templates/registry_editor.html
@@ -0,0 +1,1411 @@
+{% extends "base.html" %} {% block title %}注册表编辑器 - UniLab{% endblock %}
+{% block header %}注册表编辑器{% endblock %} {% block nav %} {% endblock %} {%
+block scripts %}
+<style>
+  .editor-container {
+    max-width: 100%;
+    margin: 0;
+    padding: 10px;
+    position: relative;
+  }
+  .form-section {
+    background: rgb(212, 226, 243);
+    border-radius: 8px;
+    padding: 10px;
+    margin-bottom: 20px;
+    box-shadow: 0 2px 2px rgba(0, 0, 0, 0.1);
+  }
+  .form-group {
+    margin-bottom: 15px;
+  }
+  .form-group label {
+    display: block;
+    margin-bottom: 5px;
+    font-weight: bold;
+    color: #333;
+  }
+  .form-control {
+    width: 100%;
+    padding: 10px;
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    font-size: 14px;
+    box-sizing: border-box;
+  }
+  .btn {
+    padding: 10px 20px;
+    border: none;
+    border-radius: 4px;
+    font-size: 14px;
+    cursor: pointer;
+    margin-right: 10px;
+    transition: background-color 0.2s;
+  }
+  .btn-primary {
+    background-color: #2196f3;
+    color: white;
+  }
+  .btn-primary:hover {
+    background-color: #0b7dda;
+  }
+  .btn-secondary {
+    background-color: #6c757d;
+    color: white;
+  }
+  .btn-secondary:hover {
+    background-color: #545b62;
+  }
+  .radio-group {
+    display: flex;
+    gap: 15px;
+    margin-top: 8px;
+  }
+  .radio-option {
+    display: flex;
+    align-items: center;
+    gap: 5px;
+  }
+  .log-container {
+    background: #1e1e1e;
+    color: #ffffff;
+    border-radius: 4px;
+    padding: 15px;
+    font-family: 'Consolas', 'Monaco', monospace;
+    font-size: 13px;
+    max-height: 400px;
+    overflow-y: auto;
+    white-space: pre-wrap;
+    word-wrap: break-word;
+    border: 1px solid #444;
+  }
+  .status-indicator {
+    display: inline-block;
+    width: 12px;
+    height: 12px;
+    border-radius: 50%;
+    margin-right: 8px;
+  }
+  .status-disconnected {
+    background-color: #f44336;
+  }
+  .status-connected {
+    background-color: #4caf50;
+  }
+  .status-processing {
+    background-color: #ff9800;
+  }
+  .results-section {
+    background: white;
+    border-radius: 8px;
+    padding: 20px;
+    margin-bottom: 20px;
+    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+  }
+  .results-tabs {
+    display: flex;
+    margin-bottom: 15px;
+    border-bottom: 1px solid #ddd;
+  }
+  .result-tab {
+    padding: 10px 20px;
+    cursor: pointer;
+    border-bottom: 2px solid transparent;
+    transition: all 0.2s;
+  }
+  .result-tab.active {
+    border-bottom-color: #2196f3;
+    color: #2196f3;
+    font-weight: bold;
+  }
+  .result-tab:hover {
+    background-color: #f5f5f5;
+  }
+  .result-content {
+    display: none;
+  }
+  .result-content.active {
+    display: block;
+  }
+  .schema-viewer {
+    background: #f8f9fa;
+    border: 1px solid #dee2e6;
+    border-radius: 4px;
+    padding: 15px;
+    font-family: 'Consolas', 'Monaco', monospace;
+    font-size: 13px;
+    max-height: 500px;
+    overflow: auto;
+    white-space: pre-wrap;
+  }
+  .error-message {
+    background-color: #f8d7da;
+    border: 1px solid #f5c6cb;
+    color: #721c24;
+    padding: 10px;
+    border-radius: 4px;
+    margin-bottom: 15px;
+  }
+  .success-message {
+    background-color: #d4edda;
+    border: 1px solid #c3e6cb;
+    color: #155724;
+    padding: 10px;
+    border-radius: 4px;
+    margin-bottom: 15px;
+  }
+  .file-info {
+    background: #e9f7fe;
+    padding: 10px;
+    border-radius: 4px;
+    margin-top: 10px;
+    font-size: 13px;
+    color: #555;
+  }
+  .file-input-group {
+    display: flex;
+    gap: 10px;
+    align-items: center;
+  }
+  .file-browse-btn {
+    white-space: nowrap;
+    min-width: 100px;
+  }
+  .form-text {
+    display: block;
+    margin-top: 5px;
+    font-size: 12px;
+    color: #6c757d;
+  }
+  .file-analysis-status {
+    background: #fff3cd;
+    border: 1px solid #ffeaa7;
+    color: #856404;
+    padding: 10px;
+    border-radius: 4px;
+    margin-top: 10px;
+    font-size: 13px;
+  }
+  .class-info {
+    background: #d1ecf1;
+    border: 1px solid #bee5eb;
+    color: #0c5460;
+    padding: 10px;
+    border-radius: 4px;
+    margin-top: 10px;
+    font-size: 13px;
+  }
+  .file-browser-container {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    background: white;
+  }
+  .current-path {
+    padding: 8px 12px;
+    background: #f8f9fa;
+    border-bottom: 1px solid #ddd;
+    font-size: 13px;
+    color: #555;
+  }
+  .file-browser {
+    max-height: 300px;
+    overflow-y: auto;
+    padding: 0;
+  }
+  .file-item {
+    padding: 8px 12px;
+    border-bottom: 1px solid #eee;
+    cursor: pointer;
+    display: flex;
+    align-items: center;
+    transition: background-color 0.2s;
+  }
+  .file-item:hover {
+    background-color: #f8f9fa;
+  }
+  .file-item.selected {
+    background-color: #e3f2fd;
+    border-left: 3px solid #2196f3;
+  }
+  .file-icon {
+    margin-right: 8px;
+    font-size: 16px;
+    width: 20px;
+    text-align: center;
+  }
+  .file-name {
+    flex: 1;
+    font-size: 14px;
+  }
+  .file-size {
+    font-size: 12px;
+    color: #666;
+    margin-left: 8px;
+  }
+  .directory-icon {
+    color: #ff9800;
+  }
+  .python-file-icon {
+    color: #4caf50;
+  }
+  .other-file-icon {
+    color: #666;
+  }
+  .selected-file {
+    padding: 8px 12px;
+    background: #e8f5e8;
+    border-top: 1px solid #ddd;
+    font-size: 13px;
+  }
+  .loading-indicator {
+    padding: 20px;
+    text-align: center;
+    color: #666;
+    font-style: italic;
+  }
+  .yaml-container {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    background: white;
+  }
+  .yaml-header {
+    padding: 10px 12px;
+    background: #f8f9fa;
+    border-bottom: 1px solid #ddd;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+  }
+  .copy-yaml-btn {
+    font-size: 12px;
+    padding: 4px 12px;
+  }
+
+  /* Handle 配置相关样式 */
+  .handle-item {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    padding: 15px;
+    margin-bottom: 10px;
+    background: #f8f9fa;
+    position: relative;
+  }
+
+  .handle-item-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 15px;
+  }
+
+  .handle-item-title {
+    font-weight: bold;
+    color: #333;
+  }
+
+  .remove-handle-btn {
+    background-color: #dc3545;
+    color: white;
+    border: none;
+    border-radius: 50%;
+    width: 24px;
+    height: 24px;
+    font-size: 12px;
+    cursor: pointer;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+  }
+
+  .remove-handle-btn:hover {
+    background-color: #c82333;
+  }
+
+  .handle-form-row {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 10px;
+    margin-bottom: 10px;
+  }
+
+  .handle-form-row.full-width {
+    grid-template-columns: 1fr;
+  }
+
+  .handle-form-group {
+    display: flex;
+    flex-direction: column;
+  }
+
+  .handle-form-group label {
+    font-size: 12px;
+    font-weight: bold;
+    color: #555;
+    margin-bottom: 3px;
+  }
+
+  .handle-form-group input,
+  .handle-form-group select {
+    padding: 6px 8px;
+    border: 1px solid #ccc;
+    border-radius: 3px;
+    font-size: 13px;
+  }
+
+  /* 连接状态右上角定位 */
+  .connection-status-fixed {
+    position: fixed;
+    top: 80px;
+    right: 20px;
+    background: white;
+    padding: 10px;
+    border-radius: 8px;
+    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.1);
+    z-index: 1000;
+    border: 1px solid #ddd;
+  }
+
+  /* 主要内容区域两栏布局 */
+  .main-content {
+    display: flex;
+    gap: 20px;
+    margin-bottom: 20px;
+  }
+
+  .left-column {
+    flex: 1;
+    min-width: 0;
+  }
+
+  .right-column {
+    flex: 1;
+    min-width: 0;
+  }
+
+  /* 日志区域在底部 */
+  .log-section-bottom {
+    background: white;
+    border-top: 2px solid #e0e0e0;
+    padding: 15px;
+    margin-top: 20px;
+    border-radius: 8px;
+    box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
+  }
+
+  /* 响应式设计 */
+  @media (max-width: 1024px) {
+    .main-content {
+      flex-direction: column;
+    }
+
+    .connection-status-fixed {
+      position: relative;
+      top: auto;
+      right: auto;
+      margin-bottom: 20px;
+    }
+  }
+</style>
+{% endblock %} {% block content %}
+<div class="editor-container">
+  <!-- 连接状态 - 右上角固定 -->
+  <div class="connection-status-fixed">
+    <div id="connection-status">
+      <span class="status-indicator status-disconnected" id="status-dot"></span>
+      <span id="status-text">未连接</span>
+    </div>
+  </div>
+
+  <!-- 主要内容区域 -->
+  <div class="main-content">
+    <!-- 左栏：文件导入配置 -->
+    <div class="left-column">
+      <div class="form-section">
+        <h3>文件导入配置</h3>
+
+        <div class="form-group">
+          <label for="registry-type">注册表类型</label>
+          <div class="radio-group">
+            <div class="radio-option">
+              <input
+                type="radio"
+                id="type-device"
+                name="registry-type"
+                value="device"
+                checked
+              />
+              <label for="type-device">设备 (Device)</label>
+            </div>
+            <div class="radio-option">
+              <input
+                type="radio"
+                id="type-resource"
+                name="registry-type"
+                value="resource"
+              />
+              <label for="type-resource">资源 (Resource)</label>
+            </div>
+          </div>
+        </div>
+
+        <div class="form-group">
+          <label for="file-browser">选择Python文件</label>
+          <div class="file-browser-container">
+            <!-- 当前路径显示 -->
+            <div class="current-path">
+              <strong>当前路径：</strong>
+              <span id="current-path-display">加载中...</span>
+            </div>
+
+            <!-- 文件浏览器 -->
+            <div class="file-browser" id="file-browser">
+              <div class="loading-indicator">正在加载文件列表...</div>
+            </div>
+
+            <!-- 选择的文件显示 -->
+            <div class="selected-file" id="selected-file" style="display: none">
+              <strong>已选择：</strong>
+              <span id="selected-file-name"></span>
+              <span id="selected-file-size" class="file-size"></span>
+            </div>
+          </div>
+          <small class="form-text">只显示 .py 文件和文件夹</small>
+        </div>
+
+        <div class="form-group">
+          <button
+            class="btn btn-secondary"
+            onclick="analyzeFile()"
+            id="analyze-btn"
+            disabled
+          >
+            分析文件
+          </button>
+          <small class="form-text">首先分析文件以获取可用的类列表</small>
+        </div>
+
+        <div
+          class="form-group"
+          id="class-selection-group"
+          style="display: none"
+        >
+          <label for="class-name" id="class-selection-label">选择类名</label>
+          <select id="class-name" class="form-control">
+            <option value="" id="class-selection-option">请选择类...</option>
+          </select>
+        </div>
+
+        <div class="form-group">
+          <button
+            class="btn btn-primary"
+            onclick="importFile()"
+            id="import-btn"
+            disabled
+          >
+            生成注册表
+          </button>
+          <button class="btn btn-secondary" onclick="clearResults()">
+            重置
+          </button>
+        </div>
+
+        <div id="workflow-tips" class="class-info">
+          <strong>使用流程:</strong><br />
+          1. 选择注册表类型（设备/资源）<br />
+          2. 在文件浏览器中导航并选择Python文件<br />
+          3. 点击"分析文件"获取可用类列表<br />
+          4. 从下拉列表中选择要注册的类<br />
+          5. 点击"生成注册表"获得YAML配置文件
+        </div>
+
+        <div id="file-info" class="file-info" style="display: none">
+          <strong>文件信息：</strong>
+          <div id="file-details"></div>
+        </div>
+      </div>
+    </div>
+
+    <!-- 右栏：注册表配置结果 -->
+    <div class="right-column">
+      <!-- 配置参数输入区域 -->
+      <div
+        id="config-params-section"
+        class="form-section"
+        style="display: none"
+      >
+        <h3>配置参数</h3>
+
+        <!-- Module Prefix 输入框 -->
+        <div class="form-group">
+          <label for="module-prefix">Module Prefix</label>
+          <input
+            type="text"
+            id="module-prefix"
+            class="form-control"
+            placeholder="例如: unilabos.devices.pumps"
+          />
+          <small class="form-text">模块路径前缀，指定类所在的包位置</small>
+        </div>
+
+        <!-- Safe Class Name 输入框 -->
+        <div class="form-group">
+          <label for="safe-class-name">Safe Class Name</label>
+          <input
+            type="text"
+            id="safe-class-name"
+            class="form-control"
+            placeholder="自动生成，可自定义"
+          />
+          <small class="form-text"
+            >将作为注册表中的ID使用，必须是有效的标识符</small
+          >
+        </div>
+
+        <!-- 设备/资源描述 -->
+        <div class="form-group">
+          <label for="description-input">设备/资源描述</label>
+          <textarea
+            id="description-input"
+            class="form-control"
+            rows="3"
+            placeholder="请输入设备或资源的描述信息..."
+          ></textarea>
+          <small class="form-text"
+            >描述信息将显示在注册表中，帮助用户了解设备功能</small
+          >
+        </div>
+
+        <!-- Icon 输入框 -->
+        <div class="form-group">
+          <label for="icon-input">图标文件名</label>
+          <input
+            type="text"
+            id="icon-input"
+            class="form-control"
+            placeholder="icon_xxx.webp"
+          />
+          <small class="form-text">图标文件名，例如：icon_pump.webp</small>
+        </div>
+
+        <!-- Handles 配置区域 -->
+        <div class="form-group">
+          <label>Handles 配置</label>
+          <div id="handles-container">
+            <!-- 动态添加的handles项目会在这里显示 -->
+          </div>
+          <button
+            type="button"
+            class="btn btn-secondary"
+            onclick="addHandleItem()"
+          >
+            添加 Handle
+          </button>
+          <small class="form-text">配置设备/资源的输入输出接口</small>
+        </div>
+      </div>
+
+      <!-- YAML结果显示区域 -->
+      <div id="results-section" class="form-section" style="display: none">
+        <h3>注册表配置结果</h3>
+        <div class="yaml-container">
+          <div class="yaml-header">
+            <strong>YAML格式注册表配置</strong>
+            <button
+              class="btn btn-secondary copy-yaml-btn"
+              onclick="copyYamlToClipboard()"
+            >
+              复制YAML
+            </button>
+          </div>
+          <div class="schema-viewer" id="yaml-registry-viewer">等待数据...</div>
+        </div>
+      </div>
+    </div>
+  </div>
+
+  <!-- 处理日志 - 底部 -->
+  <div class="log-section-bottom">
+    <h3>处理日志</h3>
+    <div id="log-output" class="log-container">等待操作...</div>
+  </div>
+</div>
+
+<script>
+  let ws = null;
+  let isConnected = false;
+  let currentPath = '';
+  let selectedFilePath = null;
+  let handleCounter = 0;
+
+  // 页面加载完成后初始化
+  document.addEventListener('DOMContentLoaded', function () {
+    initWebSocket();
+    loadFileBrowser(''); // 加载根目录
+    initRegistryTypeListener();
+  });
+
+  // 初始化注册表类型监听器
+  function initRegistryTypeListener() {
+    const radioButtons = document.querySelectorAll(
+      'input[name="registry-type"]'
+    );
+    radioButtons.forEach((radio) => {
+      radio.addEventListener('change', function () {
+        updateClassSelectionLabel(this.value);
+      });
+    });
+
+    // 初始化标签文字
+    const checkedRadio = document.querySelector(
+      'input[name="registry-type"]:checked'
+    );
+    if (checkedRadio) {
+      updateClassSelectionLabel(checkedRadio.value);
+    }
+  }
+
+  // 更新类选择标签文字
+  function updateClassSelectionLabel(registryType) {
+    const label = document.getElementById('class-selection-label');
+    const option = document.getElementById('class-selection-option');
+
+    if (registryType === 'resource') {
+      label.textContent = '选择类名/可执行函数';
+      option.textContent = '请选择类或函数...';
+    } else {
+      label.textContent = '选择类名';
+      option.textContent = '请选择类...';
+    }
+  }
+
+  // 初始化WebSocket连接
+  function initWebSocket() {
+    const protocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
+    const wsUrl = `${protocol}//${window.location.host}/api/v1/ws/registry_editor`;
+
+    ws = new WebSocket(wsUrl);
+
+    ws.onopen = function (event) {
+      isConnected = true;
+      updateConnectionStatus('connected', '已连接');
+      addLog('WebSocket连接已建立', 'info');
+    };
+
+    ws.onmessage = function (event) {
+      try {
+        const data = JSON.parse(event.data);
+        handleWebSocketMessage(data);
+      } catch (e) {
+        addLog(`解析消息失败: ${e.message}`, 'error');
+      }
+    };
+
+    ws.onclose = function (event) {
+      isConnected = false;
+      updateConnectionStatus('disconnected', '连接已断开');
+      addLog('WebSocket连接已断开', 'warning');
+
+      // 5秒后尝试重连
+      setTimeout(initWebSocket, 5000);
+    };
+
+    ws.onerror = function (error) {
+      addLog('WebSocket连接错误', 'error');
+      updateConnectionStatus('disconnected', '连接错误');
+    };
+  }
+
+  // 更新连接状态
+  function updateConnectionStatus(status, text) {
+    const statusDot = document.getElementById('status-dot');
+    const statusText = document.getElementById('status-text');
+
+    statusDot.className = `status-indicator status-${status}`;
+    statusText.textContent = text;
+  }
+
+  // 处理WebSocket消息
+  function handleWebSocketMessage(data) {
+    switch (data.type) {
+      case 'log':
+        addLog(data.message, data.level || 'info');
+        break;
+      case 'progress':
+        updateConnectionStatus('processing', data.message);
+        break;
+      case 'result':
+        handleAnalysisResult(data.data);
+        break;
+      case 'file_analysis_result':
+        handleFileAnalysisResult(data.data);
+        break;
+      case 'error':
+        addLog(data.message, 'error');
+        updateConnectionStatus('connected', '已连接');
+        break;
+      default:
+        addLog(`收到未知消息类型: ${data.type}`, 'warning');
+    }
+  }
+
+  // 处理分析结果
+  function handleAnalysisResult(result) {
+    updateConnectionStatus('connected', '已连接');
+
+    // 显示结果区域
+    document.getElementById('results-section').style.display = 'block';
+
+    // 显示YAML格式的注册表配置
+    if (result.registry_schema) {
+      // 直接显示后端返回的YAML字符串
+      const yamlViewer = document.getElementById('yaml-registry-viewer');
+      yamlViewer.textContent = result.registry_schema;
+
+      // 保存YAML内容供复制使用
+      window.registryYaml = result.registry_schema;
+
+      addLog(
+        `生成的${result.registry_type === 'resource' ? '资源' : '设备'}ID: ${
+          result.item_id || result.device_id
+        }`,
+        'info'
+      );
+    }
+
+    addLog('注册表生成完成！', 'success');
+  }
+
+  // 复制YAML到剪贴板
+  function copyYamlToClipboard() {
+    if (!window.registryYaml) {
+      addLog('没有可复制的YAML内容', 'error');
+      return;
+    }
+
+    if (navigator.clipboard && navigator.clipboard.writeText) {
+      navigator.clipboard
+        .writeText(window.registryYaml)
+        .then(() => {
+          addLog('YAML配置已复制到剪贴板', 'success');
+
+          // 视觉反馈
+          const copyBtn = document.querySelector('.copy-yaml-btn');
+          const originalText = copyBtn.textContent;
+          copyBtn.textContent = '已复制!';
+          copyBtn.style.backgroundColor = '#4caf50';
+
+          setTimeout(() => {
+            copyBtn.textContent = originalText;
+            copyBtn.style.backgroundColor = '';
+          }, 2000);
+        })
+        .catch((err) => {
+          addLog('复制失败，请手动复制', 'error');
+        });
+    } else {
+      // 后备方案：选择文本
+      const yamlViewer = document.getElementById('yaml-registry-viewer');
+      const range = document.createRange();
+      range.selectNodeContents(yamlViewer);
+      const selection = window.getSelection();
+      selection.removeAllRanges();
+      selection.addRange(range);
+
+      addLog('已选择YAML文本，请按Ctrl+C复制', 'info');
+    }
+  }
+
+  // 添加日志
+  function addLog(message, level = 'info') {
+    const logOutput = document.getElementById('log-output');
+    const timestamp = new Date().toLocaleTimeString();
+
+    let prefix = '';
+    switch (level) {
+      case 'error':
+        prefix = '[ERROR]';
+        break;
+      case 'warning':
+        prefix = '[WARN]';
+        break;
+      case 'success':
+        prefix = '[SUCCESS]';
+        break;
+      case 'info':
+      default:
+        prefix = '[INFO]';
+        break;
+    }
+
+    const logLine = `${timestamp} ${prefix} ${message}\n`;
+    logOutput.textContent += logLine;
+    logOutput.scrollTop = logOutput.scrollHeight;
+  }
+
+  // 加载文件浏览器
+  async function loadFileBrowser(path) {
+    try {
+      const response = await fetch(
+        `/api/v1/file-browser?path=${encodeURIComponent(path)}`
+      );
+      const result = await response.json();
+
+      if (result.code === 0) {
+        const data = result.data;
+        currentPath = data.current_path;
+        renderFileBrowser(data);
+      } else {
+        addLog(`加载目录失败: ${result.message}`, 'error');
+      }
+    } catch (error) {
+      addLog(`加载目录时出错: ${error}`, 'error');
+    }
+  }
+
+  // 渲染文件浏览器
+  function renderFileBrowser(data) {
+    const fileBrowser = document.getElementById('file-browser');
+    const currentPathDisplay = document.getElementById('current-path-display');
+
+    // 更新当前路径显示
+    currentPathDisplay.textContent = data.current_path || data.working_dir;
+
+    // 清空文件浏览器
+    fileBrowser.innerHTML = '';
+
+    if (data.items.length === 0) {
+      if (fileBrowser.children.length === 0) {
+        fileBrowser.innerHTML =
+          '<div class="loading-indicator">此目录为空</div>';
+      }
+      return;
+    }
+
+    // 渲染文件和目录
+    data.items.forEach((item) => {
+      const fileItem = document.createElement('div');
+      fileItem.className = 'file-item';
+      fileItem.dataset.path = item.path;
+      fileItem.dataset.type = item.type;
+
+      let icon = '';
+      let iconClass = '';
+
+      if (item.type === 'directory') {
+        icon = '📁';
+        iconClass = 'directory-icon';
+      } else if (item.is_python) {
+        icon = '🐍';
+        iconClass = 'python-file-icon';
+      } else {
+        return; // 只显示Python文件和目录
+      }
+
+      let sizeText = '';
+      if (item.type === 'file') {
+        sizeText = `<span class="file-size">(${formatFileSize(
+          item.size
+        )})</span>`;
+      }
+
+      fileItem.innerHTML = `
+        <span class="file-icon ${iconClass}">${icon}</span>
+        <span class="file-name">${item.name}</span>
+        ${sizeText}
+      `;
+
+      // 添加点击事件
+      if (item.type === 'directory') {
+        fileItem.onclick = () => loadFileBrowser(item.path);
+      } else if (item.is_python) {
+        fileItem.onclick = () => selectFile(item);
+      }
+
+      fileBrowser.appendChild(fileItem);
+    });
+  }
+
+  // 选择文件
+  function selectFile(fileInfo) {
+    // 清除之前的选择
+    document.querySelectorAll('.file-item').forEach((item) => {
+      item.classList.remove('selected');
+    });
+
+    // 标记当前选择
+    event.target.closest('.file-item').classList.add('selected');
+
+    // 保存选择的文件信息
+    selectedFilePath = fileInfo.path;
+    window.selectedFileInfo = fileInfo;
+
+    // 显示选择的文件信息
+    const selectedFileDiv = document.getElementById('selected-file');
+    const selectedFileName = document.getElementById('selected-file-name');
+    const selectedFileSize = document.getElementById('selected-file-size');
+
+    selectedFileName.textContent = fileInfo.name;
+    selectedFileSize.textContent = `(${formatFileSize(fileInfo.size)})`;
+    selectedFileDiv.style.display = 'block';
+
+    // 启用分析按钮
+    const analyzeBtn = document.getElementById('analyze-btn');
+    analyzeBtn.disabled = false;
+
+    addLog(`已选择文件: ${fileInfo.name}`, 'info');
+    addLog('点击"分析文件"按钮开始分析', 'success');
+  }
+
+  // 判断是否为根路径
+  function isRootPath(path) {
+    if (!path || path === '') return true;
+
+    // Windows根路径（如 C:, D:, C:\, D:\）
+    if (/^[A-Za-z]:?\\?$/.test(path)) return true;
+
+    // Unix根路径
+    if (path === '/') return true;
+
+    // 网络路径根（\\server 或 //server）
+    if (/^[\\\/]{2}[^\\\/]+$/.test(path)) return true;
+
+    return false;
+  }
+
+  // 格式化文件大小
+  function formatFileSize(bytes) {
+    if (bytes === 0) return '0 B';
+    const k = 1024;
+    const sizes = ['B', 'KB', 'MB', 'GB'];
+    const i = Math.floor(Math.log(bytes) / Math.log(k));
+    return parseFloat((bytes / Math.pow(k, i)).toFixed(1)) + ' ' + sizes[i];
+  }
+
+  // 分析文件
+  function analyzeFile() {
+    if (!isConnected) {
+      addLog('WebSocket未连接，请等待连接建立', 'error');
+      return;
+    }
+
+    if (!selectedFilePath) {
+      addLog('请先选择文件', 'error');
+      return;
+    }
+
+    const analyzeBtn = document.getElementById('analyze-btn');
+    analyzeBtn.disabled = true;
+    analyzeBtn.textContent = '分析中...';
+
+    const request = {
+      type: 'analyze_file',
+      data: {
+        file_path: selectedFilePath,
+      },
+    };
+
+    ws.send(JSON.stringify(request));
+    addLog(`开始分析文件: ${selectedFilePath}`, 'info');
+  }
+
+  // 处理文件分析结果
+  function handleFileAnalysisResult(analysisResult) {
+    const analyzeBtn = document.getElementById('analyze-btn');
+    const classSelectionGroup = document.getElementById(
+      'class-selection-group'
+    );
+    const classSelect = document.getElementById('class-name');
+
+    analyzeBtn.disabled = false;
+    analyzeBtn.textContent = '重新分析';
+
+    if (analysisResult.success) {
+      const classes = analysisResult.classes || [];
+      const registryType = document.querySelector(
+        'input[name="registry-type"]:checked'
+      ).value;
+
+      // 清空现有选项并设置默认选项
+      const defaultText =
+        registryType === 'resource' ? '请选择类或函数...' : '请选择类...';
+      classSelect.innerHTML = `<option value="">${defaultText}</option>`;
+
+      // 添加找到的类
+      classes.forEach((cls) => {
+        const option = document.createElement('option');
+        option.value = cls.name;
+        option.textContent = `${cls.name} - ${cls.docstring || '无描述'}`;
+        classSelect.appendChild(option);
+      });
+
+      if (classes.length > 0) {
+        classSelectionGroup.style.display = 'block';
+        addLog(
+          `找到 ${classes.length} 个类: ${classes
+            .map((c) => c.name)
+            .join(', ')}`,
+          'success'
+        );
+
+        // 显示分析状态
+        showFileAnalysisStatus(analysisResult);
+
+        // 监听类选择变化，启用导入按钮和显示配置参数区域
+        classSelect.onchange = function () {
+          const importBtn = document.getElementById('import-btn');
+          const configParamsSection = document.getElementById(
+            'config-params-section'
+          );
+          const safeClassNameInput = document.getElementById('safe-class-name');
+
+          if (this.value) {
+            importBtn.disabled = false;
+            configParamsSection.style.display = 'block';
+
+            // 自动生成Safe Class Name
+            const registryType = document.querySelector(
+              'input[name="registry-type"]:checked'
+            ).value;
+            const suffix = registryType === 'device' ? '_device' : '';
+            const safeClassName = this.value.toLowerCase() + suffix;
+            safeClassNameInput.value = safeClassName;
+
+            addLog(`选择了类: ${this.value}`, 'info');
+            addLog(`自动生成Safe Class Name: ${safeClassName}`, 'info');
+          } else {
+            importBtn.disabled = true;
+            configParamsSection.style.display = 'none';
+          }
+        };
+      } else {
+        addLog('文件中未找到任何类定义', 'warning');
+        classSelectionGroup.style.display = 'none';
+      }
+    } else {
+      addLog(`文件分析失败: ${analysisResult.error}`, 'error');
+      classSelectionGroup.style.display = 'none';
+    }
+  }
+
+  // 显示文件分析状态
+  function showFileAnalysisStatus(analysisResult) {
+    // 移除现有的分析状态显示
+    const existingStatus = document.getElementById('file-analysis-status');
+    if (existingStatus) {
+      existingStatus.remove();
+    }
+
+    // 创建新的状态显示
+    const statusDiv = document.createElement('div');
+    statusDiv.id = 'file-analysis-status';
+    statusDiv.className = 'file-analysis-status';
+
+    let statusContent = `
+      <strong>文件分析结果:</strong><br>
+      文件路径: ${analysisResult.file_path}<br>
+      模块名: ${analysisResult.module_name}<br>
+      找到类数量: ${analysisResult.classes.length}
+    `;
+
+    if (analysisResult.classes.length > 0) {
+      statusContent += '<br><strong>可用类:</strong>';
+      analysisResult.classes.forEach((cls) => {
+        statusContent += `<br>• ${cls.name}: ${cls.docstring || '无描述'}`;
+      });
+    }
+
+    statusDiv.innerHTML = statusContent;
+
+    // 插入到类选择组前面
+    const classSelectionGroup = document.getElementById(
+      'class-selection-group'
+    );
+    classSelectionGroup.parentNode.insertBefore(statusDiv, classSelectionGroup);
+  }
+
+  // 导入文件
+  function importFile() {
+    if (!isConnected) {
+      addLog('WebSocket未连接，请等待连接建立', 'error');
+      return;
+    }
+
+    if (!selectedFilePath) {
+      addLog('请先选择文件', 'error');
+      return;
+    }
+
+    const classSelect = document.getElementById('class-name');
+    const className = classSelect.value.trim();
+
+    if (!className) {
+      addLog('请先分析文件并选择要导入的类', 'error');
+      return;
+    }
+
+    const registryType = document.querySelector(
+      'input[name="registry-type"]:checked'
+    ).value;
+
+    // 获取用户输入的所有配置参数
+    const description = document
+      .getElementById('description-input')
+      .value.trim();
+    const safeClassName = document
+      .getElementById('safe-class-name')
+      .value.trim();
+    const iconInput = document.getElementById('icon-input').value.trim();
+    const modulePrefix = document.getElementById('module-prefix').value.trim();
+    const handlesConfig = getHandlesConfig();
+
+    updateConnectionStatus('processing', '正在生成注册表...');
+
+    const request = {
+      type: 'import_file',
+      data: {
+        file_path: selectedFilePath,
+        registry_type: registryType,
+        class_name: className,
+        module_name: null, // 模块名自动生成
+        description: description,
+        safe_class_name: safeClassName,
+        icon: iconInput,
+        module_prefix: modulePrefix,
+        handles: handlesConfig,
+      },
+    };
+
+    ws.send(JSON.stringify(request));
+    addLog(`开始导入文件: ${selectedFilePath}`, 'info');
+    addLog(`注册表类型: ${registryType}`, 'info');
+    addLog(`选择的类: ${className}`, 'info');
+
+    // 显示文件信息
+    showFileInfo(
+      selectedFilePath,
+      registryType,
+      className,
+      safeClassName,
+      iconInput,
+      modulePrefix,
+      handlesConfig
+    );
+  }
+
+  // 显示文件信息
+  function showFileInfo(
+    filePath,
+    registryType,
+    className,
+    safeClassName,
+    icon,
+    modulePrefix,
+    handles
+  ) {
+    const fileInfo = document.getElementById('file-info');
+    const fileDetails = document.getElementById('file-details');
+
+    let details = `
+            <div><strong>文件路径:</strong> ${filePath}</div>
+            <div><strong>注册表类型:</strong> ${registryType}</div>
+            <div><strong>选择的类:</strong> ${className}</div>
+            <div><strong>Safe Class Name:</strong> ${
+              safeClassName || '自动生成'
+            }</div>
+            <div><strong>Module Prefix:</strong> ${modulePrefix || '无'}</div>
+            <div><strong>图标:</strong> ${icon || '无'}</div>
+            <div><strong>Handles 数量:</strong> ${handles.length}</div>
+        `;
+
+    if (handles.length > 0) {
+      details += '<div><strong>Handles 配置:</strong><ul>';
+      handles.forEach((handle, index) => {
+        details += `<li>${index + 1}. ${handle.data_key} (${
+          handle.io_type
+        })</li>`;
+      });
+      details += '</ul></div>';
+    }
+
+    fileDetails.innerHTML = details;
+    fileInfo.style.display = 'block';
+  }
+
+  // 清空结果
+  function clearResults() {
+    // 重置文件选择
+    selectedFilePath = null;
+    window.selectedFileInfo = null;
+
+    // 清除文件选择状态
+    document.querySelectorAll('.file-item').forEach((item) => {
+      item.classList.remove('selected');
+    });
+
+    // 隐藏选择的文件显示
+    document.getElementById('selected-file').style.display = 'none';
+
+    // 重置分析按钮
+    const analyzeBtn = document.getElementById('analyze-btn');
+    analyzeBtn.disabled = true;
+    analyzeBtn.textContent = '分析文件';
+
+    // 重置导入按钮
+    const importBtn = document.getElementById('import-btn');
+    importBtn.disabled = true;
+
+    // 隐藏类选择和配置参数区域
+    document.getElementById('class-selection-group').style.display = 'none';
+    document.getElementById('config-params-section').style.display = 'none';
+
+    // 清空所有输入框
+    document.getElementById('description-input').value = '';
+    document.getElementById('safe-class-name').value = '';
+    document.getElementById('icon-input').value = '';
+    document.getElementById('module-prefix').value = '';
+
+    // 清空handles配置
+    const handlesContainer = document.getElementById('handles-container');
+    handlesContainer.innerHTML = '';
+    handleCounter = 0;
+
+    // 根据当前注册表类型设置默认选项文字
+    const registryType = document.querySelector(
+      'input[name="registry-type"]:checked'
+    ).value;
+    const defaultText =
+      registryType === 'resource' ? '请选择类或函数...' : '请选择类...';
+    document.getElementById(
+      'class-name'
+    ).innerHTML = `<option value="">${defaultText}</option>`;
+
+    // 移除分析状态显示
+    const analysisStatus = document.getElementById('file-analysis-status');
+    if (analysisStatus) {
+      analysisStatus.remove();
+    }
+
+    // 清空其他显示区域
+    document.getElementById('results-section').style.display = 'none';
+    document.getElementById('file-info').style.display = 'none';
+    document.getElementById('log-output').textContent = '等待操作...';
+
+    // 清空YAML查看器
+    document.getElementById('yaml-registry-viewer').textContent = '等待数据...';
+    window.registryYaml = null;
+
+    addLog('已重置所有设置', 'info');
+  }
+
+  // 添加Handle项目
+  function addHandleItem() {
+    handleCounter++;
+    const handlesContainer = document.getElementById('handles-container');
+
+    const handleItem = document.createElement('div');
+    handleItem.className = 'handle-item';
+    handleItem.id = `handle-item-${handleCounter}`;
+
+    handleItem.innerHTML = `
+      <div class="handle-item-header">
+        <span class="handle-item-title">Handle ${handleCounter}</span>
+        <button type="button" class="remove-handle-btn" onclick="removeHandleItem(${handleCounter})" title="删除">×</button>
+      </div>
+      
+      <div class="handle-form-row">
+        <div class="handle-form-group">
+          <label>Data Key</label>
+          <input type="text" placeholder="例如: fluid_port_1" data-field="data_key">
+        </div>
+        <div class="handle-form-group">
+          <label>Handler Key</label>
+          <input type="text" placeholder="例如: port_1" data-field="handler_key">
+        </div>
+      </div>
+      
+      <div class="handle-form-row">
+        <div class="handle-form-group">
+          <label>Data Source</label>
+          <input type="text" placeholder="例如: executor、handle" data-field="data_source">
+        </div>
+        <div class="handle-form-group">
+          <label>Data Type</label>
+          <input type="text" placeholder="例如: fluid" data-field="data_type">
+        </div>
+      </div>
+      
+      <div class="handle-form-row">
+        <div class="handle-form-group">
+          <label>IO Type</label>
+          <select data-field="io_type">
+            <option value="">请选择</option>
+            <option value="source">source（输出，右侧）</option>
+            <option value="target">target（输入，左侧）</option>
+          </select>
+        </div>
+        <div class="handle-form-group">
+          <label>Side</label>
+          <select data-field="side">
+            <option value="">请选择</option>
+            <option value="NORTH">NORTH（上）</option>
+            <option value="SOUTH">SOUTH（下）</option>
+            <option value="EAST">EAST（右）</option>
+            <option value="WEST">WEST（左）</option>
+          </select>
+        </div>
+      </div>
+      
+      <div class="handle-form-row">
+        <div class="handle-form-group">
+          <label>Label</label>
+          <input type="text" placeholder="显示名称，例如: port_1" data-field="label">
+        </div>
+      </div>
+      
+      <div class="handle-form-row full-width">
+        <div class="handle-form-group">
+          <label>Description</label>
+          <input type="text" placeholder="例如: 八通阀门端口1" data-field="description">
+        </div>
+      </div>
+    `;
+
+    handlesContainer.appendChild(handleItem);
+    addLog(`添加了 Handle ${handleCounter}`, 'info');
+  }
+
+  // 删除Handle项目
+  function removeHandleItem(id) {
+    const handleItem = document.getElementById(`handle-item-${id}`);
+    if (handleItem) {
+      handleItem.remove();
+      addLog(`删除了 Handle ${id}`, 'info');
+    }
+  }
+
+  // 获取所有Handles配置
+  function getHandlesConfig() {
+    const handles = [];
+    const handleItems = document.querySelectorAll('.handle-item');
+
+    handleItems.forEach((item) => {
+      const handleData = {};
+      const inputs = item.querySelectorAll('[data-field]');
+
+      inputs.forEach((input) => {
+        const field = input.getAttribute('data-field');
+        const value = input.value.trim();
+        if (value) {
+          handleData[field] = value;
+        }
+      });
+
+      // 只有当至少有data_key时才添加
+      if (handleData.data_key) {
+        handles.push(handleData);
+      }
+    });
+
+    return handles;
+  }
+</script>
+{% endblock %}
diff --git a/unilabos/app/web/templates/status.html b/unilabos/app/web/templates/status.html
index e1105b7b..a0d3dfbc 100644
--- a/unilabos/app/web/templates/status.html
+++ b/unilabos/app/web/templates/status.html
@@ -1,1255 +1,2378 @@
-{% extends "base.html" %}
+{% extends "base.html" %} {% block title %}UniLab System Status{% endblock %} {%
+block header %}UniLab System Status{% endblock %} {% block top_info %}
+<!-- 页面导航 -->
+<div class="nav-tabs" style="margin-bottom: 15px">
+  <a href="/" class="nav-tab" target="_blank">主页</a>
+  <a
+    href="/status"
+    class="nav-tab"
+    style="background-color: #4caf50; color: white"
+    target="_blank"
+    >状态</a
+  >
+  <a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
+</div>
 
-{% block title %}UniLab System Status{% endblock %}
-
-{% block header %}UniLab System Status{% endblock %}
-
-{% block top_info %}
 <!-- 系统模式显示 -->
 <div class="system-mode-banner">
-    <div class="mode-indicator {% if is_host_mode %}host-mode{% else %}slave-mode{% endif %}">
-        系统模式: <strong>{{ "主机模式 (HOST)" if is_host_mode else "从机模式 (SLAVE)" }}</strong>
-    </div>
+  <div
+    class="mode-indicator {% if is_host_mode %}host-mode{% else %}slave-mode{% endif %}"
+  >
+    系统模式:
+    <strong
+      >{{ "主机模式 (HOST)" if is_host_mode else "从机模式 (SLAVE)" }}</strong
+    >
+  </div>
 </div>
 
 {% if registry_info %}
 <div class="registry-info">
-    {% if registry_info.paths %}
-    <div class="registry-path">
-        <strong>注册表路径:</strong>
-        <ul class="path-list">
-        {% for path in registry_info.paths %}
-            <li>
-                <span class="path">{{ path }}</span>
-                <span class="folder-link" onclick="openFolder('{{ path }}')" title="打开文件夹">📁</span>
-            </li>
-        {% endfor %}
-        </ul>
-    </div>
-    {% endif %}
-    
-    {% if registry_info.devices_paths %}
-    <div class="registry-path">
-        <strong>设备目录:</strong>
-        <ul class="path-list">
-        {% for path in registry_info.devices_paths %}
-            <li>
-                <span class="path">{{ path }}</span>
-                <span class="folder-link" onclick="openFolder('{{ path }}')" title="打开文件夹">📁</span>
-            </li>
-        {% endfor %}
-        </ul>
-    </div>
-    {% endif %}
-    
-    {% if registry_info.device_comms_paths %}
-    <div class="registry-path">
-        <strong>设备通信目录:</strong>
-        <ul class="path-list">
-        {% for path in registry_info.device_comms_paths %}
-            <li>
-                <span class="path">{{ path }}</span>
-                <span class="folder-link" onclick="openFolder('{{ path }}')" title="打开文件夹">📁</span>
-            </li>
-        {% endfor %}
-        </ul>
-    </div>
-    {% endif %}
-    
-    {% if registry_info.resources_paths %}
-    <div class="registry-path">
-        <strong>资源目录:</strong>
-        <ul class="path-list">
-        {% for path in registry_info.resources_paths %}
-            <li>
-                <span class="path">{{ path }}</span>
-                <span class="folder-link" onclick="openFolder('{{ path }}')" title="打开文件夹">📁</span>
-            </li>
-        {% endfor %}
-        </ul>
-    </div>
-    {% endif %}
+  {% if registry_info.paths %}
+  <div class="registry-path">
+    <strong>注册表路径:</strong>
+    <ul class="path-list">
+      {% for path in registry_info.paths %}
+      <li>
+        <span class="path">{{ path }}</span>
+        <span
+          class="folder-link"
+          onclick="openFolder('{{ path }}')"
+          title="打开文件夹"
+          >📁</span
+        >
+      </li>
+      {% endfor %}
+    </ul>
+  </div>
+  {% endif %} {% if registry_info.devices_paths %}
+  <div class="registry-path">
+    <strong>设备目录:</strong>
+    <ul class="path-list">
+      {% for path in registry_info.devices_paths %}
+      <li>
+        <span class="path">{{ path }}</span>
+        <span
+          class="folder-link"
+          onclick="openFolder('{{ path }}')"
+          title="打开文件夹"
+          >📁</span
+        >
+      </li>
+      {% endfor %}
+    </ul>
+  </div>
+  {% endif %} {% if registry_info.device_comms_paths %}
+  <div class="registry-path">
+    <strong>设备通信目录:</strong>
+    <ul class="path-list">
+      {% for path in registry_info.device_comms_paths %}
+      <li>
+        <span class="path">{{ path }}</span>
+        <span
+          class="folder-link"
+          onclick="openFolder('{{ path }}')"
+          title="打开文件夹"
+          >📁</span
+        >
+      </li>
+      {% endfor %}
+    </ul>
+  </div>
+  {% endif %} {% if registry_info.resources_paths %}
+  <div class="registry-path">
+    <strong>资源目录:</strong>
+    <ul class="path-list">
+      {% for path in registry_info.resources_paths %}
+      <li>
+        <span class="path">{{ path }}</span>
+        <span
+          class="folder-link"
+          onclick="openFolder('{{ path }}')"
+          title="打开文件夹"
+          >📁</span
+        >
+      </li>
+      {% endfor %}
+    </ul>
+  </div>
+  {% endif %}
 </div>
 {% endif %}
 
 <div class="nav-tabs">
-    {% if is_host_mode and host_node_info.available %}
-    <a href="#host-node-section" class="nav-tab">主机节点</a>
-    {% endif %}
-    <a href="#online-devices-section" class="nav-tab">本地设备</a>
-    <a href="#devices-section" class="nav-tab">设备类型</a>
-    <a href="#resources-section" class="nav-tab">资源类型</a>
-    <a href="#modules-section" class="nav-tab">转换器模块</a>
+  {% if is_host_mode and host_node_info.available %}
+  <a href="#host-node-section" class="nav-tab">主机节点</a>
+  {% endif %}
+  <a href="#online-devices-section" class="nav-tab">本地设备</a>
+  <a href="#devices-section" class="nav-tab">设备类型</a>
+  <a href="#resources-section" class="nav-tab">资源类型</a>
+  <a href="#modules-section" class="nav-tab">转换器模块</a>
 </div>
-{% endblock %}
-
-{% block content %}
+{% endblock %} {% block content %}
 <!-- 主机节点信息部分 -->
 {% if is_host_mode and host_node_info.available %}
 <div class="card" id="host-node-section">
-    <h2>主机节点信息</h2>
-    
-    <!-- 主机控制的设备 -->
-    <div class="host-section">
-        <h3>已管理设备 <span class="count-badge">{{ host_node_info.devices|length }}</span></h3>
-        <table class="responsive-table">
-            <tr>
-                <th>设备ID</th>
-                <th>命名空间</th>
-                <th>机器名称</th>
-                <th>状态</th>
-            </tr>
-            {% for device_id, device_info in host_node_info.devices.items() %}
-            <tr>
-                <td>{{ device_id }}</td>
-                <td>{{ device_info.namespace }}</td>
-                <td>{{ device_info.machine_name }}</td>
-                <td><span class="status-badge online">{{ "在线" if device_info.is_online else "离线" }}</span></td>
-            </tr>
-            {% else %}
-            <tr>
-                <td colspan="4" class="empty-state">没有发现已管理的设备</td>
-            </tr>
-            {% endfor %}
-        </table>
-    </div>
-    
-    <!-- 主机的动作客户端 -->
-    <div class="host-section">
-        <h3>动作客户端 <span class="count-badge">{{ host_node_info.action_clients|length }}</span></h3>
-        <table class="responsive-table collapsible-table">
-            <h4>已接纳动作:</h4>
-            <table class="inner-table">
-                <tr>
-                    <th>话题</th>
-                    <th>类型</th>
-                    <th></th>
-                </tr>
-                {% for action_name, action_info in host_node_info.action_clients.items() %}
-                <tr class="action-row collapsible-sub-row" data-target="action-cmd-{{ loop.index }}-{{ device_loop_index }}">
-                    <td>{{ action_name }}</td>
-                    <td>{{ action_info.type_name }}</td>
-                    <td><span class="toggle-sub-indicator">▼</span></td>
-                </tr>
-                <tr id="action-cmd-{{ loop.index }}-{{ device_loop_index }}" class="cmd-row" style="display: none;">
-                    <td colspan="5">
-                        <div class="cmd-block">
-                            <strong>发送命令:</strong>
-                            <div class="cmd-line">
-                                <pre>ros2 action send_goal {{ action_info.action_path }} {{ action_info.type_name_convert }} "{{ action_info.goal_info }}"</pre>
-                                <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
-                            </div>
-                            
-                            <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
-                        </div>
-                    </td>
-                </tr>
-                {% endfor %}
-            </table>
-        </table>
-    </div>
-    
-    <!-- 主机已订阅的主题 -->
-    <div class="host-section">
-        <h3>已订阅主题 <span class="count-badge">{{ host_node_info.subscribed_topics|length }}</span></h3>
-        <div class="topics-container">
-            {% if host_node_info.subscribed_topics %}
-            <div class="topics-list">
-                {% for topic in host_node_info.subscribed_topics %}
-                <div class="topic-item">
-                    <span class="topic-name">{{ topic }}</span>
-                    <button class="copy-btn small" onclick="copyToClipboard('{{ topic }}', event)" title="复制主题名">复制</button>
-                </div>
-                {% endfor %}
+  <h2>主机节点信息</h2>
+
+  <!-- 主机控制的设备 -->
+  <div class="host-section">
+    <h3>
+      已管理设备
+      <span class="count-badge">{{ host_node_info.devices|length }}</span>
+    </h3>
+    <table class="responsive-table">
+      <tr>
+        <th>设备ID</th>
+        <th>命名空间</th>
+        <th>机器名称</th>
+        <th>状态</th>
+      </tr>
+      {% for device_id, device_info in host_node_info.devices.items() %}
+      <tr>
+        <td>{{ device_id }}</td>
+        <td>{{ device_info.namespace }}</td>
+        <td>{{ device_info.machine_name }}</td>
+        <td>
+          <span class="status-badge online"
+            >{{ "在线" if device_info.is_online else "离线" }}</span
+          >
+        </td>
+      </tr>
+      {% else %}
+      <tr>
+        <td colspan="4" class="empty-state">没有发现已管理的设备</td>
+      </tr>
+      {% endfor %}
+    </table>
+  </div>
+
+  <!-- 主机的动作客户端 -->
+  <div class="host-section">
+    <h3>
+      动作客户端
+      <span class="count-badge"
+        >{{ host_node_info.action_clients|length }}</span
+      >
+    </h3>
+    <table class="responsive-table collapsible-table">
+      <h4>已接纳动作:</h4>
+      <table class="inner-table">
+        <tr>
+          <th>话题</th>
+          <th>类型</th>
+          <th></th>
+        </tr>
+        {% for action_name, action_info in host_node_info.action_clients.items()
+        %}
+        <tr
+          class="action-row collapsible-sub-row"
+          data-target="action-cmd-{{ loop.index }}-{{ device_loop_index }}"
+        >
+          <td>{{ action_name }}</td>
+          <td>{{ action_info.type_name }}</td>
+          <td><span class="toggle-sub-indicator">▼</span></td>
+        </tr>
+        <tr
+          id="action-cmd-{{ loop.index }}-{{ device_loop_index }}"
+          class="cmd-row"
+          style="display: none"
+        >
+          <td colspan="5">
+            <div class="cmd-block">
+              <strong>发送命令:</strong>
+              <div class="cmd-line">
+                <pre>
+ros2 action send_goal {{ action_info.action_path }} {{ action_info.type_name_convert }} "{{ action_info.goal_info }}"</pre
+                >
+                <button
+                  class="copy-btn"
+                  onclick="copyToClipboard(this.previousElementSibling.textContent, event)"
+                >
+                  复制
+                </button>
+              </div>
+
+              <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
             </div>
-            {% else %}
-            <div class="empty-state">没有发现已订阅的主题</div>
-            {% endif %}
+          </td>
+        </tr>
+        {% endfor %}
+      </table>
+    </table>
+  </div>
+
+  <!-- 主机已订阅的主题 -->
+  <div class="host-section">
+    <h3>
+      已订阅主题
+      <span class="count-badge"
+        >{{ host_node_info.subscribed_topics|length }}</span
+      >
+    </h3>
+    <div class="topics-container">
+      {% if host_node_info.subscribed_topics %}
+      <div class="topics-list">
+        {% for topic in host_node_info.subscribed_topics %}
+        <div class="topic-item">
+          <span class="topic-name">{{ topic }}</span>
+          <button
+            class="copy-btn small"
+            onclick="copyToClipboard('{{ topic }}', event)"
+            title="复制主题名"
+          >
+            复制
+          </button>
         </div>
+        {% endfor %}
+      </div>
+      {% else %}
+      <div class="empty-state">没有发现已订阅的主题</div>
+      {% endif %}
     </div>
-    
-    <!-- 设备状态 -->
-    {% if host_node_info.device_status %}
-    <div class="host-section">
-        <h3>设备状态</h3>
-        <table class="responsive-table">
-            <tr>
-                <th>设备ID</th>
-                <th>属性</th>
-                <th>值</th>
-                <th>最后更新</th>
-            </tr>
-            {% for device_id, properties in host_node_info.device_status.items() %}
-                {% for prop_name, prop_value in properties.items() %}
-                <tr>
-                    {% if loop.first %}
-                    <td rowspan="{{ properties|length }}">{{ device_id }}</td>
-                    {% endif %}
-                    <td>{{ prop_name }}</td>
-                    <td>{{ prop_value }}</td>
-                    <td>
-                        {% if device_id in host_node_info.device_status_timestamps and prop_name in host_node_info.device_status_timestamps[device_id] %}
-                            {% set ts_info = host_node_info.device_status_timestamps[device_id][prop_name] %}
-                            {% if ts_info.elapsed >= 0 %}
-                                <span class="timestamp" title="{{ ts_info.timestamp }}">{{ ts_info.elapsed }} 秒前</span>
-                            {% else %}
-                                <span class="timestamp not-updated">未更新</span>
-                            {% endif %}
-                        {% else %}
-                            <span class="timestamp not-updated">无数据</span>
-                        {% endif %}
-                    </td>
-                </tr>
-                {% endfor %}
-            {% else %}
-            <tr>
-                <td colspan="4" class="empty-state">没有设备状态数据</td>
-            </tr>
-            {% endfor %}
-        </table>
-    </div>
-    {% endif %}
+  </div>
+
+  <!-- 设备状态 -->
+  {% if host_node_info.device_status %}
+  <div class="host-section">
+    <h3>设备状态</h3>
+    <table class="responsive-table">
+      <tr>
+        <th>设备ID</th>
+        <th>属性</th>
+        <th>值</th>
+        <th>最后更新</th>
+      </tr>
+      {% for device_id, properties in host_node_info.device_status.items() %} {%
+      for prop_name, prop_value in properties.items() %}
+      <tr>
+        {% if loop.first %}
+        <td rowspan="{{ properties|length }}">{{ device_id }}</td>
+        {% endif %}
+        <td>{{ prop_name }}</td>
+        <td>{{ prop_value }}</td>
+        <td>
+          {% if device_id in host_node_info.device_status_timestamps and
+          prop_name in host_node_info.device_status_timestamps[device_id] %} {%
+          set ts_info =
+          host_node_info.device_status_timestamps[device_id][prop_name] %} {% if
+          ts_info.elapsed >= 0 %}
+          <span class="timestamp" title="{{ ts_info.timestamp }}"
+            >{{ ts_info.elapsed }} 秒前</span
+          >
+          {% else %}
+          <span class="timestamp not-updated">未更新</span>
+          {% endif %} {% else %}
+          <span class="timestamp not-updated">无数据</span>
+          {% endif %}
+        </td>
+      </tr>
+      {% endfor %} {% else %}
+      <tr>
+        <td colspan="4" class="empty-state">没有设备状态数据</td>
+      </tr>
+      {% endfor %}
+    </table>
+  </div>
+  {% endif %}
 </div>
 {% endif %}
 
 <!-- 当前中断设备部分 -->
 <div class="card" id="online-devices-section">
-    <h2>Local Devices</h2>
-    <table class="responsive-table">
-        <tr>
-            <th>Device ID</th>
-            <th>节点名称</th>
-            <th>命名空间</th>
-            <th>机器名称</th>
-            <th>状态项</th>
-            <th>动作数</th>
-        </tr>
-        {% for device_id, device_info in ros_node_info.registered_devices.items() %}
-        {% set device_loop_index = loop.index %}
-        <tr class="collapsible-row device-row" data-target="device-detail-{{ loop.index }}">
-            <td>{{ device_id }}</td>
-            <td>{{ device_info.node_name }}</td>
-            <td>{{ device_info.namespace }}</td>
-            <td>{{ device_info.machine_name|default("本地") }}</td>
-            <td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
-            <td>{{ ros_node_info.device_actions.get(device_id, {})|length }} <span class="toggle-indicator">▼</span></td>
-        </tr>
-        <tr id="device-detail-{{ loop.index }}" class="detail-row" style="display: none;">
-            <td colspan="5">
-                <div class="content-full">
-                    UUID: {{ device_info.uuid }}
-                    {% if device_id in ros_node_info.device_topics %}
-                    <h4>已发布状态:</h4>
-                    <table class="inner-table">
-                        <tr>
-                            <th>名称</th>
-                            <th>类型</th>
-                            <th>话题</th>
-                            <th>间隔</th>
-                            <th></th>
-                        </tr>
-                        {% for status_name, status_info in ros_node_info.device_topics[device_id].items() %}
-                        <tr class="topic-row collapsible-sub-row" data-target="topic-cmd-{{ loop.index }}-{{ device_loop_index }}">
-                            <td>{{ status_name }}</td>
-                            <td>{{ status_info.type_name }}</td>
-                            <td>{{ status_info.topic_path }}</td>
-                            <td>{{ status_info.timer_period }}</td>
-                            <td><span class="toggle-sub-indicator">▼</span></td>
-                        </tr>
-                        <tr id="topic-cmd-{{ loop.index }}-{{ device_loop_index }}" class="cmd-row" style="display: none;">
-                            <td colspan="5">
-                                <div class="cmd-block">
-                                    <strong>订阅命令:</strong>
-                                    <div class="cmd-line">
-                                        <pre>ros2 topic echo {{ status_info.topic_path }}</pre>
-                                        <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
-                                    </div>
-                                </div>
-                            </td>
-                        </tr>
-                        {% endfor %}
-                    </table>
-                    {% endif %}
-                    
-                    {% if device_id in ros_node_info.device_actions %}
-                    <h4>已发布动作:</h4>
-                    <table class="inner-table">
-                        <tr>
-                            <th>名称</th>
-                            <th>类型</th>
-                            <th>话题</th>
-                            <th></th>
-                        </tr>
-                        {% for action_name, action_info in ros_node_info.device_actions[device_id].items() %}
-                        <tr class="action-row collapsible-sub-row" data-target="action-cmd-{{ loop.index }}-{{ device_loop_index }}">
-                            <td>{{ action_name }}</td>
-                            <td>{{ action_info.type_name }}</td>
-                            <td>{{ action_info.action_path }}</td>
-                            <td><span class="toggle-sub-indicator">▼</span></td>
-                        </tr>
-                        <tr id="action-cmd-{{ loop.index }}-{{ device_loop_index }}" class="cmd-row" style="display: none;">
-                            <td colspan="5">
-                                <div class="cmd-block">
-                                    <strong>发送命令:</strong>
-                                    <div class="cmd-line">
-                                        <pre>ros2 action send_goal {{ action_info.action_path }} {{ action_info.type_name_convert }} "{{ action_info.goal_info }}"</pre>
-                                        <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
-                                    </div>
-                                    
-                                    <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
-                                </div>
-                            </td>
-                        </tr>
-                        {% endfor %}
-                    </table>
-                    {% endif %}
+  <h2>Local Devices</h2>
+  <table class="responsive-table">
+    <tr>
+      <th>Device ID</th>
+      <th>节点名称</th>
+      <th>命名空间</th>
+      <th>机器名称</th>
+      <th>状态项</th>
+      <th>动作数</th>
+    </tr>
+    {% for device_id, device_info in ros_node_info.registered_devices.items() %}
+    {% set device_loop_index = loop.index %}
+    <tr
+      class="collapsible-row device-row"
+      data-target="device-detail-{{ loop.index }}"
+    >
+      <td>{{ device_id }}</td>
+      <td>{{ device_info.node_name }}</td>
+      <td>{{ device_info.namespace }}</td>
+      <td>{{ device_info.machine_name|default("本地") }}</td>
+      <td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
+      <td>
+        {{ ros_node_info.device_actions.get(device_id, {})|length }}
+        <span class="toggle-indicator">▼</span>
+      </td>
+    </tr>
+    <tr
+      id="device-detail-{{ loop.index }}"
+      class="detail-row"
+      style="display: none"
+    >
+      <td colspan="5">
+        <div class="content-full">
+          UUID: {{ device_info.uuid }} {% if device_id in
+          ros_node_info.device_topics %}
+          <h4>已发布状态:</h4>
+          <table class="inner-table">
+            <tr>
+              <th>名称</th>
+              <th>类型</th>
+              <th>话题</th>
+              <th>间隔</th>
+              <th></th>
+            </tr>
+            {% for status_name, status_info in
+            ros_node_info.device_topics[device_id].items() %}
+            <tr
+              class="topic-row collapsible-sub-row"
+              data-target="topic-cmd-{{ loop.index }}-{{ device_loop_index }}"
+            >
+              <td>{{ status_name }}</td>
+              <td>{{ status_info.type_name }}</td>
+              <td>{{ status_info.topic_path }}</td>
+              <td>{{ status_info.timer_period }}</td>
+              <td><span class="toggle-sub-indicator">▼</span></td>
+            </tr>
+            <tr
+              id="topic-cmd-{{ loop.index }}-{{ device_loop_index }}"
+              class="cmd-row"
+              style="display: none"
+            >
+              <td colspan="5">
+                <div class="cmd-block">
+                  <strong>订阅命令:</strong>
+                  <div class="cmd-line">
+                    <pre>ros2 topic echo {{ status_info.topic_path }}</pre>
+                    <button
+                      class="copy-btn"
+                      onclick="copyToClipboard(this.previousElementSibling.textContent, event)"
+                    >
+                      复制
+                    </button>
+                  </div>
                 </div>
-            </td>
-        </tr>
-        {% endfor %}
-    </table>
+              </td>
+            </tr>
+            {% endfor %}
+          </table>
+          {% endif %} {% if device_id in ros_node_info.device_actions %}
+          <h4>已发布动作:</h4>
+          <table class="inner-table">
+            <tr>
+              <th>名称</th>
+              <th>类型</th>
+              <th>话题</th>
+              <th></th>
+            </tr>
+            {% for action_name, action_info in
+            ros_node_info.device_actions[device_id].items() %}
+            <tr
+              class="action-row collapsible-sub-row"
+              data-target="action-cmd-{{ loop.index }}-{{ device_loop_index }}"
+            >
+              <td>{{ action_name }}</td>
+              <td>{{ action_info.type_name }}</td>
+              <td>{{ action_info.action_path }}</td>
+              <td><span class="toggle-sub-indicator">▼</span></td>
+            </tr>
+            <tr
+              id="action-cmd-{{ loop.index }}-{{ device_loop_index }}"
+              class="cmd-row"
+              style="display: none"
+            >
+              <td colspan="5">
+                <div class="cmd-block">
+                  <strong>发送命令:</strong>
+                  <div class="cmd-line">
+                    <pre>
+ros2 action send_goal {{ action_info.action_path }} {{ action_info.type_name_convert }} "{{ action_info.goal_info }}"</pre
+                    >
+                    <button
+                      class="copy-btn"
+                      onclick="copyToClipboard(this.previousElementSibling.textContent, event)"
+                    >
+                      复制
+                    </button>
+                  </div>
+
+                  <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
+                </div>
+              </td>
+            </tr>
+            {% endfor %}
+          </table>
+          {% endif %}
+        </div>
+      </td>
+    </tr>
+    {% endfor %}
+  </table>
 </div>
 
 <!-- 设备部分 -->
 <div class="card" id="devices-section">
-    <h2>Device Types</h2>
+  <h2 class="collapsible-header" data-target="devices-table">
+    Device Types
+    <span class="toggle-indicator">▼</span>
+  </h2>
+  <div id="devices-table" class="collapsible-content" style="display: none">
     <table class="responsive-table">
-        <tr>
-            <th>ID</th>
-            <th>Name</th>
-            <th>File Path</th>
-            <th></th>
-        </tr>
-        {% for device in devices %}
-        <tr class="collapsible-row" data-target="device-info-{{ loop.index }}">
-            <td>{{ device.id }}</td>
-            <td>{{ device.name }}</td>
-            <td class="file-path">
-                {{ device.file_path }}
-                <span class="folder-link" onclick="openFolder('{{ device.file_path }}'); event.stopPropagation();" title="打开文件夹">📁</span>
-            </td>
-            <td><span class="toggle-indicator">▼</span></td>
-        </tr>
-        <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
-            <td colspan="5">
-                <div class="content-full">
-                    {% if device.class %}
-                        <pre>{{ device.class | tojson(indent=4) }}</pre>
-                    {% else %}
-                        <!-- 这里可以放占位内容，比如 -->
-                        <pre>// No data</pre>
-                    {% endif %}
+      <tr>
+        <th>ID</th>
+        <th>Name</th>
+        <th>File Path</th>
+        <th></th>
+      </tr>
+      {% for device in devices %}
+      <tr class="collapsible-row" data-target="device-info-{{ loop.index }}">
+        <td>{{ device.id }}</td>
+        <td>{{ device.name }}</td>
+        <td class="file-path">
+          {{ device.file_path }}
+          <span
+            class="folder-link"
+            onclick="openFolder('{{ device.file_path }}'); event.stopPropagation();"
+            title="打开文件夹"
+            >📁</span
+          >
+        </td>
+        <td><span class="toggle-indicator">▼</span></td>
+      </tr>
+      <tr
+        id="device-info-{{ loop.index }}"
+        class="detail-row"
+        style="display: none"
+      >
+        <td colspan="5">
+          <div class="content-full">
+            {% if device.class %}
+            <pre>{{ device.class | tojson(indent=4) }}</pre>
+            {% else %}
+            <!-- 这里可以放占位内容，比如 -->
+            <pre>// No data</pre>
+            {% endif %} {% if device.is_online %}
+            <div class="status-badge">
+              <span class="online-status">在线</span>
+            </div>
+            {% endif %} {% if device.is_online and device.status_publishers %}
+            <h4>状态发布者:</h4>
+            <ul class="detail-list">
+              {% for status_name, status_info in
+              device.status_publishers.items() %}
+              <li>
+                <strong>{{ status_name }}</strong> - 类型: {{ status_info.type
+                }} <br />话题: {{ status_info.topic }}
+              </li>
+              {% endfor %}
+            </ul>
+            {% endif %} {% if device.is_online and device.actions %}
+            <h4>可用动作:</h4>
+            <ul class="detail-list">
+              {% for action_name, action_info in device.actions.items() %}
+              <li>
+                <strong>{{ action_name }}</strong> - 类型: {{ action_info.type
+                }} <br />话题: {{ action_info.topic }}
+                <br />
+                <div class="cmd-block">
+                  <strong>发送命令:</strong>
+                  <div class="cmd-line">
+                    <pre>{{ action_info.command }}</pre>
+                    <button
+                      class="copy-btn"
+                      onclick="copyToClipboard(this.previousElementSibling.textContent, event)"
+                    >
+                      复制
+                    </button>
+                    <button
+                      class="debug-btn"
+                      onclick="toggleDebugInfo(this, event)"
+                    >
+                      调试
+                    </button>
+                    <div class="debug-info" style="display: none">
+                      {% if action_info %}
+                      <pre>{{ action_info | tojson(indent=4) }}</pre>
+                      {% else %}
+                      <!-- 这里可以放占位内容，比如 -->
+                      <pre>// No data</pre>
+                      {% endif %}
+                    </div>
+                  </div>
 
-                    {% if device.is_online %}
-                    <div class="status-badge"><span class="online-status">在线</span></div>
-                    {% endif %}
-                    
-                    {% if device.is_online and device.status_publishers %}
-                    <h4>状态发布者:</h4>
-                    <ul class="detail-list">
-                        {% for status_name, status_info in device.status_publishers.items() %}
-                        <li>
-                            <strong>{{ status_name }}</strong> - 类型: {{ status_info.type }}
-                            <br>话题: {{ status_info.topic }}
-                        </li>
-                        {% endfor %}
-                    </ul>
-                    {% endif %}
-                    
-                    {% if device.is_online and device.actions %}
-                    <h4>可用动作:</h4>
-                    <ul class="detail-list">
-                        {% for action_name, action_info in device.actions.items() %}
-                        <li>
-                            <strong>{{ action_name }}</strong> - 类型: {{ action_info.type }}
-                            <br>话题: {{ action_info.topic }}
-                            <br>
-                            <div class="cmd-block">
-                                <strong>发送命令:</strong>
-                                <div class="cmd-line">
-                                    <pre>{{ action_info.command }}</pre>
-                                    <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
-                                    <button class="debug-btn" onclick="toggleDebugInfo(this, event)">调试</button>
-                                    <div class="debug-info" style="display:none;">
-                                        {% if action_info %}
-                                            <pre>{{ action_info | tojson(indent=4) }}</pre>
-                                        {% else %}
-                                            <!-- 这里可以放占位内容，比如 -->
-                                            <pre>// No data</pre>
-                                        {% endif %}
-                                    </div>
-                                </div>
-                                
-                                <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
-                            </div>
-                        </li>
-                        {% endfor %}
-                    </ul>
-                    {% endif %}
+                  <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
                 </div>
-            </td>
-        </tr>
-        {% endfor %}
+              </li>
+              {% endfor %}
+            </ul>
+            {% endif %}
+          </div>
+        </td>
+      </tr>
+      {% endfor %}
     </table>
+  </div>
 </div>
 
 <!-- 资源部分 -->
 <div class="card" id="resources-section">
-    <h2>Resource Types</h2>
+  <h2 class="collapsible-header" data-target="resources-table">
+    Resource Types
+    <span class="toggle-indicator">▼</span>
+  </h2>
+  <div id="resources-table" class="collapsible-content" style="display: none">
     <table class="responsive-table">
-        <tr>
-            <th>ID</th>
-            <th>Name</th>
-            <th>File Path</th>
-        </tr>
-        {% for resource in resources %}
-        <tr>
-            <td>{{ resource.id }}</td>
-            <td>{{ resource.name }}</td>
-            <td class="file-path">
-                {{ resource.file_path }}
-                <span class="folder-link" onclick="openFolder('{{ resource.file_path }}')" title="打开文件夹">📁</span>
-            </td>
-        </tr>
-        {% endfor %}
+      <tr>
+        <th>ID</th>
+        <th>Name</th>
+        <th>File Path</th>
+      </tr>
+      {% for resource in resources %}
+      <tr>
+        <td>{{ resource.id }}</td>
+        <td>{{ resource.name }}</td>
+        <td class="file-path">
+          {{ resource.file_path }}
+          <span
+            class="folder-link"
+            onclick="openFolder('{{ resource.file_path }}')"
+            title="打开文件夹"
+            >📁</span
+          >
+        </td>
+      </tr>
+      {% endfor %}
     </table>
+  </div>
 </div>
 
 <!-- 模块部分 -->
 <div class="card" id="modules-section">
-    <h2>Converter Modules</h2>
+  <h2 class="collapsible-header" data-target="modules-content">
+    Converter Modules
+    <span class="toggle-indicator">▼</span>
+  </h2>
+  <div id="modules-content" class="collapsible-content" style="display: none">
     <h3>Loaded Modules</h3>
     <table class="responsive-table">
-        <tr>
-            <th>Module Path</th>
-        </tr>
-        {% for module in modules.names %}
-        <tr>
-            <td>{{ module }}</td>
-        </tr>
-        {% endfor %}
+      <tr>
+        <th>Module Path</th>
+      </tr>
+      {% for module in modules.names %}
+      <tr>
+        <td>{{ module }}</td>
+      </tr>
+      {% endfor %}
     </table>
 
-    <h3>Available Classes 
-        <span class="classes-count">({{ modules.total_count }})</span>
+    <h3>
+      Available Classes
+      <span class="classes-count">({{ modules.total_count }})</span>
     </h3>
     <table class="responsive-table">
-        <tr>
-            <th>Class Name</th>
-        </tr>
-        {% for class_name in modules.classes %}
-        <tr>
-            <td>{{ class_name }}</td>
-        </tr>
-        {% endfor %}
+      <tr>
+        <th>Class Name</th>
+      </tr>
+      {% for class_name in modules.classes %}
+      <tr>
+        <td>{{ class_name }}</td>
+      </tr>
+      {% endfor %}
     </table>
+  </div>
 </div>
 
 <!-- 返回顶部按钮 -->
 <button id="back-to-top" title="返回顶部">↑</button>
-{% endblock %}
-
-{% block scripts %}
-{{ super() }}
+{% endblock %} {% block scripts %} {{ super() }}
 <script>
-    // 在页面加载完成后执行初始化
-    document.addEventListener('DOMContentLoaded', function() {
-        initFolderOpener();
-        initCollapsibleRows();
-        initScrollToSections();
-        initBackToTop();
-        initWebSocket();
+  // 在页面加载完成后执行初始化
+  document.addEventListener('DOMContentLoaded', function () {
+    initFolderOpener();
+    initCollapsibleRows();
+    initCollapsibleHeaders();
+    initScrollToSections();
+    initBackToTop();
+    initWebSocket();
+    restoreCollapsibleStates(); // 恢复折叠状态
+  });
+
+  // 折叠状态管理
+  function saveCollapsibleState(elementId, isExpanded) {
+    try {
+      const states = JSON.parse(
+        localStorage.getItem('collapsibleStates') || '{}'
+      );
+      states[elementId] = isExpanded;
+      localStorage.setItem('collapsibleStates', JSON.stringify(states));
+    } catch (e) {
+      console.warn('无法保存折叠状态:', e);
+    }
+  }
+
+  function getCollapsibleState(elementId) {
+    try {
+      const states = JSON.parse(
+        localStorage.getItem('collapsibleStates') || '{}'
+      );
+      return states[elementId];
+    } catch (e) {
+      console.warn('无法读取折叠状态:', e);
+      return null;
+    }
+  }
+
+  function restoreCollapsibleStates() {
+    try {
+      // 恢复折叠行状态
+      const collapsibleRows = document.querySelectorAll(
+        '.collapsible-row[data-target]'
+      );
+      collapsibleRows.forEach((row) => {
+        const targetId = row.getAttribute('data-target');
+        const savedState = getCollapsibleState(targetId);
+        if (savedState !== null) {
+          const content = document.getElementById(targetId);
+          if (content) {
+            if (savedState) {
+              // 展开
+              row.classList.add('active');
+              content.style.display = 'table-row';
+              const indicator = row.querySelector('.toggle-indicator');
+              if (indicator) indicator.textContent = '▲';
+            } else {
+              // 折叠
+              row.classList.remove('active');
+              content.style.display = 'none';
+              const indicator = row.querySelector('.toggle-indicator');
+              if (indicator) indicator.textContent = '▼';
+            }
+          }
+        }
+      });
+
+      // 恢复折叠标题状态
+      const collapsibleHeaders = document.querySelectorAll(
+        '.collapsible-header[data-target]'
+      );
+      collapsibleHeaders.forEach((header) => {
+        const targetId = header.getAttribute('data-target');
+        const savedState = getCollapsibleState(targetId);
+        if (savedState !== null) {
+          const content = document.getElementById(targetId);
+          if (content) {
+            const indicator = header.querySelector('.toggle-indicator');
+            if (savedState) {
+              // 展开
+              content.style.display = 'block';
+              if (indicator) indicator.textContent = '▲';
+            } else {
+              // 折叠
+              content.style.display = 'none';
+              if (indicator) indicator.textContent = '▼';
+            }
+          }
+        }
+      });
+    } catch (e) {
+      console.warn('恢复折叠状态时出错:', e);
+    }
+  }
+
+  // WebSocket连接
+  let ws = null;
+  let reconnectAttempts = 0;
+  const maxReconnectAttempts = 5;
+  const reconnectDelay = 3000; // 3秒
+  let connectionStatusElement = null;
+
+  function showConnectionStatus(status, message) {
+    // 如果状态元素不存在，创建一个
+    if (!connectionStatusElement) {
+      connectionStatusElement = document.createElement('div');
+      connectionStatusElement.className = 'connection-status';
+      document.body.appendChild(connectionStatusElement);
+    }
+
+    connectionStatusElement.className = 'connection-status ' + status;
+    connectionStatusElement.innerHTML = `<span class="status-dot"></span><span class="status-text">${message}</span>`;
+
+    // 3秒后自动隐藏
+    if (status === 'connected') {
+      setTimeout(() => {
+        connectionStatusElement.style.opacity = '0';
+      }, 3000);
+    } else {
+      connectionStatusElement.style.opacity = '1';
+    }
+  }
+
+  function initWebSocket() {
+    // 获取WebSocket URL - 连接到状态页面专用端点
+    const protocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
+    const wsUrl = `${protocol}//${window.location.host}/api/v1/ws/status_page`;
+
+    showConnectionStatus('connecting', '正在连接服务器...');
+
+    ws = new WebSocket(wsUrl);
+
+    ws.onopen = function () {
+      console.log('状态页面WebSocket连接已建立');
+      showConnectionStatus('connected', '已连接到服务器');
+      reconnectAttempts = 0;
+
+      // 显示实时更新指示器
+      showLiveUpdateIndicator();
+
+      // 发送心跳保持连接
+      setInterval(() => {
+        if (ws.readyState === WebSocket.OPEN) {
+          ws.send('heartbeat');
+        }
+      }, 30000); // 每30秒发送一次心跳
+    };
+
+    ws.onmessage = function (event) {
+      try {
+        const data = JSON.parse(event.data);
+        if (data.type === 'device_status') {
+          updateDeviceStatus(data.data);
+        } else if (data.type === 'static_data_init') {
+          // 初始化静态数据（只接收一次）
+          initStaticData(data.data);
+          updateLastRefreshTime();
+        } else if (data.type === 'incremental_update') {
+          // 处理增量更新
+          handleIncrementalUpdate(data.data);
+          updateLastRefreshTime();
+        }
+      } catch (error) {
+        console.error('处理WebSocket消息时出错:', error);
+      }
+    };
+
+    ws.onclose = function (event) {
+      console.log(
+        `WebSocket连接已关闭，代码: ${event.code}, 原因: ${event.reason}`
+      );
+
+      if (event.wasClean) {
+        showConnectionStatus('disconnected', '连接已正常关闭');
+      } else {
+        showConnectionStatus('error', '连接意外断开');
+      }
+
+      if (reconnectAttempts < maxReconnectAttempts) {
+        showConnectionStatus(
+          'reconnecting',
+          `正在尝试重新连接 (${
+            reconnectAttempts + 1
+          }/${maxReconnectAttempts})...`
+        );
+        setTimeout(initWebSocket, reconnectDelay);
+        reconnectAttempts++;
+      } else {
+        showConnectionStatus('error', '重连失败，请刷新页面重试');
+      }
+    };
+
+    ws.onerror = function (error) {
+      console.error('WebSocket错误:', error);
+      showConnectionStatus('error', 'WebSocket连接错误');
+    };
+  }
+
+  function updateDeviceStatus(data) {
+    const { device_status, device_status_timestamps } = data;
+
+    // 查找设备状态表格 - 在host-node-section下，寻找具有"设备状态"标题的host-section
+    const deviceStatusSections = Array.from(
+      document.querySelectorAll('#host-node-section .host-section h3')
+    )
+      .filter((h3) => h3.textContent.trim() === '设备状态')
+      .map((h3) => h3.parentElement);
+
+    if (deviceStatusSections.length === 0) {
+      console.log('未找到设备状态部分');
+      return;
+    }
+
+    const statusSection = deviceStatusSections[0];
+    const table = statusSection.querySelector('table.responsive-table');
+
+    if (!table) {
+      console.log('未找到设备状态表格');
+      return;
+    }
+
+    // 保存表头
+    const header = table.rows[0].cloneNode(true);
+
+    // 清空表格（保留表头）
+    while (table.rows.length > 1) {
+      table.deleteRow(1);
+    }
+
+    // 没有数据时显示空状态行
+    if (Object.keys(device_status).length === 0) {
+      const emptyRow = table.insertRow();
+      const emptyCell = emptyRow.insertCell();
+      emptyCell.colSpan = 4;
+      emptyCell.className = 'empty-state';
+      emptyCell.textContent = '没有设备状态数据';
+      return;
+    }
+
+    // 添加数据行
+    for (const [device_id, properties] of Object.entries(device_status)) {
+      const propNames = Object.keys(properties);
+
+      for (let i = 0; i < propNames.length; i++) {
+        const prop_name = propNames[i];
+        const prop_value = properties[prop_name];
+
+        const row = table.insertRow();
+
+        // 如果是设备的第一个属性，添加设备ID单元格
+        if (i === 0) {
+          const deviceCell = row.insertCell();
+          deviceCell.rowSpan = propNames.length;
+          deviceCell.textContent = device_id;
+        }
+
+        // 添加属性名称单元格
+        const propCell = row.insertCell();
+        propCell.textContent = prop_name;
+
+        // 添加属性值单元格
+        const valueCell = row.insertCell();
+        valueCell.textContent = prop_value;
+
+        // 添加时间戳单元格
+        const timestampCell = row.insertCell();
+        const tsInfo = device_status_timestamps[device_id]?.[prop_name];
+
+        if (tsInfo && tsInfo.elapsed >= 0) {
+          const timestampSpan = document.createElement('span');
+          timestampSpan.className = 'timestamp';
+          timestampSpan.setAttribute('title', tsInfo.timestamp);
+          timestampSpan.textContent = `${Math.round(tsInfo.elapsed)} 秒前`;
+          timestampCell.appendChild(timestampSpan);
+        } else {
+          const notUpdatedSpan = document.createElement('span');
+          notUpdatedSpan.className = 'timestamp not-updated';
+          notUpdatedSpan.textContent = '未更新';
+          timestampCell.appendChild(notUpdatedSpan);
+        }
+      }
+    }
+  }
+
+  // 处理主机节点可用性状态变化
+  function handleHostNodeAvailabilityChange(isHostMode, hostNodeInfo) {
+    const hostSection = document.getElementById('host-node-section');
+    const hostNavLink = document.querySelector('a[href="#host-node-section"]');
+
+    // 检查是否需要显示主机节点部分
+    const shouldShowHostNode =
+      isHostMode && hostNodeInfo && hostNodeInfo.available;
+
+    if (shouldShowHostNode && !hostSection) {
+      // 主机节点从不可用变为可用，需要创建HTML
+      console.log('创建主机节点部分HTML');
+      createHostNodeSection(hostNodeInfo);
+
+      // 添加导航链接
+      if (!hostNavLink) {
+        addHostNodeNavLink();
+      }
+    } else if (!shouldShowHostNode && hostSection) {
+      // 主机节点从可用变为不可用，隐藏或移除
+      console.log('隐藏主机节点部分');
+      hostSection.style.display = 'none';
+
+      // 移除导航链接
+      if (hostNavLink) {
+        hostNavLink.remove();
+      }
+    } else if (shouldShowHostNode && hostSection) {
+      // 主机节点仍然可用，确保显示
+      hostSection.style.display = 'block';
+
+      // 确保导航链接存在
+      if (!hostNavLink) {
+        addHostNodeNavLink();
+      }
+    }
+  }
+
+  // 创建主机节点部分HTML
+  function createHostNodeSection(hostNodeInfo) {
+    const onlineDevicesSection = document.getElementById(
+      'online-devices-section'
+    );
+    if (!onlineDevicesSection) {
+      console.warn('找不到插入位置');
+      return;
+    }
+
+    const hostSectionHtml = `
+      <div class="card" id="host-node-section">
+        <h2>主机节点信息</h2>
+        
+        <!-- 主机控制的设备 -->
+        <div class="host-section">
+          <h3>
+            已管理设备
+            <span class="count-badge">0</span>
+          </h3>
+          <table class="responsive-table">
+            <tr>
+              <th>设备ID</th>
+              <th>命名空间</th>
+              <th>机器名称</th>
+              <th>状态</th>
+            </tr>
+            <tr>
+              <td colspan="4" class="empty-state">没有发现已管理的设备</td>
+            </tr>
+          </table>
+        </div>
+
+        <!-- 主机的动作客户端 -->
+        <div class="host-section">
+          <h3>
+            动作客户端
+            <span class="count-badge">0</span>
+          </h3>
+          <div class="collapsible-table">
+            <h4>已接纳动作:</h4>
+            <table class="inner-table">
+              <tr>
+                <th>话题</th>
+                <th>类型</th>
+                <th></th>
+              </tr>
+            </table>
+          </div>
+        </div>
+
+        <!-- 主机已订阅的主题 -->
+        <div class="host-section">
+          <h3>
+            已订阅主题
+            <span class="count-badge">0</span>
+          </h3>
+          <div class="topics-container">
+            <div class="empty-state">没有发现已订阅的主题</div>
+          </div>
+        </div>
+
+        <!-- 设备状态 -->
+        <div class="host-section">
+          <h3>设备状态</h3>
+          <table class="responsive-table">
+            <tr>
+              <th>设备ID</th>
+              <th>属性</th>
+              <th>值</th>
+              <th>最后更新</th>
+            </tr>
+            <tr>
+              <td colspan="4" class="empty-state">没有设备状态数据</td>
+            </tr>
+          </table>
+        </div>
+      </div>
+    `;
+
+    // 在本地设备部分之前插入主机节点部分
+    onlineDevicesSection.insertAdjacentHTML('beforebegin', hostSectionHtml);
+
+    console.log('主机节点部分HTML已创建');
+  }
+
+  // 添加主机节点导航链接
+  function addHostNodeNavLink() {
+    const navTabs = document.querySelector('.nav-tabs');
+    const onlineDevicesNavLink = document.querySelector(
+      'a[href="#online-devices-section"]'
+    );
+
+    if (navTabs && onlineDevicesNavLink) {
+      const hostNavLink = document.createElement('a');
+      hostNavLink.href = '#host-node-section';
+      hostNavLink.className = 'nav-tab';
+      hostNavLink.textContent = '主机节点';
+
+      // 在"本地设备"链接之前插入
+      navTabs.insertBefore(hostNavLink, onlineDevicesNavLink);
+
+      // 添加点击事件
+      hostNavLink.addEventListener('click', function (e) {
+        e.preventDefault();
+        const targetElement = document.querySelector('#host-node-section');
+        if (targetElement) {
+          targetElement.scrollIntoView({ behavior: 'smooth' });
+        }
+      });
+
+      console.log('主机节点导航链接已添加');
+    }
+  }
+
+  // 初始化静态数据（只接收一次）
+  function initStaticData(data) {
+    console.log('初始化静态数据', data);
+
+    // 更新设备类型表格
+    if (data.devices) {
+      updateDevicesTable(data.devices);
+    }
+
+    // 更新资源类型表格
+    if (data.resources) {
+      updateResourcesTable(data.resources);
+    }
+
+    // 更新模块信息表格
+    if (data.modules) {
+      updateModulesTable(data.modules);
+    }
+
+    // 初始化主机节点信息（如果是主机模式）
+    if (data.host_node_info && data.is_host_mode) {
+      const isHostMode = data.is_host_mode;
+      handleHostNodeAvailabilityChange(isHostMode, data.host_node_info);
+
+      // 初始化主机节点各个部分
+      if (data.host_node_info.available) {
+        if (data.host_node_info.devices) {
+          updateHostDevicesTable(data.host_node_info.devices);
+        }
+        if (data.host_node_info.action_clients) {
+          updateHostActionClients(data.host_node_info.action_clients);
+        }
+        if (data.host_node_info.subscribed_topics) {
+          updateHostSubscribedTopics(data.host_node_info.subscribed_topics);
+        }
+        if (data.host_node_info.device_status) {
+          updateDeviceStatus({
+            device_status: data.host_node_info.device_status,
+            device_status_timestamps:
+              data.host_node_info.device_status_timestamps,
+          });
+        }
+      }
+    }
+
+    // 初始化本地设备信息
+    if (data.ros_node_info) {
+      updateLocalDevicesTable(data.ros_node_info);
+    }
+
+    // 这些是真正的静态数据，页面生命周期内不会变化
+    console.log('静态数据初始化完成');
+  }
+
+  // 处理增量更新
+  function handleIncrementalUpdate(data) {
+    console.log('处理增量更新', data);
+
+    // 检查并处理主机节点信息变化（只处理包含的字段）
+    if (data.host_node_info) {
+      // 获取当前是否为主机模式（从页面初始数据获取）
+      const isHostMode =
+        document.querySelector('.mode-indicator.host-mode') !== null;
+
+      // 检查可用性变化
+      if ('available' in data.host_node_info) {
+        handleHostNodeAvailabilityChange(isHostMode, data.host_node_info);
+      }
+
+      // 只更新包含的字段，避免不必要的DOM操作
+      if ('device_status' in data.host_node_info) {
+        updateDeviceStatus({
+          device_status: data.host_node_info.device_status,
+          device_status_timestamps:
+            data.host_node_info.device_status_timestamps,
+        });
+      }
+
+      if ('devices' in data.host_node_info) {
+        updateHostDevicesTable(data.host_node_info.devices);
+      }
+
+      if ('action_clients' in data.host_node_info) {
+        updateHostActionClients(data.host_node_info.action_clients);
+      }
+
+      if ('subscribed_topics' in data.host_node_info) {
+        updateHostSubscribedTopics(data.host_node_info.subscribed_topics);
+      }
+    }
+
+    // 只有当ros_node_info存在时才更新本地设备（表示发生了变更）
+    if (data.ros_node_info && data.ros_node_info.registered_devices) {
+      console.log('更新本地设备表格');
+      updateLocalDevicesTable(data.ros_node_info);
+    }
+  }
+
+  // 更新设备类型表格
+  function updateDevicesTable(devices) {
+    const table = document.querySelector('#devices-table .responsive-table');
+    if (!table) return;
+
+    // 保存表头
+    const header = table.rows[0].cloneNode(true);
+
+    // 清空表格（保留表头）
+    while (table.rows.length > 1) {
+      table.deleteRow(1);
+    }
+
+    // 添加设备数据行
+    devices.forEach((device, index) => {
+      const row = table.insertRow();
+      row.className = 'collapsible-row';
+      row.setAttribute('data-target', `device-info-${index + 1}`);
+
+      row.innerHTML = `
+          <td>${device.id}</td>
+          <td>${device.name || '未命名'}</td>
+          <td class="file-path">
+            ${device.file_path || ''}
+            <span class="folder-link" onclick="openFolder('${
+              device.file_path
+            }'); event.stopPropagation();" title="打开文件夹">📁</span>
+          </td>
+          <td><span class="toggle-indicator">▼</span></td>
+        `;
+
+      // 添加详情行
+      const detailRow = table.insertRow();
+      detailRow.id = `device-info-${index + 1}`;
+      detailRow.className = 'detail-row';
+      detailRow.style.display = 'none';
+
+      const detailCell = detailRow.insertCell();
+      detailCell.colSpan = 5;
+
+      let deviceClassInfo = '';
+      if (device.class) {
+        try {
+          deviceClassInfo = JSON.stringify(device.class, null, 4);
+        } catch (e) {
+          deviceClassInfo = '// 数据格式错误';
+        }
+      } else {
+        deviceClassInfo = '// No data';
+      }
+
+      detailCell.innerHTML = `
+          <div class="content-full">
+            <pre>${deviceClassInfo}</pre>
+          </div>
+        `;
     });
 
-    // WebSocket连接
-    let ws = null;
-    let reconnectAttempts = 0;
-    const maxReconnectAttempts = 5;
-    const reconnectDelay = 3000; // 3秒
-    let connectionStatusElement = null;
-    
-    function showConnectionStatus(status, message) {
-        // 如果状态元素不存在，创建一个
-        if (!connectionStatusElement) {
-            connectionStatusElement = document.createElement('div');
-            connectionStatusElement.className = 'connection-status';
-            document.body.appendChild(connectionStatusElement);
-        }
-        
-        connectionStatusElement.className = 'connection-status ' + status;
-        connectionStatusElement.innerHTML = `<span class="status-dot"></span><span class="status-text">${message}</span>`;
-        
-        // 3秒后自动隐藏
-        if (status === 'connected') {
-            setTimeout(() => {
-                connectionStatusElement.style.opacity = '0';
-            }, 3000);
-        } else {
-            connectionStatusElement.style.opacity = '1';
-        }
+    // 延迟恢复状态，确保DOM更新完成
+    setTimeout(restoreCollapsibleStates, 100);
+  }
+
+  // 更新资源类型表格
+  function updateResourcesTable(resources) {
+    const table = document.querySelector('#resources-table .responsive-table');
+    if (!table) return;
+
+    // 清空表格（保留表头）
+    while (table.rows.length > 1) {
+      table.deleteRow(1);
     }
 
-    function initWebSocket() {
-        // 获取WebSocket URL
-        const protocol = window.location.protocol === 'https:' ? 'wss:' : 'ws:';
-        const wsUrl = `${protocol}//${window.location.host}/api/v1/ws/device_status`;
-        
-        showConnectionStatus('connecting', '正在连接服务器...');
-        
-        ws = new WebSocket(wsUrl);
-        
-        ws.onopen = function() {
-            console.log('WebSocket连接已建立');
-            showConnectionStatus('connected', '已连接到服务器');
-            reconnectAttempts = 0;
-        };
-        
-        ws.onmessage = function(event) {
-            try {
-                const data = JSON.parse(event.data);
-                if (data.type === 'device_status') {
-                    updateDeviceStatus(data.data);
-                }
-            } catch (error) {
-                console.error('处理WebSocket消息时出错:', error);
-            }
-        };
-        
-        ws.onclose = function(event) {
-            console.log(`WebSocket连接已关闭，代码: ${event.code}, 原因: ${event.reason}`);
-            
-            if (event.wasClean) {
-                showConnectionStatus('disconnected', '连接已正常关闭');
-            } else {
-                showConnectionStatus('error', '连接意外断开');
-            }
-            
-            if (reconnectAttempts < maxReconnectAttempts) {
-                showConnectionStatus('reconnecting', `正在尝试重新连接 (${reconnectAttempts + 1}/${maxReconnectAttempts})...`);
-                setTimeout(initWebSocket, reconnectDelay);
-                reconnectAttempts++;
-            } else {
-                showConnectionStatus('error', '重连失败，请刷新页面重试');
-            }
-        };
-        
-        ws.onerror = function(error) {
-            console.error('WebSocket错误:', error);
-            showConnectionStatus('error', 'WebSocket连接错误');
-        };
+    // 添加资源数据行
+    resources.forEach((resource) => {
+      const row = table.insertRow();
+      row.innerHTML = `
+          <td>${resource.id}</td>
+          <td>${resource.name}</td>
+          <td class="file-path">
+            ${resource.file_path}
+            <span class="folder-link" onclick="openFolder('${resource.file_path}')" title="打开文件夹">📁</span>
+          </td>
+        `;
+    });
+  }
+
+  // 更新模块信息表格
+  function updateModulesTable(modules) {
+    // 更新模块列表
+    const moduleTable = document.querySelector(
+      '#modules-content table:first-of-type'
+    );
+    if (moduleTable) {
+      while (moduleTable.rows.length > 1) {
+        moduleTable.deleteRow(1);
+      }
+
+      modules.names.forEach((moduleName) => {
+        const row = moduleTable.insertRow();
+        row.innerHTML = `<td>${moduleName}</td>`;
+      });
     }
 
-    function updateDeviceStatus(data) {
-        const { device_status, device_status_timestamps } = data;
-        
-        // 查找设备状态表格 - 在host-node-section下，寻找具有"设备状态"标题的host-section
-        const deviceStatusSections = Array.from(document.querySelectorAll('#host-node-section .host-section h3'))
-            .filter(h3 => h3.textContent.trim() === '设备状态')
-            .map(h3 => h3.parentElement);
-            
-        if (deviceStatusSections.length === 0) {
-            console.log('未找到设备状态部分');
-            return;
-        }
-        
-        const statusSection = deviceStatusSections[0];
-        const table = statusSection.querySelector('table.responsive-table');
-        
-        if (!table) {
-            console.log('未找到设备状态表格');
-            return;
-        }
-        
-        // 保存表头
-        const header = table.rows[0].cloneNode(true);
-        
-        // 清空表格（保留表头）
-        while (table.rows.length > 1) {
-            table.deleteRow(1);
-        }
-        
-        // 没有数据时显示空状态行
-        if (Object.keys(device_status).length === 0) {
-            const emptyRow = table.insertRow();
-            const emptyCell = emptyRow.insertCell();
-            emptyCell.colSpan = 4;
-            emptyCell.className = 'empty-state';
-            emptyCell.textContent = '没有设备状态数据';
-            return;
-        }
-        
-        // 添加数据行
-        for (const [device_id, properties] of Object.entries(device_status)) {
-            const propNames = Object.keys(properties);
-            
-            for (let i = 0; i < propNames.length; i++) {
-                const prop_name = propNames[i];
-                const prop_value = properties[prop_name];
-                
-                const row = table.insertRow();
-                
-                // 如果是设备的第一个属性，添加设备ID单元格
-                if (i === 0) {
-                    const deviceCell = row.insertCell();
-                    deviceCell.rowSpan = propNames.length;
-                    deviceCell.textContent = device_id;
-                }
-                
-                // 添加属性名称单元格
-                const propCell = row.insertCell();
-                propCell.textContent = prop_name;
-                
-                // 添加属性值单元格
-                const valueCell = row.insertCell();
-                valueCell.textContent = prop_value;
-                
-                // 添加时间戳单元格
-                const timestampCell = row.insertCell();
-                const tsInfo = device_status_timestamps[device_id]?.[prop_name];
-                
-                if (tsInfo && tsInfo.elapsed >= 0) {
-                    const timestampSpan = document.createElement('span');
-                    timestampSpan.className = 'timestamp';
-                    timestampSpan.setAttribute('title', tsInfo.timestamp);
-                    timestampSpan.textContent = `${Math.round(tsInfo.elapsed)} 秒前`;
-                    timestampCell.appendChild(timestampSpan);
-                } else {
-                    const notUpdatedSpan = document.createElement('span');
-                    notUpdatedSpan.className = 'timestamp not-updated';
-                    notUpdatedSpan.textContent = '未更新';
-                    timestampCell.appendChild(notUpdatedSpan);
-                }
-            }
-        }
+    // 更新类列表和计数
+    const classesHeader = document.querySelector(
+      '#modules-content h3 .classes-count'
+    );
+    if (classesHeader) {
+      classesHeader.textContent = `(${modules.total_count})`;
     }
 
-    // 文件夹打开功能
-    function initFolderOpener() {
-        function openFolder(path) {
-            if (!path) {
-                alert("路径为空");
-                return;
-            }
-            
-            // 对于Windows路径，确保格式正确
-            const formattedPath = path.includes(':\\') ? path : path.replace(':', ':\\');
-            
-            fetch(`/open-folder?path=${encodeURIComponent(formattedPath)}`)
-                .then(response => response.json())
-                .then(data => {
-                    if (data.status === 'error') {
-                        alert('错误: ' + data.message);
-                    }
-                })
-                .catch(error => {
-                    console.error('Error:', error);
-                    alert('请求失败: ' + error);
-                });
-        }
-        
-        // 确保openFolder函数在全局范围内可用
-        window.openFolder = openFolder;
+    const classTable = document.querySelector(
+      '#modules-content table:last-of-type'
+    );
+    if (classTable) {
+      while (classTable.rows.length > 1) {
+        classTable.deleteRow(1);
+      }
+
+      modules.classes.forEach((className) => {
+        const row = classTable.insertRow();
+        row.innerHTML = `<td>${className}</td>`;
+      });
     }
-    
-    // 折叠行功能
-    function initCollapsibleRows() {
-        // 设备行点击事件
-        const deviceRows = document.querySelectorAll('.collapsible-row');
-        deviceRows.forEach(row => {
-            row.addEventListener("click", function() {
-                const targetId = this.getAttribute('data-target');
-                if (!targetId) return;
-                
-                const content = document.getElementById(targetId);
-                if (!content) return;
-                
-                this.classList.toggle("active");
-                
-                if (content.style.display === "table-row") {
-                    content.style.display = "none";
-                    const indicator = this.querySelector('.toggle-indicator');
-                    if (indicator) indicator.textContent = "▼";
-                } else {
-                    content.style.display = "table-row";
-                    const indicator = this.querySelector('.toggle-indicator');
-                    if (indicator) indicator.textContent = "▲";
-                }
-            });
-        });
-        
-        // 子行点击事件（状态和动作行）
-        const subRows = document.querySelectorAll('.collapsible-sub-row');
-        subRows.forEach(row => {
-            row.addEventListener("click", function(e) {
-                const targetId = this.getAttribute('data-target');
-                if (!targetId) return;
-                
-                const content = document.getElementById(targetId);
-                if (!content) return;
-                
-                if (content.style.display === "table-row" || content.style.display === "") {
-                    content.style.display = "none";
-                    const indicator = this.querySelector('.toggle-sub-indicator');
-                    if (indicator) indicator.textContent = "▼";
-                } else {
-                    content.style.display = "table-row";
-                    const indicator = this.querySelector('.toggle-sub-indicator');
-                    if (indicator) indicator.textContent = "▲";
-                }
-                
-                // 阻止事件冒泡
-                e.stopPropagation();
-            });
+  }
+
+  // 更新主机设备管理表格
+  function updateHostDevicesTable(devices) {
+    // 查找已管理设备部分的表格
+    const hostSection = document.getElementById('host-node-section');
+    if (!hostSection) {
+      console.log('主机节点部分不存在');
+      return;
+    }
+
+    const deviceManagementSection = Array.from(
+      hostSection.querySelectorAll('.host-section')
+    ).find((section) => {
+      const h3 = section.querySelector('h3');
+      return h3 && h3.textContent.includes('已管理设备');
+    });
+
+    if (!deviceManagementSection) {
+      console.log('已管理设备部分不存在');
+      return;
+    }
+
+    const table = deviceManagementSection.querySelector('.responsive-table');
+    if (!table) {
+      console.log('已管理设备表格不存在');
+      return;
+    }
+
+    // 清空表格（保留表头）
+    while (table.rows.length > 1) {
+      table.deleteRow(1);
+    }
+
+    // 更新设备数量显示
+    const countBadge = deviceManagementSection.querySelector('.count-badge');
+    const deviceCount = Object.keys(devices).length;
+    if (countBadge) {
+      countBadge.textContent = deviceCount;
+    }
+
+    if (deviceCount === 0) {
+      const emptyRow = table.insertRow();
+      const emptyCell = emptyRow.insertCell();
+      emptyCell.colSpan = 4;
+      emptyCell.className = 'empty-state';
+      emptyCell.textContent = '没有发现已管理的设备';
+      return;
+    }
+
+    // 添加设备数据行
+    for (const [deviceId, deviceInfo] of Object.entries(devices)) {
+      const row = table.insertRow();
+      row.innerHTML = `
+          <td>${deviceId}</td>
+          <td>${deviceInfo.namespace || ''}</td>
+          <td>${deviceInfo.machine_name || ''}</td>
+          <td><span class="status-badge online">${
+            deviceInfo.is_online ? '在线' : '离线'
+          }</span></td>
+        `;
+    }
+  }
+
+  // 更新主机动作客户端
+  function updateHostActionClients(actionClients) {
+    const hostSection = document.getElementById('host-node-section');
+    if (!hostSection) return;
+
+    // 查找动作客户端部分
+    const actionClientsSection = Array.from(
+      hostSection.querySelectorAll('.host-section')
+    ).find((section) => {
+      const h3 = section.querySelector('h3');
+      return h3 && h3.textContent.includes('动作客户端');
+    });
+
+    if (!actionClientsSection) return;
+
+    // 更新计数显示
+    const countBadge = actionClientsSection.querySelector('.count-badge');
+    const actionCount = Object.keys(actionClients).length;
+    if (countBadge) {
+      countBadge.textContent = actionCount;
+    }
+
+    // 查找内部表格
+    const innerTable = actionClientsSection.querySelector('.inner-table');
+    if (!innerTable) return;
+
+    // 清空表格（保留表头）
+    while (innerTable.rows.length > 1) {
+      innerTable.deleteRow(1);
+    }
+
+    // 添加动作客户端数据
+    if (actionCount === 0) {
+      const emptyRow = innerTable.insertRow();
+      const emptyCell = emptyRow.insertCell();
+      emptyCell.colSpan = 3;
+      emptyCell.className = 'empty-state';
+      emptyCell.textContent = '没有动作客户端';
+      return;
+    }
+
+    let index = 1;
+    for (const [actionName, actionInfo] of Object.entries(actionClients)) {
+      // 主行
+      const row = innerTable.insertRow();
+      row.className = 'action-row collapsible-sub-row';
+      row.setAttribute('data-target', `host-action-cmd-${index}`);
+      row.innerHTML = `
+        <td>${actionName}</td>
+        <td>${actionInfo.type_name || ''}</td>
+        <td><span class="toggle-sub-indicator">▼</span></td>
+      `;
+
+      // 命令行
+      const cmdRow = innerTable.insertRow();
+      cmdRow.id = `host-action-cmd-${index}`;
+      cmdRow.className = 'cmd-row';
+      cmdRow.style.display = 'none';
+      cmdRow.innerHTML = `
+        <td colspan="5">
+          <div class="cmd-block">
+            <strong>发送命令:</strong>
+            <div class="cmd-line">
+              <pre>ros2 action send_goal ${actionInfo.action_path} ${actionInfo.type_name_convert} "${actionInfo.goal_info}"</pre>
+              <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
+            </div>
+            <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
+          </div>
+        </td>
+      `;
+
+      index++;
+    }
+
+    // 事件委托已经处理了动态添加的元素，不需要重新初始化
+  }
+
+  // 更新主机订阅主题
+  function updateHostSubscribedTopics(subscribedTopics) {
+    const hostSection = document.getElementById('host-node-section');
+    if (!hostSection) return;
+
+    // 查找已订阅主题部分
+    const topicsSection = Array.from(
+      hostSection.querySelectorAll('.host-section')
+    ).find((section) => {
+      const h3 = section.querySelector('h3');
+      return h3 && h3.textContent.includes('已订阅主题');
+    });
+
+    if (!topicsSection) return;
+
+    // 更新计数显示
+    const countBadge = topicsSection.querySelector('.count-badge');
+    const topicsCount = subscribedTopics.length;
+    if (countBadge) {
+      countBadge.textContent = topicsCount;
+    }
+
+    // 查找主题容器
+    const topicsContainer = topicsSection.querySelector('.topics-container');
+    if (!topicsContainer) return;
+
+    // 清空容器
+    topicsContainer.innerHTML = '';
+
+    if (topicsCount === 0) {
+      topicsContainer.innerHTML =
+        '<div class="empty-state">没有发现已订阅的主题</div>';
+      return;
+    }
+
+    // 添加主题列表
+    const topicsList = document.createElement('div');
+    topicsList.className = 'topics-list';
+
+    subscribedTopics.forEach((topic) => {
+      const topicItem = document.createElement('div');
+      topicItem.className = 'topic-item';
+      topicItem.innerHTML = `
+        <span class="topic-name">${topic}</span>
+        <button class="copy-btn small" onclick="copyToClipboard('${topic}', event)" title="复制主题名">复制</button>
+      `;
+      topicsList.appendChild(topicItem);
+    });
+
+    topicsContainer.appendChild(topicsList);
+  }
+
+  // 更新本地设备表格
+  function updateLocalDevicesTable(rosNodeInfo) {
+    const table = document.querySelector(
+      '#online-devices-section .responsive-table'
+    );
+    if (!table) return;
+
+    // 清空表格（保留表头）
+    while (table.rows.length > 1) {
+      table.deleteRow(1);
+    }
+
+    const devices = rosNodeInfo.registered_devices || {};
+    const deviceTopics = rosNodeInfo.device_topics || {};
+    const deviceActions = rosNodeInfo.device_actions || {};
+
+    if (Object.keys(devices).length === 0) {
+      const emptyRow = table.insertRow();
+      const emptyCell = emptyRow.insertCell();
+      emptyCell.colSpan = 6;
+      emptyCell.className = 'empty-state';
+      emptyCell.textContent = '没有发现本地设备';
+      return;
+    }
+
+    // 添加设备数据行
+    let deviceIndex = 0;
+    for (const [deviceId, deviceInfo] of Object.entries(devices)) {
+      deviceIndex++;
+
+      // 主行
+      const row = table.insertRow();
+      row.className = 'collapsible-row device-row';
+      row.setAttribute('data-target', `device-detail-${deviceIndex}`);
+
+      const topicsCount = Object.keys(deviceTopics[deviceId] || {}).length;
+      const actionsCount = Object.keys(deviceActions[deviceId] || {}).length;
+
+      row.innerHTML = `
+          <td>${deviceId}</td>
+          <td>${deviceInfo.node_name || ''}</td>
+          <td>${deviceInfo.namespace || ''}</td>
+          <td>${deviceInfo.machine_name || '本地'}</td>
+          <td>${topicsCount}</td>
+          <td>${actionsCount} <span class="toggle-indicator">▼</span></td>
+        `;
+
+      // 详情行
+      const detailRow = table.insertRow();
+      detailRow.id = `device-detail-${deviceIndex}`;
+      detailRow.className = 'detail-row';
+      detailRow.style.display = 'none';
+
+      const detailCell = detailRow.insertCell();
+      detailCell.colSpan = 5;
+
+      let detailContent = `<div class="content-full">UUID: ${
+        deviceInfo.uuid || ''
+      }`;
+
+      // 添加状态发布者信息
+      if (
+        deviceTopics[deviceId] &&
+        Object.keys(deviceTopics[deviceId]).length > 0
+      ) {
+        detailContent += '<h4>已发布状态:</h4><table class="inner-table">';
+        detailContent +=
+          '<tr><th>名称</th><th>类型</th><th>话题</th><th>间隔</th><th></th></tr>';
+
+        Object.entries(deviceTopics[deviceId]).forEach(
+          ([statusName, statusInfo], statusIndex) => {
+            detailContent += `
+              <tr class="topic-row collapsible-sub-row" data-target="topic-cmd-${
+                statusIndex + 1
+              }-${deviceIndex}">
+                <td>${statusName}</td>
+                <td>${statusInfo.type_name || ''}</td>
+                <td>${statusInfo.topic_path || ''}</td>
+                <td>${statusInfo.timer_period || ''}</td>
+                <td><span class="toggle-sub-indicator">▼</span></td>
+              </tr>
+              <tr id="topic-cmd-${
+                statusIndex + 1
+              }-${deviceIndex}" class="cmd-row" style="display: none;">
+                <td colspan="5">
+                  <div class="cmd-block">
+                    <strong>订阅命令:</strong>
+                    <div class="cmd-line">
+                      <pre>ros2 topic echo ${statusInfo.topic_path}</pre>
+                      <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
+                    </div>
+                  </div>
+                </td>
+              </tr>
+            `;
+          }
+        );
+
+        detailContent += '</table>';
+      }
+
+      // 添加已发布动作信息
+      if (
+        deviceActions[deviceId] &&
+        Object.keys(deviceActions[deviceId]).length > 0
+      ) {
+        detailContent += '<h4>已发布动作:</h4><table class="inner-table">';
+        detailContent +=
+          '<tr><th>名称</th><th>类型</th><th>话题</th><th></th></tr>';
+
+        Object.entries(deviceActions[deviceId]).forEach(
+          ([actionName, actionInfo], actionIndex) => {
+            detailContent += `
+              <tr class="action-row collapsible-sub-row" data-target="action-cmd-${
+                actionIndex + 1
+              }-${deviceIndex}">
+                <td>${actionName}</td>
+                <td>${actionInfo.type_name || ''}</td>
+                <td>${actionInfo.action_path || ''}</td>
+                <td><span class="toggle-sub-indicator">▼</span></td>
+              </tr>
+              <tr id="action-cmd-${
+                actionIndex + 1
+              }-${deviceIndex}" class="cmd-row" style="display: none;">
+                <td colspan="5">
+                  <div class="cmd-block">
+                    <strong>发送命令:</strong>
+                    <div class="cmd-line">
+                      <pre>ros2 action send_goal ${actionInfo.action_path} ${
+              actionInfo.type_name_convert
+            } "${actionInfo.goal_info}"</pre>
+                      <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
+                    </div>
+                    <p class="goal-tip">提示: 根据目标结构修改命令参数</p>
+                  </div>
+                </td>
+              </tr>
+            `;
+          }
+        );
+
+        detailContent += '</table>';
+      }
+
+      detailContent += '</div>';
+      detailCell.innerHTML = detailContent;
+    }
+
+    // 延迟恢复状态，确保DOM更新完成
+    setTimeout(restoreCollapsibleStates, 100);
+  }
+
+  // 文件夹打开功能
+  function initFolderOpener() {
+    function openFolder(path) {
+      if (!path) {
+        alert('路径为空');
+        return;
+      }
+
+      // 对于Windows路径，确保格式正确
+      const formattedPath = path.includes(':\\')
+        ? path
+        : path.replace(':', ':\\');
+
+      fetch(`/open-folder?path=${encodeURIComponent(formattedPath)}`)
+        .then((response) => response.json())
+        .then((data) => {
+          if (data.status === 'error') {
+            alert('错误: ' + data.message);
+          }
+        })
+        .catch((error) => {
+          console.error('Error:', error);
+          alert('请求失败: ' + error);
         });
     }
-    
-    // 初始化导航标签跳转
-    function initScrollToSections() {
-        const navTabs = document.querySelectorAll('.nav-tab');
-        navTabs.forEach(tab => {
-            tab.addEventListener('click', function(e) {
-                e.preventDefault();
-                const targetId = this.getAttribute('href');
-                if (targetId && targetId.startsWith('#')) {
-                    const targetElement = document.querySelector(targetId);
-                    if (targetElement) {
-                        targetElement.scrollIntoView({
-                            behavior: 'smooth'
-                        });
-                    }
-                }
-            });
-        });
+
+    // 确保openFolder函数在全局范围内可用
+    window.openFolder = openFolder;
+  }
+
+  // 折叠行功能 - 使用事件委托避免重复绑定问题
+  function initCollapsibleRows() {
+    // 移除旧的事件监听器（如果存在）
+    document.removeEventListener('click', handleCollapsibleRowClick);
+    document.removeEventListener('click', handleCollapsibleSubRowClick);
+
+    // 使用事件委托处理主折叠行点击
+    document.addEventListener('click', handleCollapsibleRowClick);
+
+    // 使用事件委托处理子行点击
+    document.addEventListener('click', handleCollapsibleSubRowClick);
+  }
+
+  // 处理主折叠行点击
+  function handleCollapsibleRowClick(e) {
+    const row = e.target.closest('.collapsible-row:not(.collapsible-sub-row)');
+    if (!row) return;
+
+    const targetId = row.getAttribute('data-target');
+    if (!targetId) return;
+
+    const content = document.getElementById(targetId);
+    if (!content) return;
+
+    // 阻止事件冒泡到其他处理器
+    e.stopPropagation();
+
+    row.classList.toggle('active');
+
+    const isExpanding = content.style.display !== 'table-row';
+
+    if (content.style.display === 'table-row') {
+      content.style.display = 'none';
+      const indicator = row.querySelector('.toggle-indicator');
+      if (indicator) indicator.textContent = '▼';
+      saveCollapsibleState(targetId, false); // 保存折叠状态
+    } else {
+      content.style.display = 'table-row';
+      const indicator = row.querySelector('.toggle-indicator');
+      if (indicator) indicator.textContent = '▲';
+      saveCollapsibleState(targetId, true); // 保存展开状态
     }
-    
-    // 初始化返回顶部按钮
-    function initBackToTop() {
-        const backToTopBtn = document.getElementById("back-to-top");
-        if (!backToTopBtn) return;
-        
-        // 显示/隐藏按钮
-        window.addEventListener('scroll', function() {
-            if (document.body.scrollTop > 20 || document.documentElement.scrollTop > 20) {
-                backToTopBtn.style.display = "block";
-            } else {
-                backToTopBtn.style.display = "none";
-            }
-        });
-        
-        // 点击返回顶部
-        backToTopBtn.addEventListener('click', function() {
-            window.scrollTo({
-                top: 0,
-                behavior: 'smooth'
-            });
-        });
+  }
+
+  // 处理子行点击（状态和动作行）
+  function handleCollapsibleSubRowClick(e) {
+    const subRow = e.target.closest('.collapsible-sub-row');
+    if (!subRow) return;
+
+    const targetId = subRow.getAttribute('data-target');
+    if (!targetId) return;
+
+    const content = document.getElementById(targetId);
+    if (!content) return;
+
+    // 阻止事件冒泡
+    e.stopPropagation();
+
+    if (content.style.display === 'table-row' || content.style.display === '') {
+      content.style.display = 'none';
+      const indicator = subRow.querySelector('.toggle-sub-indicator');
+      if (indicator) indicator.textContent = '▼';
+      saveCollapsibleState(targetId, false); // 保存折叠状态
+    } else {
+      content.style.display = 'table-row';
+      const indicator = subRow.querySelector('.toggle-sub-indicator');
+      if (indicator) indicator.textContent = '▲';
+      saveCollapsibleState(targetId, true); // 保存展开状态
     }
-    
-    // 复制功能
-    function copyToClipboard(text, event) {
-        if (event) event.stopPropagation();
-        const textToCopy = text.trim();
-        
-        // 使用现代API复制
-        if (navigator.clipboard && navigator.clipboard.writeText) {
-            navigator.clipboard.writeText(textToCopy)
-                .then(() => {
-                    showCopySuccess(event.target);
-                })
-                .catch(err => {
-                    console.error('复制失败: ', err);
-                    fallbackCopy(textToCopy, event.target);
-                });
+  }
+
+  // 折叠标题功能
+  function initCollapsibleHeaders() {
+    const headers = document.querySelectorAll('.collapsible-header');
+    headers.forEach((header) => {
+      header.addEventListener('click', function () {
+        const targetId = this.getAttribute('data-target');
+        if (!targetId) return;
+
+        const content = document.getElementById(targetId);
+        if (!content) return;
+
+        const indicator = this.querySelector('.toggle-indicator');
+
+        if (content.style.display === 'none') {
+          content.style.display = 'block';
+          if (indicator) indicator.textContent = '▲';
+          saveCollapsibleState(targetId, true); // 保存展开状态
         } else {
-            fallbackCopy(textToCopy, event.target);
+          content.style.display = 'none';
+          if (indicator) indicator.textContent = '▼';
+          saveCollapsibleState(targetId, false); // 保存折叠状态
         }
-    }
-    
-    // 复制功能的后备方案
-    function fallbackCopy(text, button) {
-        const textarea = document.createElement('textarea');
-        textarea.value = text;
-        textarea.style.position = 'fixed';
-        textarea.style.left = '-9999px';
-        document.body.appendChild(textarea);
-        textarea.select();
-        
-        try {
-            const successful = document.execCommand('copy');
-            if (successful) {
-                showCopySuccess(button);
-            } else {
-                alert("复制失败，请手动复制");
-            }
-        } catch (err) {
-            console.error('复制失败: ', err);
-            alert("复制失败，请手动复制");
+      });
+    });
+  }
+
+  // 初始化导航标签跳转
+  function initScrollToSections() {
+    const navTabs = document.querySelectorAll('.nav-tab');
+    navTabs.forEach((tab) => {
+      tab.addEventListener('click', function (e) {
+        const targetId = this.getAttribute('href');
+        // 只对内部锚链接（以#开头）应用滚动行为
+        if (targetId && targetId.startsWith('#')) {
+          e.preventDefault();
+          const targetElement = document.querySelector(targetId);
+          if (targetElement) {
+            targetElement.scrollIntoView({
+              behavior: 'smooth',
+            });
+          }
         }
-        
-        document.body.removeChild(textarea);
+        // 对于外部链接（如 /status, /registry-editor），不调用preventDefault()，让浏览器处理默认行为
+      });
+    });
+  }
+
+  // 初始化返回顶部按钮
+  function initBackToTop() {
+    const backToTopBtn = document.getElementById('back-to-top');
+    if (!backToTopBtn) return;
+
+    // 显示/隐藏按钮
+    window.addEventListener('scroll', function () {
+      if (
+        document.body.scrollTop > 20 ||
+        document.documentElement.scrollTop > 20
+      ) {
+        backToTopBtn.style.display = 'block';
+      } else {
+        backToTopBtn.style.display = 'none';
+      }
+    });
+
+    // 点击返回顶部
+    backToTopBtn.addEventListener('click', function () {
+      window.scrollTo({
+        top: 0,
+        behavior: 'smooth',
+      });
+    });
+  }
+
+  // 复制功能
+  function copyToClipboard(text, event) {
+    if (event) event.stopPropagation();
+    const textToCopy = text.trim();
+
+    // 使用现代API复制
+    if (navigator.clipboard && navigator.clipboard.writeText) {
+      navigator.clipboard
+        .writeText(textToCopy)
+        .then(() => {
+          showCopySuccess(event.target);
+        })
+        .catch((err) => {
+          console.error('复制失败: ', err);
+          fallbackCopy(textToCopy, event.target);
+        });
+    } else {
+      fallbackCopy(textToCopy, event.target);
     }
-    
-    // 显示复制成功
-    function showCopySuccess(button) {
-        const originalText = button.textContent;
-        button.textContent = "已复制!";
-        button.classList.add("copy-success");
-        
-        setTimeout(() => {
-            button.textContent = originalText;
-            button.classList.remove("copy-success");
-        }, 1500);
+  }
+
+  // 复制功能的后备方案
+  function fallbackCopy(text, button) {
+    const textarea = document.createElement('textarea');
+    textarea.value = text;
+    textarea.style.position = 'fixed';
+    textarea.style.left = '-9999px';
+    document.body.appendChild(textarea);
+    textarea.select();
+
+    try {
+      const successful = document.execCommand('copy');
+      if (successful) {
+        showCopySuccess(button);
+      } else {
+        alert('复制失败，请手动复制');
+      }
+    } catch (err) {
+      console.error('复制失败: ', err);
+      alert('复制失败，请手动复制');
     }
-    
-    // 调试信息切换
-    function toggleDebugInfo(btn, event) {
-        event.stopPropagation();
-        const debugInfo = btn.nextElementSibling;
-        if (debugInfo.style.display === "none" || debugInfo.style.display === "") {
-            debugInfo.style.display = "block";
-            btn.textContent = "隐藏调试";
-        } else {
-            debugInfo.style.display = "none";
-            btn.textContent = "调试";
-        }
+
+    document.body.removeChild(textarea);
+  }
+
+  // 显示复制成功
+  function showCopySuccess(button) {
+    const originalText = button.textContent;
+    button.textContent = '已复制!';
+    button.classList.add('copy-success');
+
+    setTimeout(() => {
+      button.textContent = originalText;
+      button.classList.remove('copy-success');
+    }, 1500);
+  }
+
+  // 调试信息切换
+  function toggleDebugInfo(btn, event) {
+    event.stopPropagation();
+    const debugInfo = btn.nextElementSibling;
+    if (debugInfo.style.display === 'none' || debugInfo.style.display === '') {
+      debugInfo.style.display = 'block';
+      btn.textContent = '隐藏调试';
+    } else {
+      debugInfo.style.display = 'none';
+      btn.textContent = '调试';
     }
+  }
+
+  // 显示实时更新指示器
+  function showLiveUpdateIndicator() {
+    // 创建实时更新指示器
+    const indicator = document.createElement('div');
+    indicator.id = 'live-update-indicator';
+    indicator.innerHTML = `
+        <div class="live-indicator">
+          <span class="live-dot"></span>
+          <span class="live-text">实时更新</span>
+          <span class="last-update" id="last-update-time">刚刚</span>
+        </div>
+      `;
+
+    // 插入到页面头部
+    const header = document.querySelector('h1');
+    if (header) {
+      header.parentNode.insertBefore(indicator, header.nextSibling);
+    }
+  }
+
+  // 更新最后刷新时间
+  function updateLastRefreshTime() {
+    const lastUpdateElement = document.getElementById('last-update-time');
+    if (lastUpdateElement) {
+      const now = new Date();
+      lastUpdateElement.textContent = `最后更新: ${now.toLocaleTimeString()}`;
+    }
+  }
 </script>
 <style>
-    /* 基础样式改进 */
-    body {
-        font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, Cantarell, 'Open Sans', 'Helvetica Neue', sans-serif;
-    }
-    
-    .card {
-        box-shadow: 0 4px 8px rgba(0,0,0,0.1);
-        border-radius: 8px;
-        margin-bottom: 30px;
-        padding: 20px;
-        background-color: #fff;
-        transition: all 0.3s ease;
-        scroll-margin-top: 20px; /* 为锚点添加滚动边距 */
-    }
-    
-    .card h2 {
-        margin-top: 0;
-        color: #333;
-        border-bottom: 2px solid #eee;
-        padding-bottom: 10px;
-    }
-    
-    /* 导航标签美化 */
-    .nav-tabs {
-        display: flex;
-        margin-bottom: 20px;
-        border-bottom: 1px solid #ddd;
-        padding-bottom: 5px;
-        flex-wrap: wrap;
-    }
-    
-    .nav-tab {
-        padding: 8px 16px;
-        margin-right: 5px;
-        background-color: #f5f5f5;
-        border-radius: 5px 5px 0 0;
-        text-decoration: none;
-        color: #555;
-        transition: all 0.2s ease;
-        font-weight: 500;
-    }
-    
-    .nav-tab:hover {
-        background-color: #e0e0e0;
-        color: #333;
-    }
-    
-    /* 表格样式美化 */
+  /* 基础样式改进 */
+  body {
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen,
+      Ubuntu, Cantarell, 'Open Sans', 'Helvetica Neue', sans-serif;
+  }
+
+  .card {
+    box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);
+    border-radius: 8px;
+    margin-bottom: 30px;
+    padding: 20px;
+    background-color: #fff;
+    transition: all 0.3s ease;
+    scroll-margin-top: 20px; /* 为锚点添加滚动边距 */
+  }
+
+  .card h2 {
+    margin-top: 0;
+    color: #333;
+    border-bottom: 2px solid #eee;
+    padding-bottom: 10px;
+  }
+
+  /* 导航标签美化 */
+  .nav-tabs {
+    display: flex;
+    margin-bottom: 20px;
+    border-bottom: 1px solid #ddd;
+    padding-bottom: 5px;
+    flex-wrap: wrap;
+  }
+
+  .nav-tab {
+    padding: 8px 16px;
+    margin-right: 5px;
+    background-color: #f5f5f5;
+    border-radius: 5px 5px 0 0;
+    text-decoration: none;
+    color: #555;
+    transition: all 0.2s ease;
+    font-weight: 500;
+  }
+
+  .nav-tab:hover {
+    background-color: #e0e0e0;
+    color: #333;
+  }
+
+  /* 表格样式美化 */
+  .responsive-table {
+    width: 100%;
+    border-collapse: collapse;
+    margin-bottom: 20px;
+    font-size: 14px;
+  }
+
+  .responsive-table th {
+    background-color: #f5f5f5;
+    color: #333;
+    font-weight: 600;
+    text-align: left;
+    padding: 12px 15px;
+    border-bottom: 2px solid #ddd;
+  }
+
+  .responsive-table td {
+    padding: 10px 15px;
+    border-bottom: 1px solid #eee;
+    vertical-align: middle;
+  }
+
+  /* 可折叠标题样式 */
+  .collapsible-header {
+    cursor: pointer;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 10px;
+    padding: 10px 0;
+    border-bottom: 2px solid #eee;
+    transition: color 0.2s ease;
+  }
+
+  .collapsible-header:hover {
+    color: #4285f4;
+  }
+
+  .collapsible-content {
+    transition: all 0.3s ease;
+  }
+
+  /* 可折叠行美化 */
+  .collapsible-row {
+    transition: background-color 0.2s ease;
+    cursor: pointer;
+  }
+
+  .collapsible-row:hover {
+    background-color: #f9f9f9;
+  }
+
+  .collapsible-row.active {
+    background-color: #f0f7ff;
+    border-left: 3px solid #4285f4;
+  }
+
+  .toggle-indicator,
+  .toggle-sub-indicator {
+    font-size: 12px;
+    color: #888;
+    float: right;
+    transition: transform 0.2s ease;
+  }
+
+  .collapsible-row.active .toggle-indicator {
+    transform: rotate(180deg);
+    color: #4285f4;
+  }
+
+  /* 详情行样式 */
+  .detail-row td {
+    padding: 0;
+  }
+
+  .content-full {
+    padding: 15px;
+    background-color: #fafafa;
+    border-top: 1px solid #eee;
+  }
+
+  /* 子表格（内部表格）样式 */
+  .inner-table {
+    width: 100%;
+    border-collapse: collapse;
+    margin: 10px 0;
+    font-size: 13px;
+  }
+
+  .inner-table th {
+    background-color: #eef2f7;
+    padding: 8px 10px;
+    font-weight: 500;
+  }
+
+  .inner-table td {
+    padding: 8px 10px;
+    border-bottom: 1px solid #eee;
+  }
+
+  /* 状态和动作行样式 */
+  .topic-row,
+  .action-row {
+    background-color: #f9f9f9;
+    cursor: pointer;
+    transition: background-color 0.2s ease;
+  }
+
+  .topic-row:hover,
+  .action-row:hover {
+    background-color: #f0f0f0;
+  }
+
+  /* 复制按钮美化 */
+  .toggle-cmd-btn {
+    background: #f0f0f0;
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    padding: 4px 8px;
+    cursor: pointer;
+    transition: all 0.2s ease;
+  }
+
+  .toggle-cmd-btn:hover {
+    background: #e0e0e0;
+  }
+
+  .copy-btn {
+    background: #eef;
+    border: 1px solid #ccf;
+    border-radius: 4px;
+    padding: 4px 10px;
+    cursor: pointer;
+    margin-left: 10px;
+    transition: all 0.2s ease;
+  }
+
+  .copy-btn:hover {
+    background: #ddf;
+  }
+
+  .copy-success {
+    background: #dffddf !important;
+    color: #2c7c2c !important;
+  }
+
+  .debug-btn {
+    background: #fee;
+    border: 1px solid #fcc;
+    border-radius: 4px;
+    padding: 4px 10px;
+    cursor: pointer;
+    margin-left: 5px;
+    font-size: 12px;
+    transition: all 0.2s ease;
+  }
+
+  .debug-btn:hover {
+    background: #fdd;
+  }
+
+  /* 命令块样式优化 */
+  .cmd-block {
+    background: #f8f8f8;
+    border: 1px solid #eee;
+    border-radius: 4px;
+    padding: 12px;
+    margin: 8px 0;
+  }
+
+  .cmd-line {
+    display: flex;
+    align-items: center;
+    margin: 8px 0;
+    background: #fff;
+    padding: 8px 12px;
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    overflow-x: auto;
+    font-family: 'Consolas', 'Monaco', monospace;
+  }
+
+  .cmd-line pre {
+    margin: 0;
+    white-space: pre-wrap;
+    word-break: break-all;
+    flex: 1;
+  }
+
+  /* 路径和文件夹链接样式 */
+  .folder-link {
+    cursor: pointer;
+    margin-left: 5px;
+    color: #4285f4;
+    transition: transform 0.2s ease;
+  }
+
+  .folder-link:hover {
+    transform: scale(1.1);
+  }
+
+  .path-list {
+    list-style-type: none;
+    padding-left: 10px;
+  }
+
+  .path-list li {
+    margin-bottom: 5px;
+  }
+
+  /* 返回顶部按钮 */
+  #back-to-top {
+    display: none;
+    position: fixed;
+    bottom: 20px;
+    right: 20px;
+    z-index: 99;
+    font-size: 18px;
+    border: none;
+    outline: none;
+    background-color: #4285f4;
+    color: white;
+    cursor: pointer;
+    padding: 10px 15px;
+    border-radius: 50%;
+    box-shadow: 0 2px 5px rgba(0, 0, 0, 0.2);
+    transition: all 0.3s ease;
+  }
+
+  #back-to-top:hover {
+    background-color: #3367d6;
+    transform: translateY(-2px);
+  }
+
+  /* 在线状态标签 */
+  .online-status {
+    display: inline-block;
+    background-color: #4caf50;
+    color: white;
+    padding: 4px 8px;
+    border-radius: 4px;
+    font-size: 12px;
+    font-weight: 500;
+  }
+
+  /* 详情列表样式 */
+  .detail-list {
+    padding-left: 15px;
+  }
+
+  .detail-list li {
+    margin-bottom: 15px;
+    padding-bottom: 12px;
+    border-bottom: 1px dashed #eee;
+  }
+
+  /* 提示文本样式 */
+  .goal-tip {
+    font-size: 12px;
+    color: #666;
+    margin-top: 8px;
+    font-style: italic;
+    background: #fffde7;
+    padding: 5px 8px;
+    border-radius: 3px;
+    border-left: 3px solid #ffd54f;
+  }
+
+  /* 调试信息样式 */
+  .debug-info {
+    margin-top: 8px;
+    background: #fffde7;
+    border: 1px solid #fff9c4;
+    border-radius: 4px;
+    padding: 10px;
+    font-size: 12px;
+    max-height: 300px;
+    overflow-y: auto;
+  }
+
+  /* 时间戳样式 */
+  .timestamp {
+    font-size: 13px;
+    background-color: #f5f5f5;
+    padding: 3px 6px;
+    border-radius: 3px;
+    color: #555;
+    transition: background-color 0.3s ease;
+  }
+
+  .timestamp.not-updated {
+    background-color: #fff3e0;
+    color: #e65100;
+  }
+
+  .timestamp[title]:hover::after {
+    content: '时间戳: ' attr(title);
+    position: absolute;
+    background: #333;
+    color: #fff;
+    padding: 5px 10px;
+    border-radius: 4px;
+    z-index: 10;
+    font-size: 12px;
+    margin-top: 5px;
+    margin-left: -10px;
+  }
+
+  /* 响应式样式优化 */
+  @media screen and (max-width: 768px) {
     .responsive-table {
-        width: 100%;
-        border-collapse: collapse;
-        margin-bottom: 20px;
-        font-size: 14px;
+      width: 100%;
+      overflow-x: auto;
+      display: block;
     }
-    
-    .responsive-table th {
-        background-color: #f5f5f5;
-        color: #333;
-        font-weight: 600;
-        text-align: left;
-        padding: 12px 15px;
-        border-bottom: 2px solid #ddd;
+
+    .nav-tabs {
+      overflow-x: auto;
+      white-space: nowrap;
+      display: block;
+      padding-bottom: 10px;
     }
-    
-    .responsive-table td {
-        padding: 10px 15px;
-        border-bottom: 1px solid #eee;
-        vertical-align: middle;
+
+    .nav-tab {
+      display: inline-block;
+      margin-bottom: 5px;
     }
-    
-    /* 可折叠行美化 */
-    .collapsible-row {
-        transition: background-color 0.2s ease;
-        cursor: pointer;
+
+    .file-path {
+      max-width: 150px;
+      white-space: nowrap;
+      overflow: hidden;
+      text-overflow: ellipsis;
     }
-    
-    .collapsible-row:hover {
-        background-color: #f9f9f9;
-    }
-    
-    .collapsible-row.active {
-        background-color: #f0f7ff;
-        border-left: 3px solid #4285f4;
-    }
-    
-    .toggle-indicator, .toggle-sub-indicator {
-        font-size: 12px;
-        color: #888;
-        float: right;
-        transition: transform 0.2s ease;
-    }
-    
-    .collapsible-row.active .toggle-indicator {
-        transform: rotate(180deg);
-        color: #4285f4;
-    }
-    
-    /* 详情行样式 */
-    .detail-row td {
-        padding: 0;
-    }
-    
-    .content-full {
-        padding: 15px;
-        background-color: #fafafa;
-        border-top: 1px solid #eee;
-    }
-    
-    /* 子表格（内部表格）样式 */
-    .inner-table {
-        width: 100%;
-        border-collapse: collapse;
-        margin: 10px 0;
-        font-size: 13px;
-    }
-    
-    .inner-table th {
-        background-color: #eef2f7;
-        padding: 8px 10px;
-        font-weight: 500;
-    }
-    
-    .inner-table td {
-        padding: 8px 10px;
-        border-bottom: 1px solid #eee;
-    }
-    
-    /* 状态和动作行样式 */
-    .topic-row, .action-row {
-        background-color: #f9f9f9;
-        cursor: pointer;
-        transition: background-color 0.2s ease;
-    }
-    
-    .topic-row:hover, .action-row:hover {
-        background-color: #f0f0f0;
-    }
-    
-    /* 复制按钮美化 */
-    .toggle-cmd-btn {
-        background: #f0f0f0;
-        border: 1px solid #ddd;
-        border-radius: 4px;
-        padding: 4px 8px;
-        cursor: pointer;
-        transition: all 0.2s ease;
-    }
-    
-    .toggle-cmd-btn:hover {
-        background: #e0e0e0;
-    }
-    
-    .copy-btn {
-        background: #eef;
-        border: 1px solid #ccf;
-        border-radius: 4px;
-        padding: 4px 10px;
-        cursor: pointer;
-        margin-left: 10px;
-        transition: all 0.2s ease;
-    }
-    
-    .copy-btn:hover {
-        background: #ddf;
-    }
-    
-    .copy-success {
-        background: #dffddf !important;
-        color: #2c7c2c !important;
-    }
-    
-    .debug-btn {
-        background: #fee;
-        border: 1px solid #fcc;
-        border-radius: 4px;
-        padding: 4px 10px;
-        cursor: pointer;
-        margin-left: 5px;
-        font-size: 12px;
-        transition: all 0.2s ease;
-    }
-    
-    .debug-btn:hover {
-        background: #fdd;
-    }
-    
-    /* 命令块样式优化 */
+
     .cmd-block {
-        background: #f8f8f8;
-        border: 1px solid #eee;
-        border-radius: 4px;
-        padding: 12px;
-        margin: 8px 0;
+      padding: 10px;
+      overflow-x: auto;
     }
-    
-    .cmd-line {
-        display: flex;
-        align-items: center;
-        margin: 8px 0;
-        background: #fff;
-        padding: 8px 12px;
-        border: 1px solid #ddd;
-        border-radius: 4px;
-        overflow-x: auto;
-        font-family: 'Consolas', 'Monaco', monospace;
+
+    .cmd-block pre {
+      white-space: pre-wrap;
+      word-break: break-word;
+      font-size: 12px;
     }
-    
-    .cmd-line pre {
-        margin: 0;
-        white-space: pre-wrap;
-        word-break: break-all;
-        flex: 1;
+
+    .device-row td:nth-child(3) {
+      display: none;
     }
-    
-    /* 路径和文件夹链接样式 */
-    .folder-link {
-        cursor: pointer;
-        margin-left: 5px;
-        color: #4285f4;
-        transition: transform 0.2s ease;
+  }
+
+  /* 动画效果 */
+  @keyframes fadeIn {
+    from {
+      opacity: 0;
     }
-    
-    .folder-link:hover {
-        transform: scale(1.1);
+    to {
+      opacity: 1;
     }
-    
-    .path-list {
-        list-style-type: none;
-        padding-left: 10px;
+  }
+
+  .detail-row {
+    animation: fadeIn 0.3s ease;
+  }
+
+  /* 连接状态样式 */
+  .connection-status {
+    position: fixed;
+    top: 20px;
+    right: 20px;
+    padding: 10px 15px;
+    border-radius: 4px;
+    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.2);
+    background-color: #f5f5f5;
+    z-index: 1000;
+    display: flex;
+    align-items: center;
+    font-size: 14px;
+    transition: opacity 0.3s ease;
+  }
+
+  .connection-status .status-dot {
+    width: 10px;
+    height: 10px;
+    border-radius: 50%;
+    margin-right: 8px;
+  }
+
+  .connection-status.connecting .status-dot {
+    background-color: #ffc107;
+    animation: pulse 1.5s infinite;
+  }
+
+  .connection-status.connected .status-dot {
+    background-color: #4caf50;
+  }
+
+  .connection-status.disconnected .status-dot {
+    background-color: #9e9e9e;
+  }
+
+  .connection-status.reconnecting .status-dot {
+    background-color: #ff9800;
+    animation: pulse 1.5s infinite;
+  }
+
+  .connection-status.error .status-dot {
+    background-color: #f44336;
+  }
+
+  @keyframes pulse {
+    0% {
+      opacity: 0.5;
     }
-    
-    .path-list li {
-        margin-bottom: 5px;
+    50% {
+      opacity: 1;
     }
-    
-    /* 返回顶部按钮 */
-    #back-to-top {
-        display: none;
-        position: fixed;
-        bottom: 20px;
-        right: 20px;
-        z-index: 99;
-        font-size: 18px;
-        border: none;
-        outline: none;
-        background-color: #4285f4;
-        color: white;
-        cursor: pointer;
-        padding: 10px 15px;
-        border-radius: 50%;
-        box-shadow: 0 2px 5px rgba(0,0,0,0.2);
-        transition: all 0.3s ease;
-    }
-    
-    #back-to-top:hover {
-        background-color: #3367d6;
-        transform: translateY(-2px);
-    }
-    
-    /* 在线状态标签 */
-    .online-status {
-        display: inline-block;
-        background-color: #4caf50;
-        color: white;
-        padding: 4px 8px;
-        border-radius: 4px;
-        font-size: 12px;
-        font-weight: 500;
-    }
-    
-    /* 详情列表样式 */
-    .detail-list {
-        padding-left: 15px;
-    }
-    
-    .detail-list li {
-        margin-bottom: 15px;
-        padding-bottom: 12px;
-        border-bottom: 1px dashed #eee;
-    }
-    
-    /* 提示文本样式 */
-    .goal-tip {
-        font-size: 12px;
-        color: #666;
-        margin-top: 8px;
-        font-style: italic;
-        background: #fffde7;
-        padding: 5px 8px;
-        border-radius: 3px;
-        border-left: 3px solid #ffd54f;
-    }
-    
-    /* 调试信息样式 */
-    .debug-info {
-        margin-top: 8px;
-        background: #fffde7;
-        border: 1px solid #fff9c4;
-        border-radius: 4px;
-        padding: 10px;
-        font-size: 12px;
-        max-height: 300px;
-        overflow-y: auto;
-    }
-    
-    /* 时间戳样式 */
-    .timestamp {
-        font-size: 13px;
-        background-color: #f5f5f5;
-        padding: 3px 6px;
-        border-radius: 3px;
-        color: #555;
-        transition: background-color 0.3s ease;
-    }
-    
-    .timestamp.not-updated {
-        background-color: #fff3e0;
-        color: #e65100;
-    }
-    
-    .timestamp[title]:hover::after {
-        content: '时间戳: ' attr(title);
-        position: absolute;
-        background: #333;
-        color: #fff;
-        padding: 5px 10px;
-        border-radius: 4px;
-        z-index: 10;
-        font-size: 12px;
-        margin-top: 5px;
-        margin-left: -10px;
-    }
-    
-    /* 响应式样式优化 */
-    @media screen and (max-width: 768px) {
-        .responsive-table {
-            width: 100%;
-            overflow-x: auto;
-            display: block;
-        }
-        
-        .nav-tabs {
-            overflow-x: auto;
-            white-space: nowrap;
-            display: block;
-            padding-bottom: 10px;
-        }
-        
-        .nav-tab {
-            display: inline-block;
-            margin-bottom: 5px;
-        }
-        
-        .file-path {
-            max-width: 150px;
-            white-space: nowrap;
-            overflow: hidden;
-            text-overflow: ellipsis;
-        }
-        
-        .cmd-block {
-            padding: 10px;
-            overflow-x: auto;
-        }
-        
-        .cmd-block pre {
-            white-space: pre-wrap;
-            word-break: break-word;
-            font-size: 12px;
-        }
-        
-        .device-row td:nth-child(3) {
-            display: none;
-        }
-    }
-    
-    /* 动画效果 */
-    @keyframes fadeIn {
-        from { opacity: 0; }
-        to { opacity: 1; }
-    }
-    
-    .detail-row {
-        animation: fadeIn 0.3s ease;
-    }
-    
-    /* 连接状态样式 */
-    .connection-status {
-        position: fixed;
-        top: 20px;
-        right: 20px;
-        padding: 10px 15px;
-        border-radius: 4px;
-        box-shadow: 0 2px 8px rgba(0,0,0,0.2);
-        background-color: #f5f5f5;
-        z-index: 1000;
-        display: flex;
-        align-items: center;
-        font-size: 14px;
-        transition: opacity 0.3s ease;
-    }
-    
-    .connection-status .status-dot {
-        width: 10px;
-        height: 10px;
-        border-radius: 50%;
-        margin-right: 8px;
-    }
-    
-    .connection-status.connecting .status-dot {
-        background-color: #ffc107;
-        animation: pulse 1.5s infinite;
-    }
-    
-    .connection-status.connected .status-dot {
-        background-color: #4caf50;
-    }
-    
-    .connection-status.disconnected .status-dot {
-        background-color: #9e9e9e;
-    }
-    
-    .connection-status.reconnecting .status-dot {
-        background-color: #ff9800;
-        animation: pulse 1.5s infinite;
-    }
-    
-    .connection-status.error .status-dot {
-        background-color: #f44336;
-    }
-    
-    @keyframes pulse {
-        0% { opacity: 0.5; }
-        50% { opacity: 1; }
-        100% { opacity: 0.5; }
+    100% {
+      opacity: 0.5;
     }
+  }
+
+  /* 实时更新指示器样式 */
+  #live-update-indicator {
+    position: fixed;
+    top: 70px;
+    right: 20px;
+    z-index: 1000;
+    background-color: #f8f9fa;
+    border: 1px solid #dee2e6;
+    border-radius: 6px;
+    padding: 8px 12px;
+    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.15);
+    font-size: 13px;
+  }
+
+  .live-indicator {
+    display: flex;
+    align-items: center;
+    gap: 6px;
+  }
+
+  .live-dot {
+    width: 8px;
+    height: 8px;
+    border-radius: 50%;
+    background-color: #4caf50;
+    animation: pulse 2s infinite;
+  }
+
+  .live-text {
+    color: #555;
+    font-weight: 500;
+  }
+
+  .last-update {
+    color: #777;
+    font-size: 12px;
+    padding: 2px 6px;
+    border-radius: 3px;
+    transition: all 0.3s ease;
+  }
 </style>
-{% endblock %} 
\ No newline at end of file
+{% endblock %}
diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py
new file mode 100644
index 00000000..c91ca8ec
--- /dev/null
+++ b/unilabos/app/ws_client.py
@@ -0,0 +1,1270 @@
+#!/usr/bin/env python
+# coding=utf-8
+"""
+WebSocket通信客户端重构版本 v2
+
+基于两线程架构的WebSocket客户端实现：
+1. 消息处理线程 - 处理WebSocket消息，划分任务执行和任务队列
+2. 队列处理线程 - 定时给发送队列推送消息，管理任务状态
+"""
+
+import json
+import logging
+import time
+import uuid
+import threading
+import asyncio
+import traceback
+import websockets
+import ssl as ssl_module
+from queue import Queue, Empty
+from dataclasses import dataclass, field
+from typing import Optional, Dict, Any, List
+from urllib.parse import urlparse
+from enum import Enum
+
+from jedi.inference.gradual.typing import TypedDict
+
+from unilabos.app.model import JobAddReq
+from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.utils.type_check import serialize_result_info
+from unilabos.app.communication import BaseCommunicationClient
+from unilabos.config.config import WSConfig, HTTPConfig, BasicConfig
+from unilabos.utils import logger
+
+
+def format_job_log(job_id: str, task_id: str = "", device_id: str = "", action_name: str = "") -> str:
+    """格式化job日志信息：jobid[:4]-taskid[:4] device_id/action_name"""
+    job_part = f"{job_id[:4]}-{task_id[:4]}" if task_id else job_id[:4]
+    device_part = f"{device_id}/{action_name}" if device_id and action_name else ""
+    return f"{job_part} {device_part}".strip()
+
+
+class JobStatus(Enum):
+    """任务状态枚举"""
+
+    QUEUE = "queue"  # 排队中
+    READY = "ready"  # 已获得执行许可，等待开始
+    STARTED = "started"  # 执行中
+    ENDED = "ended"  # 已结束
+
+
+@dataclass
+class QueueItem:
+    """队列项数据结构"""
+
+    task_type: str  # "query_action_status" 或 "job_call_back_status"
+    device_id: str
+    action_name: str
+    task_id: str
+    job_id: str
+    device_action_key: str
+    next_run_time: float = 0  # 下次执行时间戳
+    retry_count: int = 0  # 重试次数
+
+
+@dataclass
+class JobInfo:
+    """任务信息数据结构"""
+
+    job_id: str
+    task_id: str
+    device_id: str
+    action_name: str
+    device_action_key: str
+    status: JobStatus
+    start_time: float
+    last_update_time: float = field(default_factory=time.time)
+    ready_timeout: Optional[float] = None  # READY状态的超时时间
+
+    def update_timestamp(self):
+        """更新最后更新时间"""
+        self.last_update_time = time.time()
+
+    def set_ready_timeout(self, timeout_seconds: int = 10):
+        """设置READY状态超时时间"""
+        self.ready_timeout = time.time() + timeout_seconds
+
+    def is_ready_timeout(self) -> bool:
+        """检查READY状态是否超时"""
+        return self.status == JobStatus.READY and self.ready_timeout is not None and time.time() > self.ready_timeout
+
+
+@dataclass
+class WebSocketMessage:
+    """WebSocket消息数据结构"""
+
+    action: str
+    data: Dict[str, Any]
+    timestamp: float = field(default_factory=time.time)
+
+
+class WSResourceChatData(TypedDict):
+    uuid: str
+    device_uuid: str
+    device_id: str
+    device_old_uuid: str
+    device_old_id: str
+
+
+class DeviceActionManager:
+    """设备动作管理器 - 管理每个device_action_key的任务队列"""
+
+    def __init__(self):
+        self.device_queues: Dict[str, List[JobInfo]] = {}  # device_action_key -> job queue
+        self.active_jobs: Dict[str, JobInfo] = {}  # device_action_key -> active job
+        self.all_jobs: Dict[str, JobInfo] = {}  # job_id -> job_info
+        self.lock = threading.RLock()
+
+    def add_queue_request(self, job_info: JobInfo) -> bool:
+        """
+        添加队列请求
+        返回True表示可以立即执行(free)，False表示需要排队(busy)
+        """
+        with self.lock:
+            device_key = job_info.device_action_key
+
+            # 总是将job添加到all_jobs中
+            self.all_jobs[job_info.job_id] = job_info
+
+            # 检查是否有正在执行或准备执行的任务
+            if device_key in self.active_jobs:
+                # 有正在执行或准备执行的任务，加入队列
+                if device_key not in self.device_queues:
+                    self.device_queues[device_key] = []
+                job_info.status = JobStatus.QUEUE
+                self.device_queues[device_key].append(job_info)
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} queued for {device_key}")
+                return False
+
+            # 检查是否有排队的任务
+            if device_key in self.device_queues and self.device_queues[device_key]:
+                # 有排队的任务，加入队列末尾
+                job_info.status = JobStatus.QUEUE
+                self.device_queues[device_key].append(job_info)
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} queued for {device_key}")
+                return False
+
+            # 没有正在执行或排队的任务，可以立即执行
+            # 将其状态设为READY并占位，防止后续job也被判断为free
+            job_info.status = JobStatus.READY
+            job_info.update_timestamp()
+            job_info.set_ready_timeout(10)  # 设置10秒超时
+            self.active_jobs[device_key] = job_info
+            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            return True
+
+    def start_job(self, job_id: str) -> bool:
+        """
+        开始执行任务
+        返回True表示成功开始，False表示失败
+        """
+        with self.lock:
+            if job_id not in self.all_jobs:
+                logger.error(f"[DeviceActionManager] Job {job_id[:4]} not found for start")
+                return False
+
+            job_info = self.all_jobs[job_id]
+            device_key = job_info.device_action_key
+
+            # 检查job的状态是否正确
+            if job_info.status != JobStatus.READY:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
+                return False
+
+            # 检查设备上是否是这个job
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                return False
+
+            # 开始执行任务，将状态从READY转换为STARTED
+            job_info.status = JobStatus.STARTED
+            job_info.update_timestamp()
+            job_info.ready_timeout = None  # 清除超时时间
+
+            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+            logger.info(f"[DeviceActionManager] Job {job_log} started for {device_key}")
+            return True
+
+    def end_job(self, job_id: str) -> Optional[JobInfo]:
+        """
+        结束任务，返回下一个可以执行的任务(如果有的话)
+        """
+        with self.lock:
+            if job_id not in self.all_jobs:
+                logger.warning(f"[DeviceActionManager] Job {job_id[:4]} not found for end")
+                return None
+
+            job_info = self.all_jobs[job_id]
+            device_key = job_info.device_action_key
+
+            # 移除活跃任务
+            if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
+                del self.active_jobs[device_key]
+                job_info.status = JobStatus.ENDED
+                job_info.update_timestamp()
+                # 从all_jobs中移除已结束的job
+                del self.all_jobs[job_id]
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+            else:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
+
+            # 检查队列中是否有等待的任务
+            if device_key in self.device_queues and self.device_queues[device_key]:
+                next_job = self.device_queues[device_key].pop(0)  # FIFO
+                # 将下一个job设置为READY状态并放入active_jobs
+                next_job.status = JobStatus.READY
+                next_job.update_timestamp()
+                next_job.set_ready_timeout(10)  # 设置10秒超时
+                self.active_jobs[device_key] = next_job
+                next_job_log = format_job_log(
+                    next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
+                )
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                return next_job
+
+            return None
+
+    def get_active_jobs(self) -> List[JobInfo]:
+        """获取所有正在执行的任务"""
+        with self.lock:
+            return list(self.active_jobs.values())
+
+    def get_queued_jobs(self) -> List[JobInfo]:
+        """获取所有排队中的任务"""
+        with self.lock:
+            queued = []
+            for queue in self.device_queues.values():
+                queued.extend(queue)
+            return queued
+
+    def get_job_info(self, job_id: str) -> Optional[JobInfo]:
+        """获取任务信息"""
+        with self.lock:
+            return self.all_jobs.get(job_id)
+
+    def cancel_job(self, job_id: str) -> bool:
+        """取消单个任务"""
+        with self.lock:
+            if job_id not in self.all_jobs:
+                logger.warning(f"[DeviceActionManager] Job {job_id[:4]} not found for cancel")
+                return False
+
+            job_info = self.all_jobs[job_id]
+            device_key = job_info.device_action_key
+
+            # 如果是正在执行的任务
+            if (
+                device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id
+            ):  # 后面需要和cancel_goal进行联动，而不是在这里进行处理，现在默认等待这个job结束
+                # del self.active_jobs[device_key]
+                # job_info.status = JobStatus.ENDED
+                # # 从all_jobs中移除
+                # del self.all_jobs[job_id]
+                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                # logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+
+                # # 启动下一个任务
+                # if device_key in self.device_queues and self.device_queues[device_key]:
+                #     next_job = self.device_queues[device_key].pop(0)
+                #     # 将下一个job设置为READY状态并放入active_jobs
+                #     next_job.status = JobStatus.READY
+                #     next_job.update_timestamp()
+                #     next_job.set_ready_timeout(10)
+                #     self.active_jobs[device_key] = next_job
+                #     next_job_log = format_job_log(next_job.job_id, next_job.task_id,
+                #                                   next_job.device_id, next_job.action_name)
+                #     logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                #     return True
+                pass
+
+            # 如果是排队中的任务
+            elif device_key in self.device_queues:
+                original_length = len(self.device_queues[device_key])
+                self.device_queues[device_key] = [j for j in self.device_queues[device_key] if j.job_id != job_id]
+                if len(self.device_queues[device_key]) < original_length:
+                    job_info.status = JobStatus.ENDED
+                    # 从all_jobs中移除
+                    del self.all_jobs[job_id]
+                    job_log = format_job_log(
+                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
+                    )
+                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    return True
+
+            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+            logger.warning(f"[DeviceActionManager] Job {job_log} not found in active or queued jobs")
+            return False
+
+    def cancel_jobs_by_task_id(self, task_id: str) -> List[str]:
+        """按task_id取消所有相关任务，返回被取消的job_id列表"""
+        cancelled_job_ids = []
+
+        # 首先找到所有属于该task_id的job
+        jobs_to_cancel = []
+        with self.lock:
+            jobs_to_cancel = [job_info for job_info in self.all_jobs.values() if job_info.task_id == task_id]
+
+        if not jobs_to_cancel:
+            logger.warning(f"[DeviceActionManager] No jobs found for task_id: {task_id}")
+            return cancelled_job_ids
+
+        logger.info(f"[DeviceActionManager] Found {len(jobs_to_cancel)} jobs to cancel for task_id: {task_id}")
+
+        # 逐个取消job
+        for job_info in jobs_to_cancel:
+            if self.cancel_job(job_info.job_id):
+                cancelled_job_ids.append(job_info.job_id)
+
+        logger.info(
+            f"[DeviceActionManager] Successfully cancelled {len(cancelled_job_ids)} " f"jobs for task_id: {task_id}"
+        )
+
+        return cancelled_job_ids
+
+    def check_ready_timeouts(self) -> List[JobInfo]:
+        """检查READY状态超时的任务，仅检测不处理"""
+        timeout_jobs = []
+
+        with self.lock:
+            # 统计READY状态的任务数量
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
+            if ready_jobs_count > 0:
+                logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
+
+            # 找到所有超时的READY任务（只检测，不处理）
+            for job_info in self.active_jobs.values():
+                if job_info.is_ready_timeout():
+                    timeout_jobs.append(job_info)
+                    job_log = format_job_log(
+                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
+                    )
+                    logger.warning(f"[DeviceActionManager] Job {job_log} READY timeout detected")
+
+        return timeout_jobs
+
+
+class MessageProcessor:
+    """消息处理线程 - 处理WebSocket消息，划分任务执行和任务队列"""
+
+    def __init__(self, websocket_url: str, send_queue: Queue, device_manager: DeviceActionManager):
+        self.websocket_url = websocket_url
+        self.send_queue = send_queue
+        self.device_manager = device_manager
+        self.queue_processor = None  # 延迟设置
+        self.websocket_client = None  # 延迟设置
+
+        # WebSocket连接
+        self.websocket = None
+        self.connected = False
+
+        # 线程控制
+        self.is_running = False
+        self.thread = None
+        self.reconnect_count = 0
+
+        logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
+
+    def set_queue_processor(self, queue_processor: "QueueProcessor"):
+        """设置队列处理器引用"""
+        self.queue_processor = queue_processor
+
+    def set_websocket_client(self, websocket_client: "WebSocketClient"):
+        """设置WebSocket客户端引用"""
+        self.websocket_client = websocket_client
+
+    def start(self) -> None:
+        """启动消息处理线程"""
+        if self.is_running:
+            logger.warning("[MessageProcessor] Already running")
+            return
+
+        self.is_running = True
+        self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
+        self.thread.start()
+        logger.info("[MessageProcessor] Started")
+
+    def stop(self) -> None:
+        """停止消息处理线程"""
+        self.is_running = False
+        if self.thread and self.thread.is_alive():
+            self.thread.join(timeout=2)
+        logger.info("[MessageProcessor] Stopped")
+
+    def _run(self):
+        """运行消息处理主循环"""
+        loop = asyncio.new_event_loop()
+        try:
+            asyncio.set_event_loop(loop)
+            loop.run_until_complete(self._connection_handler())
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Thread error: {str(e)}")
+            logger.error(traceback.format_exc())
+        finally:
+            if loop:
+                loop.close()
+
+    async def _connection_handler(self):
+        """处理WebSocket连接和重连逻辑"""
+        while self.is_running:
+            try:
+                # 构建SSL上下文
+                ssl_context = None
+                if self.websocket_url.startswith("wss://"):
+                    ssl_context = ssl_module.create_default_context()
+
+                ws_logger = logging.getLogger("websockets.client")
+                ws_logger.setLevel(logging.INFO)
+
+                async with websockets.connect(
+                    self.websocket_url,
+                    ssl=ssl_context,
+                    ping_interval=WSConfig.ping_interval,
+                    ping_timeout=10,
+                    additional_headers={"Authorization": f"Lab {BasicConfig.auth_secret()}"},
+                    logger=ws_logger,
+                ) as websocket:
+                    self.websocket = websocket
+                    self.connected = True
+                    self.reconnect_count = 0
+
+                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
+
+                    # 启动发送协程
+                    send_task = asyncio.create_task(self._send_handler())
+
+                    try:
+                        # 接收消息循环
+                        await self._message_handler()
+                    finally:
+                        send_task.cancel()
+                        try:
+                            await send_task
+                        except asyncio.CancelledError:
+                            pass
+                        self.connected = False
+
+            except websockets.exceptions.ConnectionClosed:
+                logger.warning("[MessageProcessor] Connection closed")
+                self.connected = False
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
+                logger.error(traceback.format_exc())
+                self.connected = False
+            finally:
+                self.websocket = None
+
+            # 重连逻辑
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
+                self.reconnect_count += 1
+                logger.info(
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
+                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                )
+                await asyncio.sleep(WSConfig.reconnect_interval)
+            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
+                logger.error("[MessageProcessor] Max reconnection attempts reached")
+                break
+            else:
+                self.reconnect_count -= 1
+
+    async def _message_handler(self):
+        """处理接收到的消息"""
+        if not self.websocket:
+            logger.error("[MessageProcessor] WebSocket connection is None")
+            return
+
+        try:
+            async for message in self.websocket:
+                try:
+                    data = json.loads(message)
+                    await self._process_message(data)
+                except json.JSONDecodeError:
+                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+        except websockets.exceptions.ConnectionClosed:
+            logger.info("[MessageProcessor] Message handler stopped - connection closed")
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
+            logger.error(traceback.format_exc())
+
+    async def _send_handler(self):
+        """处理发送队列中的消息"""
+        logger.debug("[MessageProcessor] Send handler started")
+
+        try:
+            while self.connected and self.websocket:
+                try:
+                    # 从发送队列获取消息（非阻塞）
+                    messages_to_send = []
+                    max_batch = 10
+
+                    while len(messages_to_send) < max_batch:
+                        try:
+                            message = self.send_queue.get_nowait()
+                            messages_to_send.append(message)
+                        except Empty:
+                            break
+
+                    if not messages_to_send:
+                        await asyncio.sleep(0.1)
+                        continue
+
+                    # 批量发送消息
+                    for msg in messages_to_send:
+                        if not self.connected or not self.websocket:
+                            break
+
+                        try:
+                            message_str = json.dumps(msg, ensure_ascii=False)
+                            await self.websocket.send(message_str)
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                        except Exception as e:
+                            logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
+                            logger.error(traceback.format_exc())
+                            break
+
+                    # 批量发送后短暂等待
+                    if len(messages_to_send) > 5:
+                        await asyncio.sleep(0.001)
+
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error in send handler: {str(e)}")
+                    logger.error(traceback.format_exc())
+                    await asyncio.sleep(0.1)
+
+        except asyncio.CancelledError:
+            logger.debug("[MessageProcessor] Send handler cancelled")
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
+            logger.error(traceback.format_exc())
+        finally:
+            logger.debug("[MessageProcessor] Send handler stopped")
+
+    async def _process_message(self, data: Dict[str, Any]):
+        """处理收到的消息"""
+        message_type = data.get("action", "")
+        message_data = data.get("data")
+
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
+
+        try:
+            if message_type == "pong":
+                self._handle_pong(message_data)
+            elif message_type == "query_action_state":
+                await self._handle_query_action_state(message_data)
+            elif message_type == "job_start":
+                await self._handle_job_start(message_data)
+            elif message_type == "cancel_action" or message_type == "cancel_task":
+                await self._handle_cancel_action(message_data)
+            elif message_type == "add_material":
+                await self._handle_resource_tree_update(message_data, "add")
+            elif message_type == "update_material":
+                await self._handle_resource_tree_update(message_data, "update")
+            elif message_type == "remove_material":
+                await self._handle_resource_tree_update(message_data, "remove")
+            else:
+                logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
+
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Error processing message {message_type}: {str(e)}")
+            logger.error(traceback.format_exc())
+
+    def _handle_pong(self, pong_data: Dict[str, Any]):
+        """处理pong响应"""
+        host_node = HostNode.get_instance(0)
+        if host_node:
+            host_node.handle_pong_response(pong_data)
+
+    async def _handle_query_action_state(self, data: Dict[str, Any]):
+        """处理query_action_state消息"""
+        device_id = data.get("device_id", "")
+        device_uuid = data.get("device_uuid", "")
+        action_name = data.get("action_name", "")
+        task_id = data.get("task_id", "")
+        job_id = data.get("job_id", "")
+
+        if not all([device_id, action_name, task_id, job_id]):
+            logger.error("[MessageProcessor] Missing required fields in query_action_state")
+            return
+
+        device_action_key = f"/devices/{device_id}/{action_name}"
+
+        # 创建任务信息
+        job_info = JobInfo(
+            job_id=job_id,
+            task_id=task_id,
+            device_id=device_id,
+            action_name=action_name,
+            device_action_key=device_action_key,
+            status=JobStatus.QUEUE,
+            start_time=time.time(),
+        )
+
+        # 添加到设备管理器
+        can_start_immediately = self.device_manager.add_queue_request(job_info)
+
+        job_log = format_job_log(job_id, task_id, device_id, action_name)
+        if can_start_immediately:
+            # 可以立即开始
+            await self._send_action_state_response(
+                device_id, action_name, task_id, job_id, "query_action_status", True, 0
+            )
+            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
+        else:
+            # 需要排队
+            await self._send_action_state_response(
+                device_id, action_name, task_id, job_id, "query_action_status", False, 10
+            )
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
+
+            # 通知QueueProcessor有新的队列更新
+            if self.queue_processor:
+                self.queue_processor.notify_queue_update()
+
+    async def _handle_job_start(self, data: Dict[str, Any]):
+        """处理job_start消息"""
+        try:
+            req = JobAddReq(**data)
+
+            job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
+            success = self.device_manager.start_job(req.job_id)
+            if not success:
+                logger.error(f"[MessageProcessor] Failed to start job {job_log}")
+                return
+
+            logger.info(f"[MessageProcessor] Starting job {job_log}")
+
+            # 创建HostNode任务
+            device_action_key = f"/devices/{req.device_id}/{req.action}"
+            queue_item = QueueItem(
+                task_type="job_call_back_status",
+                device_id=req.device_id,
+                action_name=req.action,
+                task_id=req.task_id,
+                job_id=req.job_id,
+                device_action_key=device_action_key,
+            )
+
+            # 提交给HostNode执行
+            host_node = HostNode.get_instance(0)
+            if not host_node:
+                logger.error(f"[MessageProcessor] HostNode instance not available for job_id: {req.job_id}")
+                return
+
+            host_node.send_goal(
+                queue_item,
+                action_type=req.action_type,
+                action_kwargs=req.action_args,
+                server_info=req.server_info,
+            )
+
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Error handling job start: {str(e)}")
+            traceback.print_exc()
+
+            # job_start出错时，需要通过正确的publish_job_status方法来处理
+            if "req" in locals() and "queue_item" in locals():
+                job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
+                logger.info(f"[MessageProcessor] Publishing failed status for job {job_log}")
+
+                if self.websocket_client:
+                    # 使用完整的错误信息，与原版本一致
+                    self.websocket_client.publish_job_status(
+                        {}, queue_item, "failed", serialize_result_info(traceback.format_exc(), False, {})
+                    )
+                else:
+                    # 备用方案：直接发送消息，但使用完整的错误信息
+                    message = {
+                        "action": "job_status",
+                        "data": {
+                            "job_id": req.job_id,
+                            "task_id": req.task_id,
+                            "device_id": req.device_id,
+                            "action_name": req.action,
+                            "status": "failed",
+                            "feedback_data": {},
+                            "return_info": serialize_result_info(traceback.format_exc(), False, {}),
+                            "timestamp": time.time(),
+                        },
+                    }
+                    self.send_message(message)
+
+                    # 手动调用job结束逻辑
+                    next_job = self.device_manager.end_job(req.job_id)
+                    if next_job:
+                        # 通知下一个任务可以开始
+                        await self._send_action_state_response(
+                            next_job.device_id,
+                            next_job.action_name,
+                            next_job.task_id,
+                            next_job.job_id,
+                            "query_action_status",
+                            True,
+                            0,
+                        )
+                        next_job_log = format_job_log(
+                            next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
+                        )
+                        logger.info(f"[MessageProcessor] Started next job {next_job_log} after error")
+
+                        # 通知QueueProcessor有队列更新
+                        if self.queue_processor:
+                            self.queue_processor.notify_queue_update()
+            else:
+                logger.warning("[MessageProcessor] Failed to publish job error status - missing req or queue_item")
+
+    async def _handle_cancel_action(self, data: Dict[str, Any]):
+        """处理cancel_action/cancel_task消息"""
+        task_id = data.get("task_id")
+        job_id = data.get("job_id")
+
+        logger.info(f"[MessageProcessor] Cancel request - task_id: {task_id}, job_id: {job_id}")
+
+        if job_id:
+            # 获取job信息用于日志
+            job_info = self.device_manager.get_job_info(job_id)
+            job_log = format_job_log(
+                job_id,
+                job_info.task_id if job_info else "",
+                job_info.device_id if job_info else "",
+                job_info.action_name if job_info else "",
+            )
+
+            # 按job_id取消单个job
+            success = self.device_manager.cancel_job(job_id)
+            if success:
+                # 通知HostNode取消
+                host_node = HostNode.get_instance(0)
+                if host_node:
+                    host_node.cancel_goal(job_id)
+                logger.info(f"[MessageProcessor] Job {job_log} cancelled")
+
+                # 通知QueueProcessor有队列更新
+                if self.queue_processor:
+                    self.queue_processor.notify_queue_update()
+            else:
+                logger.warning(f"[MessageProcessor] Failed to cancel job {job_log}")
+
+        elif task_id:
+            # 按task_id取消所有相关job
+            cancelled_job_ids = self.device_manager.cancel_jobs_by_task_id(task_id)
+            if cancelled_job_ids:
+                # 通知HostNode取消所有job
+                host_node = HostNode.get_instance(0)
+                if host_node:
+                    for cancelled_job_id in cancelled_job_ids:
+                        host_node.cancel_goal(cancelled_job_id)
+
+                logger.info(f"[MessageProcessor] Cancelled {len(cancelled_job_ids)} jobs for task_id: {task_id}")
+
+                # 通知QueueProcessor有队列更新
+                if self.queue_processor:
+                    self.queue_processor.notify_queue_update()
+            else:
+                logger.warning(f"[MessageProcessor] Failed to cancel any jobs for task_id: {task_id}")
+        else:
+            logger.warning("[MessageProcessor] Cancel request missing both task_id and job_id")
+
+    async def _handle_resource_tree_update(self, resource_uuid_list: List[WSResourceChatData], action: str):
+        """处理资源树更新消息（add_material/update_material/remove_material）"""
+        if not resource_uuid_list:
+            return
+
+        # 按device_id和action分组
+        # device_action_groups: {(device_id, action): [uuid_list]}
+        device_action_groups = {}
+
+        for item in resource_uuid_list:
+            device_id = item["device_id"]
+            if not device_id:
+                device_id = "host_node"
+
+            # 特殊处理update action: 检查是否设备迁移
+            if action == "update":
+                device_old_id = item.get("device_old_id", "")
+                if not device_old_id:
+                    device_old_id = "host_node"
+
+                # 设备迁移：device_id != device_old_id
+                if device_id != device_old_id:
+                    # 给旧设备发送remove
+                    key_remove = (device_old_id, "remove")
+                    if key_remove not in device_action_groups:
+                        device_action_groups[key_remove] = []
+                    device_action_groups[key_remove].append(item["uuid"])
+
+                    # 给新设备发送add
+                    key_add = (device_id, "add")
+                    if key_add not in device_action_groups:
+                        device_action_groups[key_add] = []
+                    device_action_groups[key_add].append(item["uuid"])
+
+                    logger.info(
+                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
+                else:
+                    # 正常update
+                    key = (device_id, "update")
+                    if key not in device_action_groups:
+                        device_action_groups[key] = []
+                    device_action_groups[key].append(item["uuid"])
+            else:
+                # add或remove action，直接分组
+                key = (device_id, action)
+                if key not in device_action_groups:
+                    device_action_groups[key] = []
+                device_action_groups[key].append(item["uuid"])
+
+        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+
+        # 为每个(device_id, action)创建独立的更新线程
+        for (device_id, actual_action), items in device_action_groups.items():
+            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+
+            def _notify_resource_tree(dev_id, act, item_list):
+                try:
+                    host_node = HostNode.get_instance(timeout=5)
+                    if not host_node:
+                        logger.error(f"[MessageProcessor] HostNode instance not available for {act}")
+                        return
+
+                    success = host_node.notify_resource_tree_update(dev_id, act, item_list)
+
+                    if success:
+                        logger.info(
+                            f"[MessageProcessor] Resource tree {act} completed for device {dev_id}, "
+                            f"items: {len(item_list)}"
+                        )
+                    else:
+                        logger.warning(f"[MessageProcessor] Resource tree {act} failed for device {dev_id}")
+
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error in resource tree {act} for device {dev_id}: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+            # 在新线程中执行通知
+            thread = threading.Thread(
+                target=_notify_resource_tree,
+                args=(device_id, actual_action, items),
+                daemon=True,
+                name=f"ResourceTreeUpdate-{actual_action}-{device_id}",
+            )
+            thread.start()
+
+    async def _send_action_state_response(
+        self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
+    ):
+        """发送动作状态响应"""
+        message = {
+            "action": "report_action_state",
+            "data": {
+                "type": typ,
+                "device_id": device_id,
+                "action_name": action_name,
+                "task_id": task_id,
+                "job_id": job_id,
+                "free": free,
+                "need_more": need_more,
+            },
+        }
+
+        try:
+            self.send_queue.put_nowait(message)
+        except Exception:
+            logger.warning("[MessageProcessor] Send queue full, dropping message")
+
+    def send_message(self, message: Dict[str, Any]) -> bool:
+        """发送消息到队列"""
+        try:
+            self.send_queue.put_nowait(message)
+            return True
+        except Exception:
+            logger.warning(f"[MessageProcessor] Failed to queue message: {message.get('action', 'unknown')}")
+            return False
+
+    def is_connected(self) -> bool:
+        """检查连接状态"""
+        return self.connected
+
+
+class QueueProcessor:
+    """队列处理线程 - 定时给发送队列推送消息，管理任务状态"""
+
+    def __init__(self, device_manager: DeviceActionManager, message_processor: MessageProcessor):
+        self.device_manager = device_manager
+        self.message_processor = message_processor
+        self.websocket_client = None  # 延迟设置
+
+        # 线程控制
+        self.is_running = False
+        self.thread = None
+
+        # 事件通知机制
+        self.queue_update_event = threading.Event()
+
+        logger.info("[QueueProcessor] Initialized")
+
+    def set_websocket_client(self, websocket_client: "WebSocketClient"):
+        """设置WebSocket客户端引用"""
+        self.websocket_client = websocket_client
+
+    def start(self) -> None:
+        """启动队列处理线程"""
+        if self.is_running:
+            logger.warning("[QueueProcessor] Already running")
+            return
+
+        self.is_running = True
+        self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
+        self.thread.start()
+        logger.info("[QueueProcessor] Started")
+
+    def stop(self) -> None:
+        """停止队列处理线程"""
+        self.is_running = False
+        if self.thread and self.thread.is_alive():
+            self.thread.join(timeout=2)
+        logger.info("[QueueProcessor] Stopped")
+
+    def _run(self):
+        """运行队列处理主循环"""
+        logger.debug("[QueueProcessor] Queue processor started")
+
+        while self.is_running:
+            try:
+                # 检查READY状态超时的任务
+                timeout_jobs = self.device_manager.check_ready_timeouts()
+                if timeout_jobs:
+                    logger.info(f"[QueueProcessor] Found {len(timeout_jobs)} READY jobs that timed out")
+                    # 为超时的job发布失败状态，通过正常job完成流程处理
+                    for timeout_job in timeout_jobs:
+                        timeout_item = QueueItem(
+                            task_type="job_call_back_status",
+                            device_id=timeout_job.device_id,
+                            action_name=timeout_job.action_name,
+                            task_id=timeout_job.task_id,
+                            job_id=timeout_job.job_id,
+                            device_action_key=timeout_job.device_action_key,
+                        )
+                        # 发布超时失败状态，这会触发正常的job完成流程
+                        if self.websocket_client:
+                            job_log = format_job_log(
+                                timeout_job.job_id, timeout_job.task_id, timeout_job.device_id, timeout_job.action_name
+                            )
+                            logger.info(f"[QueueProcessor] Publishing timeout failure for job {job_log}")
+                            self.websocket_client.publish_job_status(
+                                {},
+                                timeout_item,
+                                "failed",
+                                serialize_result_info("Job READY state timeout after 10 seconds", False, {}),
+                            )
+
+                    # 立即触发状态更新
+                    self.notify_queue_update()
+
+                # 发送正在执行任务的running状态
+                self._send_running_status()
+
+                # 发送排队任务的busy状态
+                self._send_busy_status()
+
+                # 等待10秒或者等待事件通知
+                self.queue_update_event.wait(timeout=10)
+                self.queue_update_event.clear()  # 清除事件
+
+            except Exception as e:
+                logger.error(f"[QueueProcessor] Error in queue processor: {str(e)}")
+                logger.error(traceback.format_exc())
+                time.sleep(1)
+
+        logger.debug("[QueueProcessor] Queue processor stopped")
+
+    def notify_queue_update(self):
+        """通知队列有更新，触发立即检查"""
+        self.queue_update_event.set()
+
+    def _send_running_status(self):
+        """发送正在执行任务的running状态"""
+        if not self.message_processor.is_connected():
+            return
+
+        active_jobs = self.device_manager.get_active_jobs()
+        for job_info in active_jobs:
+            # 只给真正在执行的job发送running状态，READY状态的job不需要
+            if job_info.status != JobStatus.STARTED:
+                continue
+
+            message = {
+                "action": "report_action_state",
+                "data": {
+                    "type": "job_call_back_status",
+                    "device_id": job_info.device_id,
+                    "action_name": job_info.action_name,
+                    "task_id": job_info.task_id,
+                    "job_id": job_info.job_id,
+                    "free": False,
+                    "need_more": 10,
+                },
+            }
+            self.message_processor.send_message(message)
+            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+            logger.trace(f"[QueueProcessor] Sent running status for job {job_log}")  # type: ignore
+
+    def _send_busy_status(self):
+        """发送排队任务的busy状态"""
+        if not self.message_processor.is_connected():
+            return
+
+        queued_jobs = self.device_manager.get_queued_jobs()
+        if not queued_jobs:
+            return
+
+        logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
+
+        for job_info in queued_jobs:
+            message = {
+                "action": "report_action_state",
+                "data": {
+                    "type": "query_action_status",
+                    "device_id": job_info.device_id,
+                    "action_name": job_info.action_name,
+                    "task_id": job_info.task_id,
+                    "job_id": job_info.job_id,
+                    "free": False,
+                    "need_more": 10,
+                },
+            }
+            success = self.message_processor.send_message(message)
+            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+            if success:
+                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+            else:
+                logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
+
+    def handle_job_completed(self, job_id: str, status: str) -> None:
+        """处理任务完成"""
+        # 获取job信息用于日志
+        job_info = self.device_manager.get_job_info(job_id)
+        job_log = format_job_log(
+            job_id,
+            job_info.task_id if job_info else "",
+            job_info.device_id if job_info else "",
+            job_info.action_name if job_info else "",
+        )
+
+        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+
+        # 结束任务，获取下一个可执行的任务
+        next_job = self.device_manager.end_job(job_id)
+
+        if next_job and self.message_processor.is_connected():
+            # 通知下一个任务可以开始
+            message = {
+                "action": "report_action_state",
+                "data": {
+                    "type": "query_action_status",
+                    "device_id": next_job.device_id,
+                    "action_name": next_job.action_name,
+                    "task_id": next_job.task_id,
+                    "job_id": next_job.job_id,
+                    "free": True,
+                    "need_more": 0,
+                },
+            }
+            self.message_processor.send_message(message)
+            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
+
+            # 立即触发下一轮状态检查
+            self.notify_queue_update()
+
+
+class WebSocketClient(BaseCommunicationClient):
+    """
+    重构后的WebSocket客户端 v2
+
+    采用两线程架构：
+    - 消息处理线程：处理WebSocket消息，划分任务执行和任务队列
+    - 队列处理线程：定时给发送队列推送消息，管理任务状态
+    """
+
+    def __init__(self):
+        super().__init__()
+        self.is_disabled = False
+        self.client_id = f"{uuid.uuid4()}"
+
+        # 核心组件
+        self.device_manager = DeviceActionManager()
+        self.send_queue = Queue(maxsize=1000)
+
+        # 构建WebSocket URL
+        self.websocket_url = self._build_websocket_url()
+        if not self.websocket_url:
+            self.websocket_url = ""  # 默认空字符串，避免None
+
+        # 两个核心线程
+        self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
+        self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
+
+        # 设置相互引用
+        self.message_processor.set_queue_processor(self.queue_processor)
+        self.message_processor.set_websocket_client(self)
+        self.queue_processor.set_websocket_client(self)
+
+        logger.info(f"[WebSocketClient] Client_id: {self.client_id}")
+
+    def _build_websocket_url(self) -> Optional[str]:
+        """构建WebSocket连接URL"""
+        if not HTTPConfig.remote_addr:
+            return None
+
+        parsed = urlparse(HTTPConfig.remote_addr)
+
+        if parsed.scheme == "https":
+            scheme = "wss"
+        else:
+            scheme = "ws"
+
+        if ":" in parsed.netloc and parsed.port is not None:
+            url = f"{scheme}://{parsed.hostname}:{parsed.port + 1}/api/v1/ws/schedule"
+        else:
+            url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
+
+        logger.debug(f"[WebSocketClient] URL: {url}")
+        return url
+
+    def start(self) -> None:
+        """启动WebSocket客户端"""
+        if self.is_disabled:
+            logger.warning("[WebSocketClient] WebSocket is disabled, skipping connection.")
+            return
+
+        if not self.websocket_url:
+            logger.error("[WebSocketClient] WebSocket URL not configured")
+            return
+
+        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
+
+        # 启动两个核心线程
+        self.message_processor.start()
+        self.queue_processor.start()
+
+        logger.info("[WebSocketClient] All threads started")
+
+    def stop(self) -> None:
+        """停止WebSocket客户端"""
+        if self.is_disabled:
+            return
+
+        logger.info("[WebSocketClient] Stopping connection")
+
+        # 停止两个核心线程
+        self.message_processor.stop()
+        self.queue_processor.stop()
+
+        logger.info("[WebSocketClient] All threads stopped")
+
+    # BaseCommunicationClient接口实现
+    def is_connected(self) -> bool:
+        """检查是否已连接"""
+        return self.message_processor.is_connected() and not self.is_disabled
+
+    def publish_device_status(self, device_status: dict, device_id: str, property_name: str) -> None:
+        """发布设备状态"""
+        if self.is_disabled or not self.is_connected():
+            return
+
+        message = {
+            "action": "device_status",
+            "data": {
+                "device_id": device_id,
+                "data": {
+                    "property_name": property_name,
+                    "status": device_status.get(device_id, {}).get(property_name),
+                    "timestamp": time.time(),
+                },
+            },
+        }
+        self.message_processor.send_message(message)
+        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+
+    def publish_job_status(
+        self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
+    ) -> None:
+        """发布作业状态，拦截最终结果（给HostNode调用的接口）"""
+        if not self.is_connected():
+            logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
+            return
+
+        # 拦截最终结果状态，与原版本逻辑一致
+        if status in ["success", "failed"]:
+            host_node = HostNode.get_instance(0)
+            if host_node:
+                # 从HostNode的device_action_status中移除job_id
+                try:
+                    host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
+                except (KeyError, AttributeError):
+                    logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
+
+            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+
+            # 通知队列处理器job完成（包括timeout的job）
+            self.queue_processor.handle_job_completed(item.job_id, status)
+
+        # 发送job状态消息
+        message = {
+            "action": "job_status",
+            "data": {
+                "job_id": item.job_id,
+                "task_id": item.task_id,
+                "device_id": item.device_id,
+                "action_name": item.action_name,
+                "status": status,
+                "feedback_data": feedback_data,
+                "return_info": return_info,
+                "timestamp": time.time(),
+            },
+        }
+        self.message_processor.send_message(message)
+
+        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
+        logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
+
+    def send_ping(self, ping_id: str, timestamp: float) -> None:
+        """发送ping消息"""
+        if self.is_disabled or not self.is_connected():
+            logger.warning("[WebSocketClient] Not connected, cannot send ping")
+            return
+
+        message = {"action": "ping", "data": {"ping_id": ping_id, "client_timestamp": timestamp}}
+        self.message_processor.send_message(message)
+        logger.debug(f"[WebSocketClient] Ping sent: {ping_id}")
+
+    def cancel_goal(self, job_id: str) -> None:
+        """取消指定的任务"""
+        # 获取job信息用于日志
+        job_info = self.device_manager.get_job_info(job_id)
+        job_log = format_job_log(
+            job_id,
+            job_info.task_id if job_info else "",
+            job_info.device_id if job_info else "",
+            job_info.action_name if job_info else "",
+        )
+
+        logger.debug(f"[WebSocketClient] Cancel goal request for job: {job_log}")
+        success = self.device_manager.cancel_job(job_id)
+        if success:
+            logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully")
+        else:
+            logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
diff --git a/unilabos/compile/__init__.py b/unilabos/compile/__init__.py
index fd848ba7..51ca9a2d 100644
--- a/unilabos/compile/__init__.py
+++ b/unilabos/compile/__init__.py
@@ -46,6 +46,7 @@ action_protocol_generators = {
     HeatChillStopProtocol: generate_heat_chill_stop_protocol,
     HydrogenateProtocol: generate_hydrogenate_protocol,
     PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    TransferProtocol: generate_pump_protocol,
     RecrystallizeProtocol: generate_recrystallize_protocol,
     ResetHandlingProtocol: generate_reset_handling_protocol,
     RunColumnProtocol: generate_run_column_protocol,
diff --git a/unilabos/compile/add_protocol.py b/unilabos/compile/add_protocol.py
index c492d238..e387ebc7 100644
--- a/unilabos/compile/add_protocol.py
+++ b/unilabos/compile/add_protocol.py
@@ -155,7 +155,7 @@ def generate_add_protocol(
                             "device_id": stirrer_id,
                             "action_name": "start_stir",
                             "action_kwargs": {
-                                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                                 "stir_speed": stir_speed,
                                 "purpose": f"准备添加固体 {reagent}"
                             }
@@ -169,7 +169,7 @@ def generate_add_protocol(
                 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": vessel_id,  # 🔧 使用 vessel_id
+                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                     "reagent": reagent,
                     "purpose": purpose,
                     "event": event,
@@ -232,7 +232,7 @@ def generate_add_protocol(
                         "device_id": stirrer_id,
                         "action_name": "start_stir",
                         "action_kwargs": {
-                            "vessel": vessel_id,  # 🔧 使用 vessel_id
+                            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                             "stir_speed": stir_speed,
                             "purpose": f"准备添加液体 {reagent}"
                         }
diff --git a/unilabos/compile/adjustph_protocol.py b/unilabos/compile/adjustph_protocol.py
index 1207cda5..166d6471 100644
--- a/unilabos/compile/adjustph_protocol.py
+++ b/unilabos/compile/adjustph_protocol.py
@@ -325,7 +325,7 @@ def generate_adjust_ph_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_speed": stir_speed,
                         "purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
                     }
diff --git a/unilabos/compile/centrifuge_protocol.py b/unilabos/compile/centrifuge_protocol.py
index 3f541071..52a2b7eb 100644
--- a/unilabos/compile/centrifuge_protocol.py
+++ b/unilabos/compile/centrifuge_protocol.py
@@ -156,7 +156,7 @@ def generate_centrifuge_protocol(
         "device_id": centrifuge_id,
         "action_name": "centrifuge",
         "action_kwargs": {
-            "vessel": centrifuge_vessel,
+            "vessel": {"id": centrifuge_vessel},
             "speed": speed,
             "time": time,
             "temp": temp
diff --git a/unilabos/compile/clean_vessel_protocol.py b/unilabos/compile/clean_vessel_protocol.py
index b9f903c8..63e9022f 100644
--- a/unilabos/compile/clean_vessel_protocol.py
+++ b/unilabos/compile/clean_vessel_protocol.py
@@ -143,7 +143,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
@@ -295,7 +295,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": vessel_id  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             }
         }
         action_sequence.append(heatchill_stop_action)
diff --git a/unilabos/compile/dissolve_protocol.py b/unilabos/compile/dissolve_protocol.py
index d57b7eb5..98dec9a4 100644
--- a/unilabos/compile/dissolve_protocol.py
+++ b/unilabos/compile/dissolve_protocol.py
@@ -563,7 +563,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill_start",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "temp": final_temp,
                         "purpose": f"溶解准备 - {event}" if event else "溶解准备"
                     }
@@ -587,7 +587,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_speed": stir_speed,
                         "purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
                     }
@@ -612,7 +612,7 @@ def generate_dissolve_protocol(
                 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": vessel_id,
+                    "vessel": {"id": vessel_id},
                     "reagent": reagent or amount or "solid reagent",
                     "purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
                     "event": event
@@ -758,7 +758,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "temp": final_temp,
                         "time": final_time,
                         "stir": True,
@@ -776,7 +776,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_time": final_time,
                         "stir_speed": stir_speed,
                         "settling_time": 0,
@@ -802,7 +802,7 @@ def generate_dissolve_protocol(
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
                 "action_kwargs": {
-                    "vessel": vessel_id
+                    "vessel": {"id": vessel_id},
                 }
             }
             action_sequence.append(stop_action)
diff --git a/unilabos/compile/dry_protocol.py b/unilabos/compile/dry_protocol.py
index 469e929a..1e736072 100644
--- a/unilabos/compile/dry_protocol.py
+++ b/unilabos/compile/dry_protocol.py
@@ -167,7 +167,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
@@ -191,7 +191,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
@@ -251,7 +251,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "purpose": f"干燥完成，停止加热"
         }
     })
diff --git a/unilabos/compile/evacuateandrefill_protocol.py b/unilabos/compile/evacuateandrefill_protocol.py
index bef4b923..45693c2a 100644
--- a/unilabos/compile/evacuateandrefill_protocol.py
+++ b/unilabos/compile/evacuateandrefill_protocol.py
@@ -452,7 +452,7 @@ def generate_evacuateandrefill_protocol(
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "stir_speed": STIR_SPEED,
                 "purpose": "抽真空充气前预搅拌"
             }
@@ -685,7 +685,7 @@ def generate_evacuateandrefill_protocol(
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": vessel_id}  # 🔧 使用 vessel_id
+            "action_kwargs": {"vessel": {"id": vessel_id},}  # 🔧 使用 vessel_id
         })
     else:
         action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
diff --git a/unilabos/compile/evaporate_protocol.py b/unilabos/compile/evaporate_protocol.py
index ba396c13..fd0b12ff 100644
--- a/unilabos/compile/evaporate_protocol.py
+++ b/unilabos/compile/evaporate_protocol.py
@@ -329,7 +329,7 @@ def generate_evaporate_protocol(
         "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": target_vessel,
+            "vessel": {"id": target_vessel},
             "pressure": float(pressure),
             "temp": float(temp),
             "time": float(final_time),  # 🔧 强制转换为float类型
diff --git a/unilabos/compile/heatchill_protocol.py b/unilabos/compile/heatchill_protocol.py
index bc5a15db..9e1f6597 100644
--- a/unilabos/compile/heatchill_protocol.py
+++ b/unilabos/compile/heatchill_protocol.py
@@ -220,7 +220,7 @@ def generate_heat_chill_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": vessel,
+            "vessel": {"id": vessel},
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -287,7 +287,8 @@ def generate_heat_chill_start_protocol(
         "action_name": "heat_chill_start",
         "action_kwargs": {
             "temp": temp,
-            "purpose": purpose or f"开始加热到 {temp}°C"
+            "purpose": purpose or f"开始加热到 {temp}°C",
+            "vessel": {"id": vessel_id},
         }
     }]
     
diff --git a/unilabos/compile/separate_protocol.py b/unilabos/compile/separate_protocol.py
index 6b2800d3..307d9787 100644
--- a/unilabos/compile/separate_protocol.py
+++ b/unilabos/compile/separate_protocol.py
@@ -265,7 +265,7 @@ def generate_separate_protocol(
                     "device_id": stirrer_device,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": final_vessel_id,  # 🔧 使用 final_vessel_id
+                        "vessel": {"id": final_vessel_id},  # 🔧 使用 final_vessel_id
                         "stir_speed": stir_speed,
                         "purpose": f"分离混合 - {purpose}"
                     }
diff --git a/unilabos/compile/stir_protocol.py b/unilabos/compile/stir_protocol.py
index 64a821a8..73d1b878 100644
--- a/unilabos/compile/stir_protocol.py
+++ b/unilabos/compile/stir_protocol.py
@@ -234,7 +234,7 @@ def generate_stir_protocol(
         "action_name": "stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "time": str(time),
             "event": event,
             "time_spec": time_spec,
@@ -323,7 +323,7 @@ def generate_start_stir_protocol(
         "action_name": "start_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "stir_speed": stir_speed,
             "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
@@ -383,7 +383,7 @@ def generate_stop_stir_protocol(
         "action_name": "stop_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
         }
     }]
     
diff --git a/unilabos/compile/wash_solid_protocol.py b/unilabos/compile/wash_solid_protocol.py
index a295d6ee..096476c7 100644
--- a/unilabos/compile/wash_solid_protocol.py
+++ b/unilabos/compile/wash_solid_protocol.py
@@ -361,7 +361,7 @@ def generate_wash_solid_protocol(
                 "device_id": "stirrer_1",
                 "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": vessel_id,  # 🔧 使用 vessel_id
+                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                     "time": str(time),
                     "stir_time": final_time,
                     "stir_speed": stir_speed,
@@ -377,7 +377,7 @@ def generate_wash_solid_protocol(
             "device_id": "filter_1",
             "action_name": "filter",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "filtrate_vessel": actual_filtrate_vessel,
                 "temp": temp,
                 "volume": final_volume
diff --git a/unilabos/config/config.py b/unilabos/config/config.py
index 510ac6b4..e0664449 100644
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -1,14 +1,14 @@
-#!/usr/bin/env python
-# coding=utf-8
-# 定义配置变量和加载函数
+import base64
 import traceback
 import os
 import importlib.util
+from typing import Optional
 from unilabos.utils import logger
 
 
 class BasicConfig:
-    ENV = "pro"  # 'test'
+    ak = ""
+    sk = ""
     working_dir = ""
     config_path = ""
     is_host_mode = True
@@ -17,26 +17,22 @@ class BasicConfig:
     machine_name = "undefined"
     vis_2d_enable = False
     enable_resource_load = True
-    direct_end = False
+    communication_protocol = "websocket"
+
+    @classmethod
+    def auth_secret(cls):
+        if not cls.ak or not cls.sk:
+            return ""
+        target = f"{cls.ak}:{cls.sk}"
+        base64_target = base64.b64encode(target.encode("utf-8")).decode("utf-8")
+        return base64_target
 
 
-# MQTT配置
-class MQConfig:
-    lab_id = ""
-    instance_id = ""
-    access_key = ""
-    secret_key = ""
-    group_id = ""
-    broker_url = ""
-    port = 1883
-    ca_content = ""
-    cert_content = ""
-    key_content = ""
-
-    # 指定
-    ca_file = ""  # 相对config.py所在目录的路径
-    cert_file = ""  # 相对config.py所在目录的路径
-    key_file = ""  # 相对config.py所在目录的路径
+# WebSocket配置
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
 
 
 # OSS上传配置
@@ -66,48 +62,13 @@ class ROSConfig:
     ]
 
 
-def _update_config_from_module(module, override_labid: str):
+def _update_config_from_module(module):
     for name, obj in globals().items():
         if isinstance(obj, type) and name.endswith("Config"):
             if hasattr(module, name) and isinstance(getattr(module, name), type):
                 for attr in dir(getattr(module, name)):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
-    # 更新OSS认证
-    if len(OSSUploadConfig.authorization) == 0:
-        OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
-    # 对 ca_file cert_file key_file 进行初始化
-    if override_labid:
-        MQConfig.lab_id = override_labid
-        logger.warning(f"[ENV] 当前实验室启动的ID被设置为：{override_labid}")
-    if len(MQConfig.ca_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.ca_file.startswith("."):
-            MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
-                MQConfig.ca_content = f.read()
-        else:
-            logger.warning("Skipping CA file loading, ca_file is empty")
-    if len(MQConfig.cert_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.cert_file.startswith("."):
-            MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
-                MQConfig.cert_content = f.read()
-        else:
-            logger.warning("Skipping cert file loading, cert_file is empty")
-    if len(MQConfig.key_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.key_file.startswith("."):
-            MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.key_file, "r", encoding="utf-8") as f:
-                MQConfig.key_content = f.read()
-        else:
-            logger.warning("Skipping key file loading, key_file is empty")
-
 
 def _update_config_from_env():
     prefix = "UNILABOS_"
@@ -160,8 +121,7 @@ def _update_config_from_env():
             logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
 
 
-
-def load_config(config_path=None, override_labid=None):
+def load_config(config_path=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
         env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
@@ -178,7 +138,7 @@ def load_config(config_path=None, override_labid=None):
                 return
             module = importlib.util.module_from_spec(spec)
             spec.loader.exec_module(module)  # type: ignore
-            _update_config_from_module(module, override_labid)
+            _update_config_from_module(module)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
             _update_config_from_env()
         except Exception as e:
@@ -187,4 +147,4 @@ def load_config(config_path=None, override_labid=None):
             exit(1)
     else:
         config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
-        load_config(config_path, override_labid)
+        load_config(config_path)
diff --git a/unilabos/config/example_config.py b/unilabos/config/example_config.py
index 91e08303..b096e410 100644
--- a/unilabos/config/example_config.py
+++ b/unilabos/config/example_config.py
@@ -1,17 +1,12 @@
-# MQTT配置
-class MQConfig:
-    lab_id = ""
-    instance_id = ""
-    access_key = ""
-    secret_key = ""
-    group_id = ""
-    broker_url = ""
-    port = 1883
+# unilabos的配置文件
 
-    ca_file = "./CA.crt"
-    cert_file = "./lab.crt"
-    key_file = "./lab.key"
+class BasicConfig:
+    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
+    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
 
-# HTTP配置
-class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+
+# WebSocket配置，一般无需调整
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
\ No newline at end of file
diff --git a/unilabos/controllers/__init__.py b/unilabos/controllers/__init__.py
deleted file mode 100644
index db4ee185..00000000
--- a/unilabos/controllers/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-from .eis_model import EISModelBasedController
\ No newline at end of file
diff --git a/unilabos/controllers/eis_model.py b/unilabos/controllers/eis_model.py
deleted file mode 100644
index 0f3381f2..00000000
--- a/unilabos/controllers/eis_model.py
+++ /dev/null
@@ -1,5 +0,0 @@
-import numpy as np
-
-
-def EISModelBasedController(eis: np.array) -> float:
-    return 0.0
diff --git a/unilabos/device_comms/coin_cell_assembly_workstation.py b/unilabos/device_comms/coin_cell_assembly_workstation.py
new file mode 100644
index 00000000..62d9b09c
--- /dev/null
+++ b/unilabos/device_comms/coin_cell_assembly_workstation.py
@@ -0,0 +1,454 @@
+"""
+纽扣电池组装工作站
+Coin Cell Assembly Workstation
+
+继承工作站基类，实现纽扣电池特定功能
+"""
+from typing import Dict, Any, List, Optional, Union
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
+from unilabos.device_comms.workstation_communication import (
+    WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
+)
+from unilabos.device_comms.workstation_material_management import (
+    MaterialManagementBase, CoinCellMaterialManagement
+)
+from unilabos.utils.log import logger
+
+
+class CoinCellAssemblyWorkstation(WorkstationBase):
+    """纽扣电池组装工作站
+    
+    基于工作站基类，实现纽扣电池制造的特定功能：
+    1. 纽扣电池特定的通信协议
+    2. 纽扣电池物料管理（料板、极片、电池等）
+    3. 电池制造工作流
+    4. 质量检查工作流
+    """
+
+    def __init__(
+        self,
+        device_id: str,
+        children: Dict[str, Dict[str, Any]],
+        protocol_type: Union[str, List[str]] = "BatteryManufacturingProtocol",
+        resource_tracker: Optional[DeviceNodeResourceTracker] = None,
+        modbus_config: Optional[Dict[str, Any]] = None,
+        deck_config: Optional[Dict[str, Any]] = None,
+        csv_path: str = "./coin_cell_assembly.csv",
+        *args,
+        **kwargs,
+    ):
+        # 设置通信配置
+        modbus_config = modbus_config or {"host": "127.0.0.1", "port": 5021}
+        self.communication_config = CommunicationConfig(
+            protocol=CommunicationProtocol.MODBUS_TCP,
+            host=modbus_config["host"],
+            port=modbus_config["port"],
+            timeout=modbus_config.get("timeout", 5.0),
+            retry_count=modbus_config.get("retry_count", 3)
+        )
+        
+        # 设置台面配置
+        self.deck_config = deck_config or {
+            "size_x": 1620.0,
+            "size_y": 1270.0,
+            "size_z": 500.0
+        }
+        
+        # CSV地址映射文件路径
+        self.csv_path = csv_path
+        
+        # 创建资源跟踪器（如果没有提供）
+        if resource_tracker is None:
+            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+            resource_tracker = DeviceNodeResourceTracker()
+        
+        # 初始化基类
+        super().__init__(
+            device_id=device_id,
+            children=children,
+            protocol_type=protocol_type,
+            resource_tracker=resource_tracker,
+            communication_config=self.communication_config,
+            deck_config=self.deck_config,
+            *args,
+            **kwargs
+        )
+        
+        logger.info(f"纽扣电池组装工作站 {device_id} 初始化完成")
+
+    def _create_communication_module(self) -> WorkstationCommunicationBase:
+        """创建纽扣电池通信模块"""
+        return CoinCellCommunication(
+            communication_config=self.communication_config,
+            csv_path=self.csv_path
+        )
+
+    def _create_material_management_module(self) -> MaterialManagementBase:
+        """创建纽扣电池物料管理模块"""
+        return CoinCellMaterialManagement(
+            device_id=self.device_id,
+            deck_config=self.deck_config,
+            resource_tracker=self.resource_tracker,
+            children_config=self.children
+        )
+
+    def _register_supported_workflows(self):
+        """注册纽扣电池工作流"""
+        # 电池制造工作流
+        self.supported_workflows["battery_manufacturing"] = WorkflowInfo(
+            name="battery_manufacturing",
+            description="纽扣电池制造工作流",
+            estimated_duration=300.0,  # 5分钟
+            required_materials=["cathode_sheet", "anode_sheet", "separator", "electrolyte"],
+            output_product="coin_cell_battery",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "electrolyte_num": {
+                        "type": "integer",
+                        "description": "电解液瓶数",
+                        "minimum": 1,
+                        "maximum": 32
+                    },
+                    "electrolyte_volume": {
+                        "type": "number",
+                        "description": "电解液体积 (μL)",
+                        "minimum": 0.1,
+                        "maximum": 100.0
+                    },
+                    "assembly_pressure": {
+                        "type": "number",
+                        "description": "组装压力 (N)",
+                        "minimum": 100.0,
+                        "maximum": 5000.0
+                    },
+                    "cathode_material": {
+                        "type": "string",
+                        "description": "正极材料类型",
+                        "enum": ["LiFePO4", "LiCoO2", "NCM", "LMO"]
+                    },
+                    "anode_material": {
+                        "type": "string", 
+                        "description": "负极材料类型",
+                        "enum": ["Graphite", "LTO", "Silicon"]
+                    }
+                },
+                "required": ["electrolyte_num", "electrolyte_volume", "assembly_pressure"]
+            }
+        )
+        
+        # 质量检查工作流
+        self.supported_workflows["quality_inspection"] = WorkflowInfo(
+            name="quality_inspection",
+            description="产品质量检查工作流",
+            estimated_duration=60.0,  # 1分钟
+            required_materials=["finished_battery"],
+            output_product="quality_report",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "test_voltage": {
+                        "type": "boolean",
+                        "description": "是否测试电压",
+                        "default": True
+                    },
+                    "test_capacity": {
+                        "type": "boolean",
+                        "description": "是否测试容量",
+                        "default": False
+                    },
+                    "voltage_threshold": {
+                        "type": "number",
+                        "description": "电压阈值 (V)",
+                        "minimum": 2.0,
+                        "maximum": 4.5,
+                        "default": 3.0
+                    }
+                }
+            }
+        )
+        
+        # 设备初始化工作流
+        self.supported_workflows["device_initialization"] = WorkflowInfo(
+            name="device_initialization", 
+            description="设备初始化工作流",
+            estimated_duration=30.0,  # 30秒
+            required_materials=[],
+            output_product="ready_status",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "auto_mode": {
+                        "type": "boolean",
+                        "description": "是否启用自动模式",
+                        "default": True
+                    }
+                }
+            }
+        )
+
+    # ============ 纽扣电池特定方法 ============
+    
+    def get_electrode_sheet_inventory(self) -> Dict[str, int]:
+        """获取极片库存统计"""
+        try:
+            sheets = self.material_management.find_electrode_sheets()
+            inventory = {}
+            
+            for sheet in sheets:
+                material_type = getattr(sheet, 'material_type', 'unknown')
+                inventory[material_type] = inventory.get(material_type, 0) + 1
+            
+            return inventory
+            
+        except Exception as e:
+            logger.error(f"获取极片库存失败: {e}")
+            return {}
+
+    def get_battery_production_statistics(self) -> Dict[str, Any]:
+        """获取电池生产统计"""
+        try:
+            production_data = self.communication.get_production_data()
+            
+            # 添加物料统计
+            electrode_inventory = self.get_electrode_sheet_inventory()
+            battery_count = len(self.material_management.find_batteries())
+            
+            return {
+                **production_data,
+                "electrode_inventory": electrode_inventory,
+                "finished_battery_count": battery_count,
+                "material_plates": len(self.material_management.find_material_plates()),
+                "press_slots": len(self.material_management.find_press_slots())
+            }
+            
+        except Exception as e:
+            logger.error(f"获取生产统计失败: {e}")
+            return {"error": str(e)}
+
+    def create_new_battery(self, battery_spec: Dict[str, Any]) -> Optional[str]:
+        """创建新电池资源"""
+        try:
+            from unilabos.device_comms.button_battery_station import Battery
+            import uuid
+            
+            battery_id = f"battery_{uuid.uuid4().hex[:8]}"
+            
+            battery = Battery(
+                name=battery_id,
+                diameter=battery_spec.get("diameter", 20.0),
+                height=battery_spec.get("height", 3.2),
+                max_volume=battery_spec.get("max_volume", 100.0),
+                barcode=battery_spec.get("barcode", "")
+            )
+            
+            # 添加到物料管理系统
+            self.material_management.plr_resources[battery_id] = battery
+            self.material_management.resource_tracker.add_resource(battery)
+            
+            logger.info(f"创建新电池资源: {battery_id}")
+            return battery_id
+            
+        except Exception as e:
+            logger.error(f"创建电池资源失败: {e}")
+            return None
+
+    def find_available_press_slot(self) -> Optional[str]:
+        """查找可用的压制槽"""
+        try:
+            press_slots = self.material_management.find_press_slots()
+            
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            
+            return None
+            
+        except Exception as e:
+            logger.error(f"查找可用压制槽失败: {e}")
+            return None
+
+    def get_glove_box_environment(self) -> Dict[str, Any]:
+        """获取手套箱环境数据"""
+        try:
+            device_status = self.communication.get_device_status()
+            environment = device_status.get("environment", {})
+            
+            return {
+                "pressure": environment.get("glove_box_pressure", 0.0),
+                "o2_content": environment.get("o2_content", 0.0),
+                "water_content": environment.get("water_content", 0.0),
+                "is_safe": (
+                    environment.get("o2_content", 0.0) < 10.0 and  # 氧气含量 < 10ppm
+                    environment.get("water_content", 0.0) < 1.0      # 水分含量 < 1ppm
+                )
+            }
+            
+        except Exception as e:
+            logger.error(f"获取手套箱环境失败: {e}")
+            return {"error": str(e)}
+
+    def start_data_export(self, file_path: str) -> bool:
+        """开始生产数据导出"""
+        try:
+            return self.communication.start_data_export(file_path, export_interval=5.0)
+        except Exception as e:
+            logger.error(f"启动数据导出失败: {e}")
+            return False
+
+    def stop_data_export(self) -> bool:
+        """停止生产数据导出"""
+        try:
+            return self.communication.stop_data_export()
+        except Exception as e:
+            logger.error(f"停止数据导出失败: {e}")
+            return False
+
+    # ============ 重写基类方法以支持纽扣电池特定功能 ============
+    
+    def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
+        """启动工作流（重写以支持纽扣电池特定预处理）"""
+        try:
+            # 进行纽扣电池特定的预检查
+            if workflow_type == "battery_manufacturing":
+                # 检查手套箱环境
+                env = self.get_glove_box_environment()
+                if not env.get("is_safe", False):
+                    logger.error("手套箱环境不安全，无法启动电池制造工作流")
+                    return False
+                
+                # 检查是否有可用的压制槽
+                available_slot = self.find_available_press_slot()
+                if not available_slot:
+                    logger.error("没有可用的压制槽，无法启动电池制造工作流")
+                    return False
+                
+                # 检查极片库存
+                electrode_inventory = self.get_electrode_sheet_inventory()
+                if not electrode_inventory.get("cathode", 0) > 0 or not electrode_inventory.get("anode", 0) > 0:
+                    logger.error("极片库存不足，无法启动电池制造工作流")
+                    return False
+            
+            # 调用基类方法
+            return super().start_workflow(workflow_type, parameters)
+            
+        except Exception as e:
+            logger.error(f"启动纽扣电池工作流失败: {e}")
+            return False
+
+    # ============ 纽扣电池特定状态属性 ============
+    
+    @property
+    def electrode_sheet_count(self) -> int:
+        """极片总数"""
+        try:
+            return len(self.material_management.find_electrode_sheets())
+        except:
+            return 0
+
+    @property
+    def battery_count(self) -> int:
+        """电池总数"""
+        try:
+            return len(self.material_management.find_batteries())
+        except:
+            return 0
+
+    @property
+    def available_press_slots(self) -> int:
+        """可用压制槽数"""
+        try:
+            press_slots = self.material_management.find_press_slots()
+            available = 0
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    available += 1
+            return available
+        except:
+            return 0
+
+    @property
+    def environment_status(self) -> Dict[str, Any]:
+        """环境状态"""
+        return self.get_glove_box_environment()
+
+
+# ============ 工厂函数 ============
+
+def create_coin_cell_workstation(
+    device_id: str,
+    config_file: str,
+    modbus_host: str = "127.0.0.1",
+    modbus_port: int = 5021,
+    csv_path: str = "./coin_cell_assembly.csv"
+) -> CoinCellAssemblyWorkstation:
+    """工厂函数：创建纽扣电池组装工作站
+    
+    Args:
+        device_id: 设备ID
+        config_file: 配置文件路径（JSON格式）
+        modbus_host: Modbus主机地址
+        modbus_port: Modbus端口
+        csv_path: 地址映射CSV文件路径
+    
+    Returns:
+        CoinCellAssemblyWorkstation: 工作站实例
+    """
+    import json
+    
+    try:
+        # 加载配置文件
+        with open(config_file, 'r', encoding='utf-8') as f:
+            config = json.load(f)
+        
+        # 提取配置
+        children = config.get("children", {})
+        deck_config = config.get("deck_config", {})
+        
+        # 创建工作站
+        workstation = CoinCellAssemblyWorkstation(
+            device_id=device_id,
+            children=children,
+            modbus_config={
+                "host": modbus_host,
+                "port": modbus_port
+            },
+            deck_config=deck_config,
+            csv_path=csv_path
+        )
+        
+        logger.info(f"纽扣电池工作站创建成功: {device_id}")
+        return workstation
+        
+    except Exception as e:
+        logger.error(f"创建纽扣电池工作站失败: {e}")
+        raise
+
+
+if __name__ == "__main__":
+    # 示例用法
+    workstation = create_coin_cell_workstation(
+        device_id="coin_cell_station_01",
+        config_file="./button_battery_workstation.json",
+        modbus_host="127.0.0.1",
+        modbus_port=5021
+    )
+    
+    # 启动电池制造工作流
+    success = workstation.start_workflow(
+        "battery_manufacturing",
+        {
+            "electrolyte_num": 16,
+            "electrolyte_volume": 50.0,
+            "assembly_pressure": 2000.0,
+            "cathode_material": "LiFePO4",
+            "anode_material": "Graphite"
+        }
+    )
+    
+    if success:
+        print("电池制造工作流启动成功")
+    else:
+        print("电池制造工作流启动失败")
diff --git a/unilabos/device_comms/modbus_plc/client.py b/unilabos/device_comms/modbus_plc/client.py
index a7da3aff..c239b9d5 100644
--- a/unilabos/device_comms/modbus_plc/client.py
+++ b/unilabos/device_comms/modbus_plc/client.py
@@ -8,8 +8,8 @@ from pymodbus.client import ModbusSerialClient, ModbusTcpClient
 from pymodbus.framer import FramerType
 from typing import TypedDict
 
-from unilabos.device_comms.modbus_plc.node.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 from unilabos.device_comms.universal_driver import UniversalDriver
 from unilabos.utils.log import logger
 import pandas as pd
diff --git a/unilabos/device_comms/modbus_plc/node/modbus.py b/unilabos/device_comms/modbus_plc/modbus.py
similarity index 100%
rename from unilabos/device_comms/modbus_plc/node/modbus.py
rename to unilabos/device_comms/modbus_plc/modbus.py
diff --git a/unilabos/device_comms/modbus_plc/test/client.py b/unilabos/device_comms/modbus_plc/test/client.py
index 070e180b..416f8493 100644
--- a/unilabos/device_comms/modbus_plc/test/client.py
+++ b/unilabos/device_comms/modbus_plc/test/client.py
@@ -1,6 +1,6 @@
 import time
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
+from unilabos.device_comms.modbus_plc.modbus import Coil, HoldRegister
 from pymodbus.payload import BinaryPayloadDecoder
 from pymodbus.constants import Endian
 
diff --git a/unilabos/device_comms/modbus_plc/test/node_test.py b/unilabos/device_comms/modbus_plc/test/node_test.py
index d2fa2d75..d36f28d7 100644
--- a/unilabos/device_comms/modbus_plc/test/node_test.py
+++ b/unilabos/device_comms/modbus_plc/test/node_test.py
@@ -1,6 +1,6 @@
 # coding=utf-8
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil
+from unilabos.device_comms.modbus_plc.modbus import Coil
 import time
 
 
diff --git a/unilabos/device_comms/modbus_plc/test/test_workflow.py b/unilabos/device_comms/modbus_plc/test/test_workflow.py
index e418a3c5..8f764d6a 100644
--- a/unilabos/device_comms/modbus_plc/test/test_workflow.py
+++ b/unilabos/device_comms/modbus_plc/test/test_workflow.py
@@ -1,7 +1,7 @@
 import time
 from typing import Callable
 from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 
 ############ 第一种写法 ##############
 
diff --git a/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro b/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
new file mode 100644
index 00000000..c1ca35f2
--- /dev/null
+++ b/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
@@ -0,0 +1,150 @@
+<?xml version="1.0" ?>
+<robot name="liquid_transform_xyz" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+
+  <xacro:macro name="liquid_transform_xyz" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+
+    <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}base_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- =================================================================================== -->
+    <!-- |    This document was autogenerated by xacro from xyz.urdf                       | -->
+    <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+    <!-- =================================================================================== -->
+    <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+         Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+         For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+      <link name="${station_name}${device_name}base_link">
+        <inertial>
+          <origin rpy="0 0 0" xyz="0.15478184748283 0.171048654921622 0.119246989054835"/>
+          <mass value="10.6178517218032"/>
+          <inertia ixx="0.178863713357329" ixy="1.50019641847353E-05" ixz="1.35368730492005E-05" iyy="0.174395775755846" iyz="-9.90771939078091E-06" izz="0.34100152139765"/>
+        </inertial>
+        <visual>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
+          </geometry>
+          <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+          </material>
+        </visual>
+        <collision>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
+          </geometry>
+        </collision>
+      </link>
+      <link name="${station_name}${device_name}x_link">
+        <inertial>
+          <origin rpy="0 0 0" xyz="0.325214039540178 0.00943452607370124 0.0482611114301988"/>
+          <mass value="2.10887387421016"/>
+          <inertia ixx="0.0012305846984949" ixy="5.54649260270946E-07" ixz="3.84099347741331E-07" iyy="0.0349382006090243" iyz="-0.000103697818531446" izz="0.0354178972785773"/>
+        </inertial>
+        <visual>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
+          </geometry>
+          <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+          </material>
+        </visual>
+        <collision>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
+          </geometry>
+        </collision>
+      </link>
+      <joint name="${station_name}${device_name}x_joint" type="prismatic">
+        <origin rpy="0 0 0" xyz="-0.141499999999982 0.334850000000045 0.357700036886815"/>
+        <parent link="${station_name}${device_name}base_link"/>
+        <child link="${station_name}${device_name}x_link"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="50" lower="-0.3" upper="0" velocity="1"/>
+      </joint>
+      <link name="${station_name}${device_name}y_link">
+        <inertial>
+          <origin rpy="0 0 0" xyz="-1.50235389641123E-05 -0.00104302241099613 -0.0439486470514941"/>
+          <mass value="0.57605998885478"/>
+          <inertia ixx="0.00193021581150653" ixy="3.53777102560584E-08" ixz="2.57202248177777E-07" iyy="0.00224712797067005" iyz="-3.96170906880708E-07" izz="0.000419338880142789"/>
+        </inertial>
+        <visual>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
+          </geometry>
+          <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+          </material>
+        </visual>
+        <collision>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
+          </geometry>
+        </collision>
+      </link>
+      <joint name="${station_name}${device_name}y_joint" type="prismatic">
+        <origin rpy="0 0 0" xyz="0.2855 -0.0330000368868711 0.0578"/>
+        <parent link="${station_name}${device_name}x_link"/>
+        <child link="${station_name}${device_name}y_link"/>
+        <axis xyz="-1 0 0"/>
+        <limit effort="50" lower="-0.25" upper="0.25" velocity="1"/>
+      </joint>
+      <link name="${station_name}${device_name}z_link">
+        <inertial>
+          <origin rpy="0 0 0" xyz="-1.07272060046598E-06 -0.00954902784618396 0.017834416924223"/>
+          <mass value="0.199932032754258"/>
+          <inertia ixx="0.000219989530768707" ixy="-7.50956522121896E-10" ixz="-1.265045524863E-07" iyy="0.000245054780375167" iyz="-3.76753893185657E-06" izz="4.29092763044732E-05"/>
+        </inertial>
+        <visual>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
+          </geometry>
+          <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+          </material>
+        </visual>
+        <collision>
+          <origin rpy="0 0 0" xyz="0 0 0"/>
+          <geometry>
+            <mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
+          </geometry>
+        </collision>
+      </link>
+      <joint name="${station_name}${device_name}z_joint" type="prismatic">
+        <origin rpy="0 0 0" xyz="0.000950000000001387 -0.0737000000000002 0"/>
+        <parent link="${station_name}${device_name}y_link"/>
+        <child link="${station_name}${device_name}z_link"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="50" lower="-0.2" upper="0" velocity="1"/>
+      </joint>
+      <link name="${station_name}${device_name}p_link">
+        
+      </link>
+      <joint name="${station_name}${device_name}p_joint" type="fixed">
+        <origin rpy="0 0 0" xyz="0 -0.0139999999999999 -0.10575"/>
+        <parent link="${station_name}${device_name}z_link"/>
+        <child link="${station_name}${device_name}p_link"/>
+        <axis xyz="0 0 0"/>
+      </joint>
+
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/liquid_transform_xyz/meshes/base_link.STL b/unilabos/device_mesh/devices/liquid_transform_xyz/meshes/base_link.STL
new file mode 100644
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diff --git a/unilabos/device_mesh/devices/liquid_transform_xyz/meshes/z_link.STL b/unilabos/device_mesh/devices/liquid_transform_xyz/meshes/z_link.STL
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diff --git a/unilabos/devices/balance/__init__.py b/unilabos/devices/balance/__init__.py
new file mode 100644
index 00000000..c6271164
--- /dev/null
+++ b/unilabos/devices/balance/__init__.py
@@ -0,0 +1,6 @@
+# Balance devices module
+
+# Import balance device modules
+from . import mettler_toledo_xpr
+
+__all__ = ['mettler_toledo_xpr']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template b/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
new file mode 100644
index 00000000..aacf70c0
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 
+  WSDL Template for Mettler Toledo XPR/XSR Balance
+  
+  IMPORTANT: This is a template file. You need to obtain the actual WSDL file 
+  from Mettler Toledo for your specific balance model.
+  
+  To use this driver:
+  1. Contact Mettler Toledo support to obtain the official WSDL file
+  2. Replace this template with the actual WSDL file
+  3. Rename it to: MT.Laboratory.Balance.XprXsr.V03.wsdl
+  
+  The WSDL file contains proprietary information and cannot be distributed
+  with this open-source project.
+-->
+<wsdl:definitions xmlns:wsx="http://schemas.xmlsoap.org/ws/2004/09/mex" 
+                  xmlns:wsu="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-wssecurity-utility-1.0.xsd" 
+                  xmlns:wsa10="http://www.w3.org/2005/08/addressing" 
+                  xmlns:wsp="http://schemas.xmlsoap.org/ws/2004/09/policy" 
+                  xmlns:wsap="http://schemas.xmlsoap.org/ws/2004/08/addressing/policy" 
+                  xmlns:msc="http://schemas.microsoft.com/ws/2005/12/wsdl/contract" 
+                  xmlns:soap12="http://schemas.xmlsoap.org/wsdl/soap12/" 
+                  xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" 
+                  xmlns:wsam="http://www.w3.org/2007/05/addressing/metadata" 
+                  xmlns:xsd="http://www.w3.org/2001/XMLSchema" 
+                  xmlns:tns="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:soap="http://schemas.xmlsoap.org/wsdl/soap/" 
+                  xmlns:wsaw="http://www.w3.org/2006/05/addressing/wsdl" 
+                  xmlns:soapenc="http://schemas.xmlsoap.org/soap/encoding/" 
+                  targetNamespace="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:wsdl="http://schemas.xmlsoap.org/wsdl/">
+  
+  <!-- 
+    PLACEHOLDER CONTENT
+    
+    This template contains only the basic structure.
+    The actual WSDL file should contain:
+    - Service definitions
+    - Port types
+    - Message definitions
+    - Binding information
+    - Endpoint addresses with template variables: {{host}}, {{port}}, {{api_path}}
+  -->
+  
+  <wsdl:types>
+    <!-- Schema definitions will be here in the actual WSDL -->
+  </wsdl:types>
+  
+  <!-- Service definitions will be here in the actual WSDL -->
+  
+</wsdl:definitions>
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md b/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
new file mode 100644
index 00000000..02de76c9
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
@@ -0,0 +1,255 @@
+# 梅特勒天平 ROS2 使用指南 / Mettler Toledo Balance ROS2 User Guide
+
+## 概述 / Overview
+
+梅特勒托利多XPR/XSR天平驱动支持通过ROS2动作进行操作，包括去皮、清零、读取重量等功能。
+
+The Mettler Toledo XPR/XSR balance driver supports operations through ROS2 actions, including tare, zero, weight reading, and other functions.
+
+## 主要功能 / Main Features
+
+### 1. 去皮操作 / Tare Operation (`tare`)
+
+- **功能 / Function**: 执行天平去皮操作 / Perform balance tare operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即去皮 / Whether to tare immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 2. 清零操作 / Zero Operation (`zero`)
+
+- **功能 / Function**: 执行天平清零操作 / Perform balance zero operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即清零 / Whether to zero immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 3. 读取重量 / Read Weight (`read` / `get_weight`)
+
+- **功能 / Function**: 读取当前天平重量 / Read current balance weight
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含重量信息 / Contains weight information
+
+
+
+## 使用方法 / Usage Methods
+
+### ROS2命令行使用 / ROS2 Command Line Usage
+
+### 1. 去皮操作 / Tare Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 2. 清零操作 / Zero Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"zero\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 3. 读取重量 / Read Weight
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+
+### 4. 推荐的去皮读取流程 / Recommended Tare and Read Workflow
+
+**步骤1: 去皮操作 / Step 1: Tare Operation**
+```bash
+# 放置空容器后执行去皮 / Execute tare after placing empty container
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+**步骤2: 读取净重 / Step 2: Read Net Weight**
+```bash
+# 添加物质后读取净重 / Read net weight after adding substance
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**优势 / Advantages**:
+- 可以在去皮和读取之间进行确认 / Can confirm between taring and reading
+- 更好的错误处理和调试 / Better error handling and debugging
+- 操作流程更加清晰 / Clearer operation workflow
+
+
+
+## 命令格式说明 / Command Format Description
+
+所有命令都使用JSON格式，包含以下字段 / All commands use JSON format with the following fields：
+
+```json
+{
+  "command": "命令名称 / Command name",
+  "params": {
+    "参数名 / Parameter name": "参数值 / Parameter value"
+  }
+}
+```
+
+**注意事项 / Notes：**
+1. JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+2. 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+3. 如果命令不需要参数，可以省略`params`字段 / If command doesn't need parameters, `params` field can be omitted
+
+## 返回结果 / Return Results
+
+所有命令都会返回包含以下字段的结果 / All commands return results with the following fields：
+
+- `success`: 布尔值，表示操作是否成功 / Boolean value indicating operation success
+- `return_info`: 字符串，包含操作结果的详细信息 / String containing detailed operation result information
+
+## 成功执行示例 / Successful Execution Example
+
+以下是一个成功执行读取重量命令的示例 / Here is an example of successfully executing a weight reading command：
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**成功返回结果 / Successful Return Result：**
+```
+Waiting for an action server to become available...
+Sending goal:
+     command: '{"command": "read"}'
+
+Goal accepted :)
+
+Result:
+    success: True
+    return_info: Weight: 0.24866 Milligram
+
+Goal finished with status: SUCCEEDED
+```
+
+### Python代码使用 / Python Code Usage
+
+```python
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import json
+
+class BalanceController(Node):
+    """梅特勒天平控制器 / Mettler Balance Controller"""
+    def __init__(self):
+        super().__init__('balance_controller')
+        self._action_client = ActionClient(self, SendCmd, '/devices/BALANCE_STATION/send_cmd')
+    
+    def send_command(self, command, params=None):
+        """发送命令到天平 / Send command to balance"""
+        goal_msg = SendCmd.Goal()
+        
+        cmd_data = {'command': command}
+        if params:
+            cmd_data['params'] = params
+            
+        goal_msg.command = json.dumps(cmd_data)
+        
+        self._action_client.wait_for_server()
+        future = self._action_client.send_goal_async(goal_msg)
+        
+        return future
+    
+    def tare_balance(self, immediate=False):
+        """去皮操作 / Tare operation"""
+        return self.send_command('tare', {'immediate': immediate})
+    
+    def zero_balance(self, immediate=False):
+        """清零操作 / Zero operation"""
+        return self.send_command('zero', {'immediate': immediate})
+    
+    def read_weight(self):
+        """读取重量 / Read weight"""
+        return self.send_command('read')
+    
+
+
+
+# 使用示例 / Usage Example
+def main():
+    rclpy.init()
+    controller = BalanceController()
+    
+    # 去皮操作 / Tare operation
+    future = controller.tare_balance(immediate=False)
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"去皮结果 / Tare result: {result.success}, 信息 / Info: {result.return_info}")
+    
+    # 读取重量 / Read weight
+    future = controller.read_weight()
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"读取结果 / Read result: {result.success}, 信息 / Info: {result.return_info}")
+    
+    controller.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+```
+
+## 使用注意事项 / Usage Notes
+
+1. **设备连接 / Device Connection**: 确保梅特勒天平设备已连接并可访问 / Ensure Mettler balance device is connected and accessible
+2. **命令格式 / Command Format**: JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+3. **参数类型 / Parameter Types**: 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+4. **权限 / Permissions**: 确保有操作天平的权限 / Ensure you have permission to operate the balance
+
+## 故障排除 / Troubleshooting
+
+### 常见问题 / Common Issues
+
+1. **JSON格式错误 / JSON Format Error**: 确保JSON字符串格式正确且引号已转义 / Ensure JSON string format is correct and quotes are escaped
+2. **未知命令名称 / Unknown Command Name**: 检查命令名称是否正确 / Check if command name is correct
+3. **设备连接失败 / Device Connection Failed**: 检查网络连接和设备状态 / Check network connection and device status
+4. **操作超时 / Operation Timeout**: 检查设备是否响应正常 / Check if device is responding normally
+
+### 错误处理 / Error Handling
+
+如果命令执行失败，返回结果中的`success`字段将为`false`，`return_info`字段将包含错误信息。
+
+If command execution fails, the `success` field in the return result will be `false`, and the `return_info` field will contain error information.
+
+### 调试技巧 / Debugging Tips
+
+1. 检查设备节点是否正在运行 / Check if device node is running：
+   ```bash
+   ros2 node list | grep BALANCE
+   ```
+
+2. 查看可用的action / View available actions：
+   ```bash
+   ros2 action list | grep BALANCE
+   ```
+
+3. 检查action接口 / Check action interface：
+   ```bash
+   ros2 action info /devices/BALANCE_STATION/send_cmd
+   ```
+
+4. 查看节点日志 / View node logs：
+   ```bash
+   ros2 topic echo /rosout
+   ```
+
+## 总结 / Summary
+
+梅特勒托利多天平设备现在支持 / Mettler Toledo balance device now supports:
+
+1. 通过ROS2 SendCmd动作进行统一操作 / Unified operations through ROS2 SendCmd actions
+2. 完整的天平功能支持（去皮、清零、读重等）/ Complete balance function support (tare, zero, weight reading, etc.)
+3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
+4. 简化的操作流程和调试方法 / Simplified operation workflow and debugging methods
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/README.md b/unilabos/devices/balance/mettler_toledo_xpr/README.md
new file mode 100644
index 00000000..d46a927d
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/README.md
@@ -0,0 +1,123 @@
+# Mettler Toledo XPR/XSR Balance Driver
+
+## 概述
+
+本驱动程序为梅特勒托利多XPR/XSR系列天平提供标准接口，支持去皮、清零和重量读取等操作。
+
+## ⚠️ 重要说明 - WSDL文件配置
+
+### 问题说明
+
+本驱动程序需要使用梅特勒托利多官方提供的WSDL文件来与天平通信。由于该WSDL文件包含专有信息，不能随开源项目一起分发。
+
+### 配置步骤
+
+1. **获取WSDL文件**
+   - 联系梅特勒托利多技术支持
+   - 或从您的天平设备Web界面下载
+   - 或从梅特勒托利多官方SDK获取
+
+2. **安装WSDL文件**
+   ```bash
+   # 将获取的WSDL文件复制到驱动目录
+   cp /path/to/your/MT.Laboratory.Balance.XprXsr.V03.wsdl \
+      unilabos/devices/balance/mettler_toledo_xpr/
+   ```
+
+3. **验证安装**
+   - 确保文件名为：`MT.Laboratory.Balance.XprXsr.V03.wsdl`
+   - 确保文件包含Jinja2模板变量：`{{host}}`、`{{port}}`、`{{api_path}}`
+
+### WSDL文件要求
+
+- 文件必须是有效的WSDL格式
+- 必须包含SessionService和WeighingService的定义
+- 端点地址应使用模板变量以支持动态IP配置：
+  ```xml
+  <soap:address location="http://{{host}}:{{port}}/{{api_path}}/SessionService" />
+  <soap:address location="http://{{host}}:{{port}}/{{api_path}}/WeighingService" />
+  ```
+
+### 文件结构
+
+```
+mettler_toledo_xpr/
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl          # 实际WSDL文件（用户提供）
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl.template # 模板文件（仅供参考）
+├── mettler_toledo_xpr.py                          # 驱动程序
+├── balance.yaml                                   # 设备配置
+├── SendCmd_Usage_Guide.md                         # 使用指南
+└── README.md                                      # 本文件
+```
+
+## 使用方法
+
+### 基本配置
+
+```python
+from unilabos.devices.balance.mettler_toledo_xpr import MettlerToledoXPR
+
+# 创建天平实例
+balance = MettlerToledoXPR(
+    ip="192.168.1.10",      # 天平IP地址
+    port=81,                # 天平端口
+    password="123456",      # 天平密码
+    timeout=10              # 连接超时时间
+)
+
+# 执行操作
+balance.tare()              # 去皮
+balance.zero()              # 清零
+weight = balance.get_weight()  # 读取重量
+```
+
+### ROS2 SendCmd Action
+
+详细的ROS2使用方法请参考 [SendCmd_Usage_Guide.md](SendCmd_Usage_Guide.md)
+
+## 故障排除
+
+### 常见错误
+
+1. **FileNotFoundError: WSDL template not found**
+   - 确保WSDL文件已正确放置在驱动目录中
+   - 检查文件名是否正确
+
+2. **连接失败**
+   - 检查天平IP地址和端口配置
+   - 确保天平Web服务已启用
+   - 验证网络连接
+
+3. **认证失败**
+   - 检查天平密码是否正确
+   - 确保天平允许Web服务访问
+
+### 调试模式
+
+```python
+import logging
+logging.basicConfig(level=logging.DEBUG)
+
+# 创建天平实例，将显示详细日志
+balance = MettlerToledoXPR(ip="192.168.1.10")
+```
+
+## 支持的操作
+
+- **去皮 (Tare)**: 将当前重量设为零点
+- **清零 (Zero)**: 重新校准零点
+- **读取重量 (Get Weight)**: 获取当前重量值
+- **带去皮读取**: 先去皮再读取重量
+- **连接管理**: 自动连接和断开
+
+## 技术支持
+
+如果您在配置WSDL文件时遇到问题，请：
+
+1. 查看梅特勒托利多官方文档
+2. 联系梅特勒托利多技术支持
+3. 在项目GitHub页面提交Issue
+
+## 许可证
+
+本驱动程序遵循项目主许可证。WSDL文件的使用需遵循梅特勒托利多的许可条款。
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/__init__.py b/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
new file mode 100644
index 00000000..80b47f77
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
@@ -0,0 +1,5 @@
+# Mettler Toledo XPR Balance Driver Module
+
+from .mettler_toledo_xpr import MettlerToledoXPR
+
+__all__ = ['MettlerToledoXPR']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml b/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
new file mode 100644
index 00000000..19bc241d
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
@@ -0,0 +1,256 @@
+balance.mettler_toledo_xpr:
+  category:
+  - balance
+  class:
+    action_value_mappings:
+      disconnect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Disconnect from balance
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether disconnect was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_weight:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result:
+          unit: unit
+          weight: weight
+        schema:
+          description: Get current weight reading
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                unit:
+                  description: Weight unit (e.g., g, kg)
+                  type: string
+                weight:
+                  description: Weight value
+                  type: number
+              required:
+              - weight
+              - unit
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      read_with_tare:
+        feedback: {}
+        goal:
+          immediate_tare: immediate_tare
+        goal_default:
+          immediate_tare: true
+        handles: []
+        result:
+          unit: unit
+          weight: weight
+        schema:
+          description: Perform tare then read weight (standard read operation)
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate_tare:
+                  default: true
+                  description: Whether to use immediate tare
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                unit:
+                  description: Weight unit (e.g., g, kg)
+                  type: string
+                weight:
+                  description: Weight value after tare
+                  type: number
+              required:
+              - weight
+              - unit
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      send_cmd:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      tare:
+        feedback: {}
+        goal:
+          immediate: immediate
+        goal_default:
+          immediate: false
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Tare operation for balance
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate:
+                  default: false
+                  description: Whether to perform immediate tare
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether tare operation was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      zero:
+        feedback: {}
+        goal:
+          immediate: immediate
+        goal_default:
+          immediate: false
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Zero operation for balance
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate:
+                  default: false
+                  description: Whether to perform immediate zero
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether zero operation was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
+    status_types:
+      error_message: str
+      is_stable: bool
+      status: str
+      unit: str
+      weight: float
+    type: python
+  config_info: []
+  description: Mettler Toledo XPR/XSR Balance Driver
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: MettlerToledoXPR __init__ parameters
+    properties:
+      feedback: {}
+      goal:
+        description: Initialization parameters for Mettler Toledo XPR balance
+        properties:
+          ip:
+            default: 192.168.1.10
+            description: Balance IP address
+            type: string
+          password:
+            default: '123456'
+            description: Balance password
+            type: string
+          port:
+            default: 81
+            description: Balance port number
+            type: integer
+          timeout:
+            default: 10
+            description: Connection timeout in seconds
+            type: integer
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ command parameters
+    type: object
+  version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json b/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
new file mode 100644
index 00000000..b5f93dc1
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
@@ -0,0 +1,25 @@
+{
+    "nodes": [
+        {
+            "id": "BALANCE_STATION",
+            "name": "METTLER_TOLEDO_XPR",
+            "parent": null,
+            "type": "device",
+            "class": "balance.mettler_toledo_xpr",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "ip": "192.168.1.10",
+                "port": 81,
+                "password": "123456",
+                "timeout": 10
+            },
+            "data": {},
+            "children": []
+        }
+    ],
+  "links": []
+}
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py b/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
new file mode 100644
index 00000000..e103c191
--- /dev/null
+++ b/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
@@ -0,0 +1,571 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+Mettler Toledo XPR/XSR Balance Driver for Uni-Lab OS
+
+This driver provides standard interface for Mettler Toledo XPR/XSR balance operations
+including tare, zero, and weight reading functions.
+"""
+
+import enum
+import base64
+import hashlib
+import logging
+import time
+from pathlib import Path
+from decimal import Decimal
+from typing import Tuple, Optional
+
+from jinja2 import Template
+from requests import Session
+from zeep import Client
+from zeep.transports import Transport
+import pprp
+
+# Import UniversalDriver - handle import error gracefully
+try:
+    from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+    # Fallback for standalone testing
+    class UniversalDriver:
+        """Fallback UniversalDriver for standalone testing"""
+        def __init__(self):
+            self.success = False
+
+
+class Outcome(enum.Enum):
+    """Balance operation outcome enumeration"""
+    SUCCESS = "Success"
+    ERROR = "Error"
+
+
+class MettlerToledoXPR(UniversalDriver):
+    """Mettler Toledo XPR/XSR Balance Driver
+    
+    Provides standard interface for balance operations including:
+    - Tare (去皮)
+    - Zero (清零) 
+    - Weight reading (读数)
+    """
+    
+    def __init__(self, ip: str = "192.168.1.10", port: int = 81, 
+                 password: str = "123456", timeout: int = 10):
+        """Initialize the balance driver
+        
+        Args:
+            ip: Balance IP address
+            port: Balance port number
+            password: Balance password
+            timeout: Connection timeout in seconds
+        """
+        super().__init__()
+        
+        self.ip = ip
+        self.port = port
+        self.password = password
+        self.timeout = timeout
+        self.api_path = "MT/Laboratory/Balance/XprXsr/V03"
+        
+        # Status properties
+        self._status = "Disconnected"
+        self._last_weight = 0.0
+        self._last_unit = "g"
+        self._is_stable = False
+        self._error_message = ""
+        
+        # ROS2 action result properties
+        self.success = False
+        self.return_info = ""
+        
+        # Service objects
+        self.client = None
+        self.session_svc = None
+        self.weighing_svc = None
+        self.session_id = None
+        
+        # WSDL template path
+        self.wsdl_template = Path(__file__).parent / "MT.Laboratory.Balance.XprXsr.V03.wsdl"
+        
+        # Bindings
+        self.bindings = {
+            "session": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_ISessionService",
+            "weigh": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_IWeighingService",
+        }
+        
+        # Setup logging
+        self.logger = logging.getLogger(f"MettlerToledoXPR-{ip}")
+        
+        # Initialize connection
+        self._connect()
+    
+    @property
+    def status(self) -> str:
+        """Current device status"""
+        return self._status
+    
+    @property
+    def weight(self) -> float:
+        """Last measured weight value"""
+        return self._last_weight
+    
+    @property
+    def unit(self) -> str:
+        """Weight unit (e.g., 'g', 'kg')"""
+        return self._last_unit
+    
+    @property
+    def is_stable(self) -> bool:
+        """Whether the weight reading is stable"""
+        return self._is_stable
+    
+    @property
+    def error_message(self) -> str:
+        """Last error message"""
+        return self._error_message
+    
+    def _decrypt_session_id(self, pw: str, enc_sid: str, salt: str) -> str:
+        """Decrypt session ID using password and salt"""
+        key = hashlib.pbkdf2_hmac("sha1", pw.encode(),
+                                  base64.b64decode(salt), 1000, dklen=32)
+        plain = pprp.decrypt_sink(
+            pprp.rijndael_decrypt_gen(
+                key, pprp.data_source_gen(base64.b64decode(enc_sid))))
+        return plain.decode()
+    
+    def _render_wsdl(self) -> Path:
+        """Render WSDL template with current connection parameters"""
+        if not self.wsdl_template.exists():
+            raise FileNotFoundError(f"WSDL template not found: {self.wsdl_template}")
+        
+        text = Template(self.wsdl_template.read_text(encoding="utf-8")).render(
+            host=self.ip, port=self.port, api_path=self.api_path)
+        
+        wsdl_path = self.wsdl_template.parent / f"rendered_{self.ip}_{self.port}.wsdl"
+        wsdl_path.write_text(text, encoding="utf-8")
+        
+        return wsdl_path
+    
+    def _connect(self):
+        """Establish connection to the balance"""
+        try:
+            self._status = "Connecting"
+            
+            # Render WSDL
+            wsdl_path = self._render_wsdl()
+            self.logger.info(f"WSDL rendered to {wsdl_path}")
+            
+            # Create SOAP client
+            transport = Transport(session=Session(), timeout=self.timeout)
+            self.client = Client(wsdl=str(wsdl_path), transport=transport)
+            
+            # Create service proxies
+            base_url = f"http://{self.ip}:{self.port}/{self.api_path}"
+            self.session_svc = self.client.create_service(
+                self.bindings["session"], f"{base_url}/SessionService")
+            self.weighing_svc = self.client.create_service(
+                self.bindings["weigh"], f"{base_url}/WeighingService")
+            
+            self.logger.info("Zeep service proxies created")
+            
+            # Open session
+            self.logger.info("Opening session...")
+            reply = self.session_svc.OpenSession()
+            if reply.Outcome != Outcome.SUCCESS.value:
+                raise RuntimeError(f"OpenSession failed: {getattr(reply, 'ErrorMessage', '')}")
+            
+            self.session_id = self._decrypt_session_id(
+                self.password, reply.SessionId, reply.Salt)
+            
+            self.logger.info(f"Session established successfully, SessionId={self.session_id}")
+            self._status = "Connected"
+            self._error_message = ""
+            
+        except Exception as e:
+            self._status = "Error"
+            self._error_message = str(e)
+            self.logger.error(f"Connection failed: {e}")
+            raise
+    
+    def _ensure_connected(self):
+        """Ensure the device is connected"""
+        if self._status != "Connected" or self.session_id is None:
+            self._connect()
+    
+    def tare(self, immediate: bool = False) -> bool:
+        """Perform tare operation (去皮)
+        
+        Args:
+            immediate: Whether to perform immediate tare
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Taring"
+            
+            self.logger.info(f"Performing tare (immediate={immediate})...")
+            reply = self.weighing_svc.Tare(self.session_id, immediate)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"Tare failed: {error_msg}")
+                self._error_message = f"Tare failed: {error_msg}"
+                self._status = "Error"
+                return False
+            
+            self.logger.info("Tare completed successfully")
+            self._status = "Connected"
+            self._error_message = ""
+            return True
+            
+        except Exception as e:
+            self.logger.error(f"Tare operation failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return False
+    
+    def zero(self, immediate: bool = False) -> bool:
+        """Perform zero operation (清零)
+        
+        Args:
+            immediate: Whether to perform immediate zero
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Zeroing"
+            
+            self.logger.info(f"Performing zero (immediate={immediate})...")
+            reply = self.weighing_svc.Zero(self.session_id, immediate)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"Zero failed: {error_msg}")
+                self._error_message = f"Zero failed: {error_msg}"
+                self._status = "Error"
+                return False
+            
+            self.logger.info("Zero completed successfully")
+            self._status = "Connected"
+            self._error_message = ""
+            return True
+            
+        except Exception as e:
+            self.logger.error(f"Zero operation failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return False
+    
+    def get_weight(self) -> float:
+        """Get current weight reading (读数)
+        
+        Returns:
+            float: Weight value
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Reading"
+            
+            self.logger.info("Getting weight...")
+            reply = self.weighing_svc.GetWeight(self.session_id)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"GetWeight failed: {error_msg}")
+                self._error_message = f"GetWeight failed: {error_msg}"
+                self._status = "Error"
+                return 0.0
+            
+            # Handle different response structures
+            if hasattr(reply, 'WeightSample'):
+                # Handle WeightSample structure (most common for XPR)
+                weight_sample = reply.WeightSample
+                if hasattr(weight_sample, 'NetWeight'):
+                    weight_val = float(Decimal(weight_sample.NetWeight.Value))
+                    weight_unit = weight_sample.NetWeight.Unit
+                elif hasattr(weight_sample, 'GrossWeight'):
+                    weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+                    weight_unit = weight_sample.GrossWeight.Unit
+                else:
+                    weight_val = 0.0
+                    weight_unit = 'g'
+                is_stable = getattr(weight_sample, 'Stable', True)
+            elif hasattr(reply, 'Weight'):
+                weight_val = float(Decimal(reply.Weight.Value))
+                weight_unit = reply.Weight.Unit
+                is_stable = getattr(reply.Weight, 'IsStable', True)
+            elif hasattr(reply, 'Value'):
+                weight_val = float(Decimal(reply.Value))
+                weight_unit = getattr(reply, 'Unit', 'g')
+                is_stable = getattr(reply, 'IsStable', True)
+            else:
+                # Try to extract from reply attributes
+                weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+                weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+                is_stable = getattr(reply, 'IsStable', True)
+            
+            # Convert to grams for consistent output (ROS2 requirement)
+            if weight_unit.lower() in ['milligram', 'mg']:
+                weight_val_grams = weight_val / 1000.0
+            elif weight_unit.lower() in ['kilogram', 'kg']:
+                weight_val_grams = weight_val * 1000.0
+            elif weight_unit.lower() in ['gram', 'g']:
+                weight_val_grams = weight_val
+            else:
+                # Default to assuming grams if unit is unknown
+                weight_val_grams = weight_val
+                self.logger.warning(f"Unknown weight unit: {weight_unit}, assuming grams")
+            
+            # Update internal state (keep original values for reference)
+            self._last_weight = weight_val
+            self._last_unit = weight_unit
+            self._is_stable = is_stable
+            
+            self.logger.info(f"Weight: {weight_val_grams} g (original: {weight_val} {weight_unit})")
+            self._status = "Connected"
+            self._error_message = ""
+            
+            return weight_val_grams
+            
+        except Exception as e:
+            self.logger.error(f"Get weight failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return 0.0
+    
+    def get_weight_with_unit(self) -> Tuple[float, str]:
+        """Get current weight reading with unit (读数含单位)
+        
+        Returns:
+            Tuple[float, str]: Weight value and unit
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Reading"
+            
+            self.logger.info("Getting weight with unit...")
+            reply = self.weighing_svc.GetWeight(self.session_id)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"GetWeight failed: {error_msg}")
+                self._error_message = f"GetWeight failed: {error_msg}"
+                self._status = "Error"
+                return 0.0, ""
+            
+            # Handle different response structures
+            if hasattr(reply, 'WeightSample'):
+                # Handle WeightSample structure (most common for XPR)
+                weight_sample = reply.WeightSample
+                if hasattr(weight_sample, 'NetWeight'):
+                    weight_val = float(Decimal(weight_sample.NetWeight.Value))
+                    weight_unit = weight_sample.NetWeight.Unit
+                elif hasattr(weight_sample, 'GrossWeight'):
+                    weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+                    weight_unit = weight_sample.GrossWeight.Unit
+                else:
+                    weight_val = 0.0
+                    weight_unit = 'g'
+                is_stable = getattr(weight_sample, 'Stable', True)
+            elif hasattr(reply, 'Weight'):
+                weight_val = float(Decimal(reply.Weight.Value))
+                weight_unit = reply.Weight.Unit
+                is_stable = getattr(reply.Weight, 'IsStable', True)
+            elif hasattr(reply, 'Value'):
+                weight_val = float(Decimal(reply.Value))
+                weight_unit = getattr(reply, 'Unit', 'g')
+                is_stable = getattr(reply, 'IsStable', True)
+            else:
+                # Try to extract from reply attributes
+                weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+                weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+                is_stable = getattr(reply, 'IsStable', True)
+            
+            # Update internal state
+            self._last_weight = weight_val
+            self._last_unit = weight_unit
+            self._is_stable = is_stable
+            
+            self.logger.info(f"Weight: {weight_val} {weight_unit}")
+            self._status = "Connected"
+            self._error_message = ""
+            
+            return weight_val, weight_unit
+            
+        except Exception as e:
+            self.logger.error(f"Get weight with unit failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return 0.0, ""
+    
+
+    
+
+    
+    def send_cmd(self, command: str) -> dict:
+        """ROS2 SendCmd action handler
+        
+        Args:
+            command: JSON string containing command and parameters
+            
+        Returns:
+            dict: Result containing success status and return_info
+        """
+        return self.execute_command_from_outer(command)
+    
+    def execute_command_from_outer(self, command: str) -> dict:
+        """Execute command from ROS2 SendCmd action
+        
+        Args:
+            command: JSON string containing command and parameters
+            
+        Returns:
+            dict: Result containing success status and return_info
+        """
+        try:
+            import json
+            # Parse JSON command
+            cmd_data = json.loads(command.replace("'", '"').replace("False", "false").replace("True", "true"))
+            
+            # Extract command name and parameters
+            cmd_name = cmd_data.get('command', '')
+            params = cmd_data.get('params', {})
+            
+            self.logger.info(f"Executing command: {cmd_name} with params: {params}")
+            
+            # Execute different commands
+            if cmd_name == 'tare':
+                immediate = params.get('immediate', False)
+                success = self.tare(immediate)
+                result = {
+                    'success': success,
+                    'return_info': f"Tare operation {'successful' if success else 'failed'}"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+            elif cmd_name == 'zero':
+                immediate = params.get('immediate', False)
+                success = self.zero(immediate)
+                result = {
+                    'success': success,
+                    'return_info': f"Zero operation {'successful' if success else 'failed'}"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+            elif cmd_name == 'read' or cmd_name == 'get_weight':
+                try:
+                    self.logger.info(f"Executing {cmd_name} command via ROS2...")
+                    self.logger.info(f"Current status: {self._status}")
+                    
+                    # Use get_weight to get weight value (returns float in grams)
+                    weight_grams = self.get_weight()
+                    self.logger.info(f"get_weight() returned: {weight_grams} g")
+                    
+                    # Get the original weight and unit for display
+                    original_weight = getattr(self, '_last_weight', weight_grams)
+                    original_unit = getattr(self, '_last_unit', 'g')
+                    self.logger.info(f"Original reading: {original_weight} {original_unit}")
+                    
+                    result = {
+                        'success': True,
+                        'return_info': f"Weight: {original_weight} {original_unit}"
+                    }
+                except Exception as e:
+                    self.logger.error(f"Exception in {cmd_name}: {str(e)}")
+                    self.logger.error(f"Exception type: {type(e).__name__}")
+                    import traceback
+                    self.logger.error(f"Traceback: {traceback.format_exc()}")
+                    result = {
+                        'success': False,
+                        'return_info': f"Failed to read weight: {str(e)}"
+                    }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+
+
+            else:
+                result = {
+                    'success': False,
+                    'return_info': f"Unknown command: {cmd_name}. Available commands: tare, zero, read"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+                
+        except json.JSONDecodeError as e:
+            self.logger.error(f"JSON parsing failed: {e}")
+            result = {
+                'success': False,
+                'return_info': f"JSON parsing failed: {str(e)}"
+            }
+            # Update instance attributes for ROS2 action system
+            self.success = result['success']
+            self.return_info = result['return_info']
+            return result
+        except Exception as e:
+            self.logger.error(f"Command execution failed: {e}")
+            result = {
+                'success': False,
+                'return_info': f"Command execution failed: {str(e)}"
+            }
+            # Update instance attributes for ROS2 action system
+            self.success = result['success']
+            self.return_info = result['return_info']
+            return result
+    
+    def __del__(self):
+        """Cleanup when object is destroyed"""
+        self.disconnect()
+
+
+if __name__ == "__main__":
+    # Test the driver
+    import argparse
+    
+    parser = argparse.ArgumentParser(description="Mettler Toledo XPR Balance Driver Test")
+    parser.add_argument("--ip", default="192.168.1.10", help="Balance IP address")
+    parser.add_argument("--port", type=int, default=81, help="Balance port")
+    parser.add_argument("--password", default="123456", help="Balance password")
+    parser.add_argument("action", choices=["tare", "zero", "read"], 
+                       nargs="?", default="read", help="Action to perform")
+    parser.add_argument("--immediate", action="store_true", help="Use immediate mode")
+    
+    args = parser.parse_args()
+    
+    # Setup logging
+    logging.basicConfig(level=logging.INFO, 
+                       format="%(asctime)s %(levelname)s: %(message)s")
+    
+    # Create driver instance
+    balance = MettlerToledoXPR(ip=args.ip, port=args.port, password=args.password)
+    
+    try:
+        if args.action == "tare":
+            success = balance.tare(args.immediate)
+            print(f"Tare {'successful' if success else 'failed'}")
+        elif args.action == "zero":
+            success = balance.zero(args.immediate)
+            print(f"Zero {'successful' if success else 'failed'}")
+        else:  # read
+            # Perform tare first, then read weight
+            if balance.tare(args.immediate):
+                weight, unit = balance.get_weight_with_unit()
+                print(f"Weight: {weight} {unit}")
+            else:
+                print("Tare operation failed, cannot read weight")
+    
+    finally:
+        balance.disconnect()
\ No newline at end of file
diff --git a/unilabos/devices/battery/battery.json b/unilabos/devices/battery/battery.json
new file mode 100644
index 00000000..105ba5bd
--- /dev/null
+++ b/unilabos/devices/battery/battery.json
@@ -0,0 +1,29 @@
+{
+  "nodes": [
+    {
+      "id": "NEWARE_BATTERY_TEST_SYSTEM",
+      "name": "Neware Battery Test System",
+      "parent": null,
+      "type": "device",
+      "class": "neware_battery_test_system",
+      "position": {
+        "x": 620.6111111111111,
+        "y": 171,
+        "z": 0
+      },
+      "config": {
+        "ip": "127.0.0.1",
+        "port": 502,
+        "machine_id": 1,
+        "devtype": "27",
+        "timeout": 20,
+        "size_x": 500.0,
+        "size_y": 500.0,
+        "size_z": 2000.0
+      },
+      "data": {},
+      "children": []
+    }
+  ],
+  "links": []
+}
\ No newline at end of file
diff --git a/unilabos/devices/battery/neware_battery_test_system.py b/unilabos/devices/battery/neware_battery_test_system.py
new file mode 100644
index 00000000..317e8fe5
--- /dev/null
+++ b/unilabos/devices/battery/neware_battery_test_system.py
@@ -0,0 +1,1042 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+新威电池测试系统设备类
+- 提供TCP通信接口查询电池通道状态
+- 支持720个通道（devid 1-7, 8, 86）
+- 兼容BTSAPI getchlstatus协议
+
+设备特点：
+- TCP连接: 默认127.0.0.1:502
+- 通道映射: devid->subdevid->chlid 三级结构
+- 状态类型: working/stop/finish/protect/pause/false/unknown
+"""
+
+import socket
+import xml.etree.ElementTree as ET
+import json
+import time
+from dataclasses import dataclass
+from typing import Any, Dict, List, Optional, TypedDict
+
+from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate
+
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
+
+# ========================
+# 内部数据类和结构
+# ========================
+
+@dataclass(frozen=True)
+class ChannelKey:
+    devid: int
+    subdevid: int
+    chlid: int
+
+
+@dataclass
+class ChannelStatus:
+    state: str  # working/stop/finish/protect/pause/false/unknown
+    color: str  # 状态对应颜色
+    current_A: float  # 电流 (A)
+    voltage_V: float  # 电压 (V)
+    totaltime_s: float  # 总时间 (s)
+
+
+class BatteryTestPositionState(TypedDict):
+    voltage: float  # 电压 (V)
+    current: float  # 电流 (A)
+    time: float  # 时间 (s) - 使用totaltime
+    capacity: float  # 容量 (Ah)
+    energy: float  # 能量 (Wh)
+
+    status: str  # 通道状态
+    color: str  # 状态对应颜色
+
+    # 额外的inquire协议字段
+    relativetime: float  # 相对时间 (s)
+    open_or_close: int  # 0=关闭, 1=打开
+    step_type: str  # 步骤类型
+    cycle_id: int  # 循环ID
+    step_id: int  # 步骤ID
+    log_code: str  # 日志代码
+
+
+class BatteryTestPosition(ResourceHolder):
+    def __init__(
+            self,
+            name,
+            size_x=60,
+            size_y=60,
+            size_z=60,
+            rotation=None,
+            category="resource_holder",
+            model=None,
+            child_location: Coordinate = Coordinate.zero(),
+    ):
+        super().__init__(name, size_x, size_y, size_z, rotation, category, model, child_location=child_location)
+        self._unilabos_state: Dict[str, Any] = {}
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
+        return data
+
+
+class NewareBatteryTestSystem:
+    """
+    新威电池测试系统设备类
+    
+    提供电池测试通道状态查询、控制等功能。
+    支持720个通道的状态监控和数据导出。
+    包含完整的物料管理系统，支持2盘电池的状态映射。
+    
+    Attributes:
+        ip (str): TCP服务器IP地址，默认127.0.0.1
+        port (int): TCP端口，默认502
+        devtype (str): 设备类型，默认"27"
+        timeout (int): 通信超时时间（秒），默认20
+    """
+    
+    # ========================
+    # 基本通信与协议参数
+    # ========================
+    BTS_IP = "127.0.0.1"
+    BTS_PORT = 502
+    DEVTYPE = "27"
+    TIMEOUT = 20  # 秒
+    REQ_END = b"#\r\n"  # 常见实现以 "#\\r\\n" 作为报文结束
+    
+    # ========================
+    # 状态与颜色映射（前端可直接使用）
+    # ========================
+    STATUS_SET = {"working", "stop", "finish", "protect", "pause", "false"}
+    STATUS_COLOR = {
+        "working": "#22c55e",  # 绿
+        "stop":    "#6b7280",  # 灰
+        "finish":  "#3b82f6",  # 蓝
+        "protect": "#ef4444",  # 红
+        "pause":   "#f59e0b",  # 橙
+        "false":   "#9ca3af",  # 不存在/无效
+        "unknown": "#a855f7",  # 未知
+    }
+    
+    # 字母常量
+    ascii_lowercase = 'abcdefghijklmnopqrstuvwxyz'
+    ascii_uppercase = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
+    LETTERS = ascii_uppercase + ascii_lowercase
+
+    def __init__(self, 
+        ip: str = None, 
+        port: int = None, 
+        machine_id: int = 1,
+        devtype: str = None, 
+        timeout: int = None,
+        
+        size_x: float = 500.0,
+        size_y: float = 500.0,
+        size_z: float = 2000.0,
+    ):
+        """
+        初始化新威电池测试系统
+        
+        Args:
+            ip: TCP服务器IP地址
+            port: TCP端口
+            devtype: 设备类型标识
+            timeout: 通信超时时间（秒）
+            machine_id: 机器ID
+            size_x, size_y, size_z: 设备物理尺寸
+        """
+        self.ip = ip or self.BTS_IP
+        self.port = port or self.BTS_PORT
+        self.machine_id = machine_id
+        self.devtype = devtype or self.DEVTYPE
+        self.timeout = timeout or self.TIMEOUT
+        self._last_status_update = None
+        self._cached_status = {}
+        self._ros_node: Optional[ROS2WorkstationNode] = None  # ROS节点引用，由框架设置
+
+
+    def post_init(self, ros_node):
+        """
+        ROS节点初始化后的回调方法，用于建立设备连接
+        
+        Args:
+            ros_node: ROS节点实例
+        """
+        self._ros_node = ros_node
+        # 创建2盘电池的物料管理系统
+        self._setup_material_management()
+        # 初始化通道映射
+        self._channels = self._build_channel_map()
+        try:
+            # 测试设备连接
+            if self.test_connection():
+                ros_node.lab_logger().info(f"新威电池测试系统连接成功: {self.ip}:{self.port}")
+            else:
+                ros_node.lab_logger().warning(f"新威电池测试系统连接失败: {self.ip}:{self.port}")
+        except Exception as e:
+            ros_node.lab_logger().error(f"新威电池测试系统初始化失败: {e}")
+            # 不抛出异常，允许节点继续运行，后续可以重试连接
+
+    def _setup_material_management(self):
+        """设置物料管理系统"""
+        # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8
+        # 先给物料设置一个最大的Deck
+        deck_main = Deck("ADeckName", 200, 200, 200)
+
+        plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d(
+            BatteryTestPosition,
+            num_items_x=8,  # 8列（对应chlid 1-8）
+            num_items_y=5,  # 5行（对应subdevid 1-5，即A-E）
+            dx=10,
+            dy=10,
+            dz=0,
+            item_dx=45,
+            item_dy=45
+        )
+        plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources)
+        deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+        
+        # 只有在真实ROS环境下才调用update_resource
+        if hasattr(self._ros_node, 'update_resource') and callable(getattr(self._ros_node, 'update_resource')):
+            try:
+                ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+                    "resources": [deck_main]
+                })
+            except Exception as e:
+                if hasattr(self._ros_node, 'lab_logger'):
+                    self._ros_node.lab_logger().warning(f"更新资源失败: {e}")
+                # 在非ROS环境下忽略此错误
+        
+        # 为第1盘资源添加P1_前缀
+        self.station_resources_plate1 = {}
+        for name, resource in plate1_resources.items():
+            new_name = f"P1_{name}"
+            self.station_resources_plate1[new_name] = resource
+
+        # 第2盘：5行8列网格 (A1-E8)，在Z轴上偏移 - 5行对应subdevid 6-10，8列对应chlid 1-8
+        plate2_resources = create_ordered_items_2d(
+            BatteryTestPosition,
+            num_items_x=8,  # 8列（对应chlid 1-8）
+            num_items_y=5,  # 5行（对应subdevid 6-10，即A-E）
+            dx=10,
+            dy=10,
+            dz=100,  # Z轴偏移100mm
+            item_dx=65,
+            item_dy=65
+        )
+
+        # 为第2盘资源添加P2_前缀
+        self.station_resources_plate2 = {}
+        for name, resource in plate2_resources.items():
+            new_name = f"P2_{name}"
+            self.station_resources_plate2[new_name] = resource
+
+        # 合并两盘资源为统一的station_resources
+        self.station_resources = {}
+        self.station_resources.update(self.station_resources_plate1)
+        self.station_resources.update(self.station_resources_plate2)
+
+    # ========================
+    # 核心属性（Uni-Lab标准）
+    # ========================
+    
+    @property
+    def status(self) -> str:
+        """设备状态属性 - 会被自动识别并定时广播"""
+        try:
+            if self.test_connection():
+                return "Connected"
+            else:
+                return "Disconnected"
+        except:
+            return "Error"
+    
+    @property
+    def channel_status(self) -> Dict[int, Dict]:
+        """
+        获取所有通道状态（按设备ID分组）
+        
+        这个属性会执行实际的TCP查询并返回格式化的状态数据。
+        结果按设备ID分组，包含统计信息和详细状态。
+        
+        Returns:
+            Dict[int, Dict]: 按设备ID分组的通道状态统计
+        """
+        status_map = self._query_all_channels()
+        status_processed = {} if not status_map else self._group_by_devid(status_map)
+        
+        # 修复数据过滤逻辑：如果machine_id对应的数据不存在，尝试使用第一个可用的设备数据
+        status_current_machine = status_processed.get(self.machine_id, {})
+        
+        if not status_current_machine and status_processed:
+            # 如果machine_id没有匹配到数据，使用第一个可用的设备数据
+            first_devid = next(iter(status_processed.keys()))
+            status_current_machine = status_processed[first_devid]
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(
+                    f"machine_id {self.machine_id} 没有匹配到数据，使用设备ID {first_devid} 的数据"
+                )
+        
+        # 确保有默认的数据结构
+        if not status_current_machine:
+            status_current_machine = {
+                "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
+                "subunits": {}
+            }
+        
+        # 确保subunits存在
+        subunits = status_current_machine.get("subunits", {})
+        
+        # 处理2盘电池的状态映射
+        self._update_plate_resources(subunits)
+        
+        return status_current_machine
+
+    def _update_plate_resources(self, subunits: Dict):
+        """更新两盘电池资源的状态"""
+        # 第1盘：subdevid 1-5 映射到 P1_A1-P1_E8 (5行8列)
+        for subdev_id in range(1, 6):  # subdevid 1-5
+            status_row = subunits.get(subdev_id, {})
+            
+            for chl_id in range(1, 9):  # chlid 1-8
+                try:
+                    # 计算在5×8网格中的位置
+                    row_idx = (subdev_id - 1)  # 0-4 (对应A-E)
+                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
+                    resource_name = f"P1_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    
+                    r = self.station_resources.get(resource_name)
+                    if r:
+                        status_channel = status_row.get(chl_id, {})
+                        channel_state = {
+                            "status": status_channel.get("state", "unknown"),
+                            "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
+                            "voltage": status_channel.get("voltage_V", 0.0),
+                            "current": status_channel.get("current_A", 0.0),
+                            "time": status_channel.get("totaltime_s", 0.0),
+                        }
+                        r.load_state(channel_state)
+                except (KeyError, IndexError):
+                    continue
+        
+        # 第2盘：subdevid 6-10 映射到 P2_A1-P2_E8 (5行8列)
+        for subdev_id in range(6, 11):  # subdevid 6-10
+            status_row = subunits.get(subdev_id, {})
+            
+            for chl_id in range(1, 9):  # chlid 1-8
+                try:
+                    # 计算在5×8网格中的位置
+                    row_idx = (subdev_id - 6)  # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
+                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
+                    resource_name = f"P2_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    
+                    r = self.station_resources.get(resource_name)
+                    if r:
+                        status_channel = status_row.get(chl_id, {})
+                        channel_state = {
+                            "status": status_channel.get("state", "unknown"),
+                            "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
+                            "voltage": status_channel.get("voltage_V", 0.0),
+                            "current": status_channel.get("current_A", 0.0),
+                            "time": status_channel.get("totaltime_s", 0.0),
+                        }
+                        r.load_state(channel_state)
+                except (KeyError, IndexError):
+                    continue
+
+    @property
+    def connection_info(self) -> Dict[str, str]:
+        """获取连接信息"""
+        return {
+            "ip": self.ip,
+            "port": str(self.port),
+            "devtype": self.devtype,
+            "timeout": f"{self.timeout}s"
+        }
+    
+    @property
+    def total_channels(self) -> int:
+        """获取总通道数"""
+        return len(self._channels)
+
+    # ========================
+    # 设备动作方法（Uni-Lab标准）
+    # ========================
+    
+    def export_status_json(self, filepath: str = "bts_status.json") -> dict:
+        """
+        导出当前状态到JSON文件（ROS2动作）
+        
+        Args:
+            filepath: 输出文件路径
+            
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            grouped_status = self.channel_status
+            payload = {
+                "timestamp": time.time(),
+                "device_info": {
+                    "ip": self.ip,
+                    "port": self.port,
+                    "devtype": self.devtype,
+                    "total_channels": self.total_channels
+                },
+                "data": grouped_status,
+                "color_mapping": self.STATUS_COLOR
+            }
+            
+            with open(filepath, "w", encoding="utf-8") as f:
+                json.dump(payload, f, ensure_ascii=False, indent=2)
+            
+            success_msg = f"状态数据已成功导出到: {filepath}"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+            return {"return_info": success_msg, "success": True}
+            
+        except Exception as e:
+            error_msg = f"导出JSON失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    @property
+    def plate_status(self) -> Dict[str, Any]:
+        """
+        获取所有盘的状态信息（属性）
+        
+        Returns:
+            包含所有盘状态信息的字典
+        """
+        try:
+            # 确保先更新所有资源的状态数据
+            _ = self.channel_status  # 这会触发状态更新并调用load_state
+            
+            # 手动计算两盘的状态，避免调用需要参数的get_plate_status方法
+            plate1_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
+            plate1_active = []
+            
+            for name, resource in self.station_resources_plate1.items():
+                state = getattr(resource, '_unilabos_state', {})
+                status = state.get('status', 'unknown')
+                plate1_stats[status] += 1
+                
+                if status != 'unknown':
+                    plate1_active.append({
+                        'name': name,
+                        'status': status,
+                        'color': state.get('color', self.STATUS_COLOR['unknown']),
+                        'voltage': state.get('voltage', 0.0),
+                        'current': state.get('current', 0.0),
+                    })
+            
+            plate2_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
+            plate2_active = []
+            
+            for name, resource in self.station_resources_plate2.items():
+                state = getattr(resource, '_unilabos_state', {})
+                status = state.get('status', 'unknown')
+                plate2_stats[status] += 1
+                
+                if status != 'unknown':
+                    plate2_active.append({
+                        'name': name,
+                        'status': status,
+                        'color': state.get('color', self.STATUS_COLOR['unknown']),
+                        'voltage': state.get('voltage', 0.0),
+                        'current': state.get('current', 0.0),
+                    })
+            
+            return {
+                "plate1": {
+                    'plate_num': 1,
+                    'stats': plate1_stats,
+                    'total_positions': len(self.station_resources_plate1),
+                    'active_positions': len(plate1_active),
+                    'resources': plate1_active
+                },
+                "plate2": {
+                    'plate_num': 2,
+                    'stats': plate2_stats,
+                    'total_positions': len(self.station_resources_plate2),
+                    'active_positions': len(plate2_active),
+                    'resources': plate2_active
+                },
+                "total_plates": 2
+            }
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"获取盘状态失败: {e}")
+            return {
+                "plate1": {"error": str(e)},
+                "plate2": {"error": str(e)},
+                "total_plates": 2
+            }
+
+
+
+
+
+    # ========================
+    # 辅助方法
+    # ========================
+    
+    def test_connection(self) -> bool:
+        """
+        测试TCP连接是否正常
+        
+        Returns:
+            bool: 连接是否成功
+        """
+        try:
+            with socket.create_connection((self.ip, self.port), timeout=5) as sock:
+                return True
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().debug(f"连接测试失败: {e}")
+            return False
+
+    def print_status_summary(self) -> None:
+        """
+        打印通道状态摘要信息（支持2盘电池）
+        """
+        try:
+            status_data = self.channel_status
+            if not status_data:
+                print("   未获取到状态数据")
+                return
+                
+            print(f"   状态统计:")
+            total_channels = 0
+            
+            # 从channel_status获取stats字段
+            stats = status_data.get("stats", {})
+            for state, count in stats.items():
+                if isinstance(count, int) and count > 0:
+                    color = self.STATUS_COLOR.get(state, "#000000")
+                    print(f"     {state}: {count} 个通道 ({color})")
+                    total_channels += count
+            
+            print(f"   总计: {total_channels} 个通道")
+            print(f"   第1盘资源数: {len(self.station_resources_plate1)}")
+            print(f"   第2盘资源数: {len(self.station_resources_plate2)}")
+            print(f"   总资源数: {len(self.station_resources)}")
+                    
+        except Exception as e:
+            print(f"   获取状态失败: {e}")
+
+    def get_device_summary(self) -> dict:
+        """
+        获取设备级别的摘要统计（设备动作）
+        
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            # 确保_channels已初始化
+            if not hasattr(self, '_channels') or not self._channels:
+                self._channels = self._build_channel_map()
+            
+            summary = {}
+            for channel in self._channels:
+                devid = channel.devid
+                summary[devid] = summary.get(devid, 0) + 1
+            
+            result_info = json.dumps(summary, ensure_ascii=False)
+            success_msg = f"设备摘要统计: {result_info}"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+            return {"return_info": result_info, "success": True}
+            
+        except Exception as e:
+            error_msg = f"获取设备摘要失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def test_connection_action(self) -> dict:
+        """
+        测试TCP连接（设备动作）
+        
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            is_connected = self.test_connection()
+            if is_connected:
+                success_msg = f"TCP连接测试成功: {self.ip}:{self.port}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(success_msg)
+                return {"return_info": success_msg, "success": True}
+            else:
+                error_msg = f"TCP连接测试失败: {self.ip}:{self.port}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(error_msg)
+                return {"return_info": error_msg, "success": False}
+                
+        except Exception as e:
+            error_msg = f"连接测试异常: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def print_status_summary_action(self) -> dict:
+        """
+        打印状态摘要（设备动作）
+        
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            self.print_status_summary()
+            success_msg = "状态摘要已打印到控制台"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+            return {"return_info": success_msg, "success": True}
+            
+        except Exception as e:
+            error_msg = f"打印状态摘要失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def query_plate_action(self, plate_id: str = "P1") -> dict:
+        """
+        查询指定盘的详细信息（设备动作）
+        
+        Args:
+            plate_id: 盘号标识，如"P1"或"P2"
+            
+        Returns:
+            dict: ROS2动作结果格式，包含指定盘的详细通道信息
+        """
+        try:
+            # 解析盘号
+            if plate_id.upper() == "P1":
+                plate_num = 1
+            elif plate_id.upper() == "P2":
+                plate_num = 2
+            else:
+                error_msg = f"无效的盘号: {plate_id}，仅支持P1或P2"
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            # 获取指定盘的详细信息
+            plate_detail = self._get_plate_detail_info(plate_num)
+            
+            success_msg = f"成功获取{plate_id}盘详细信息，包含{len(plate_detail['channels'])}个通道"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+            
+            return {
+                "return_info": success_msg,
+                "success": True,
+                "plate_data": plate_detail
+            }
+            
+        except Exception as e:
+            error_msg = f"查询盘{plate_id}详细信息失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def _get_plate_detail_info(self, plate_num: int) -> dict:
+        """
+        获取指定盘的详细信息，包含设备ID、子设备ID、通道ID映射
+        
+        Args:
+            plate_num: 盘号 (1 或 2)
+            
+        Returns:
+            dict: 包含详细通道信息的字典
+        """
+        # 获取最新的通道状态数据
+        channel_status_data = self.channel_status
+        subunits = channel_status_data.get('subunits', {})
+        
+        if plate_num == 1:
+            devid = 1
+            subdevid_range = range(1, 6)  # 子设备ID 1-5
+        elif plate_num == 2:
+            devid = 1
+            subdevid_range = range(6, 11)  # 子设备ID 6-10
+        else:
+            raise ValueError("盘号必须是1或2")
+        
+        channels = []
+        
+        # 直接从subunits数据构建通道信息，而不依赖资源状态
+        for subdev_id in subdevid_range:
+            status_row = subunits.get(subdev_id, {})
+            
+            for chl_id in range(1, 9):  # chlid 1-8
+                try:
+                    # 计算在5×8网格中的位置
+                    if plate_num == 1:
+                        row_idx = (subdev_id - 1)  # 0-4 (对应A-E)
+                    else:  # plate_num == 2
+                        row_idx = (subdev_id - 6)  # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
+                    
+                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
+                    position = f"{self.LETTERS[row_idx]}{col_idx + 1}"
+                    name = f"P{plate_num}_{position}"
+                    
+                    # 从subunits直接获取通道状态数据
+                    status_channel = status_row.get(chl_id, {})
+                    
+                    # 提取metrics数据（如果存在）
+                    metrics = status_channel.get('metrics', {})
+                    
+                    channel_info = {
+                        'name': name,
+                        'devid': devid,
+                        'subdevid': subdev_id,
+                        'chlid': chl_id,
+                        'position': position,
+                        'status': status_channel.get('state', 'unknown'),
+                        'color': status_channel.get('color', self.STATUS_COLOR['unknown']),
+                        'voltage': metrics.get('voltage_V', 0.0),
+                        'current': metrics.get('current_A', 0.0),
+                        'time': metrics.get('totaltime_s', 0.0)
+                    }
+                    
+                    channels.append(channel_info)
+                    
+                except (ValueError, IndexError, KeyError):
+                    # 如果解析失败，跳过该通道
+                    continue
+        
+        # 按位置排序（先按行，再按列）
+        channels.sort(key=lambda x: (x['subdevid'], x['chlid']))
+        
+        # 统计状态
+        stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
+        for channel in channels:
+            stats[channel['status']] += 1
+        
+        return {
+            'plate_id': f"P{plate_num}",
+            'plate_num': plate_num,
+            'devid': devid,
+            'subdevid_range': list(subdevid_range),
+            'total_channels': len(channels),
+            'stats': stats,
+            'channels': channels
+        }
+
+    # ========================
+    # TCP通信和协议处理
+    # ========================
+    
+    def _build_channel_map(self) -> List['ChannelKey']:
+        """构建全量通道映射（720个通道）"""
+        channels = []
+        
+        # devid 1-7: subdevid 1-10, chlid 1-8
+        for devid in range(1, 8):
+            for sub in range(1, 11):
+                for ch in range(1, 9):
+                    channels.append(ChannelKey(devid, sub, ch))
+        
+        # devid 8: subdevid 11-20, chlid 1-8
+        for sub in range(11, 21):
+            for ch in range(1, 9):
+                channels.append(ChannelKey(8, sub, ch))
+        
+        # devid 86: subdevid 1-10, chlid 1-8
+        for sub in range(1, 11):
+            for ch in range(1, 9):
+                channels.append(ChannelKey(86, sub, ch))
+                
+        return channels
+
+    def _query_all_channels(self) -> Dict['ChannelKey', dict]:
+        """执行TCP查询获取所有通道状态"""
+        try:
+            req_xml = self._build_inquire_xml()
+            
+            with socket.create_connection((self.ip, self.port), timeout=self.timeout) as sock:
+                sock.settimeout(self.timeout)
+                sock.sendall(req_xml)
+                response = self._recv_until(sock)
+                
+            return self._parse_inquire_resp(response)
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"查询通道状态失败: {e}")
+            else:
+                print(f"查询通道状态失败: {e}")
+            return {}
+
+    def _build_inquire_xml(self) -> bytes:
+        """构造inquire请求XML"""
+        lines = [
+            '<?xml version="1.0" encoding="UTF-8" ?>',
+            '<bts version="1.0">',
+            '<cmd>inquire</cmd>',
+            f'<list count="{len(self._channels)}">'
+        ]
+        
+        for c in self._channels:
+            lines.append(
+                f'<inquire ip="{self.ip}" devtype="{self.devtype}" '
+                f'devid="{c.devid}" subdevid="{c.subdevid}" chlid="{c.chlid}" '
+                f'aux="0" barcode="0">true</inquire>'
+            )
+        
+        lines.extend(['</list>', '</bts>'])
+        xml_text = "\n".join(lines)
+        return xml_text.encode("utf-8") + self.REQ_END
+
+    def _recv_until(self, sock: socket.socket, end_token: bytes = None, 
+                   alt_close_tag: bytes = b"</bts>") -> bytes:
+        """接收TCP响应数据"""
+        if end_token is None:
+            end_token = self.REQ_END
+            
+        buf = bytearray()
+        while True:
+            chunk = sock.recv(8192)
+            if not chunk:
+                break
+            buf.extend(chunk)
+            if end_token in buf:
+                cut = buf.rfind(end_token)
+                return bytes(buf[:cut])
+            if alt_close_tag in buf:
+                cut = buf.rfind(alt_close_tag) + len(alt_close_tag)
+                return bytes(buf[:cut])
+        return bytes(buf)
+
+    def _parse_inquire_resp(self, xml_bytes: bytes) -> Dict['ChannelKey', dict]:
+        """解析inquire_resp响应XML"""
+        mapping = {}
+        
+        try:
+            xml_text = xml_bytes.decode("utf-8", errors="ignore").strip()
+            if not xml_text:
+                return mapping
+                
+            root = ET.fromstring(xml_text)
+            cmd = root.findtext("cmd", default="").strip()
+            
+            if cmd != "inquire_resp":
+                return mapping
+                
+            list_node = root.find("list")
+            if list_node is None:
+                return mapping
+                
+            for node in list_node.findall("inquire"):
+                # 解析 dev="27-1-1-1-0"
+                dev = node.get("dev", "")
+                parts = dev.split("-")
+                # 容错：至少需要 5 段
+                if len(parts) < 5:
+                    continue
+                try:
+                    devtype = int(parts[0])   # 未使用，但解析以校验正确性
+                    devid = int(parts[1])
+                    subdevid = int(parts[2])
+                    chlid = int(parts[3])
+                    aux = int(parts[4])
+                except ValueError:
+                    continue
+
+                key = ChannelKey(devid, subdevid, chlid)
+
+                # 提取属性，带类型转换与缺省值
+                def fget(name: str, cast, default):
+                    v = node.get(name)
+                    if v is None or v == "":
+                        return default
+                    try:
+                        return cast(v)
+                    except Exception:
+                        return default
+
+                workstatus = (node.get("workstatus", "") or "").lower()
+                if workstatus not in self.STATUS_SET:
+                    workstatus = "unknown"
+
+                current = fget("current", float, 0.0)
+                voltage = fget("voltage", float, 0.0)
+                capacity = fget("capacity", float, 0.0)
+                energy = fget("energy", float, 0.0)
+                totaltime = fget("totaltime", float, 0.0)
+                relativetime = fget("relativetime", float, 0.0)
+                open_close = fget("open_or_close", int, 0)
+                cycle_id = fget("cycle_id", int, 0)
+                step_id = fget("step_id", int, 0)
+                step_type = node.get("step_type", "") or ""
+                log_code = node.get("log_code", "") or ""
+                barcode = node.get("barcode")
+
+                mapping[key] = {
+                    "state": workstatus,
+                    "color": self.STATUS_COLOR.get(workstatus, self.STATUS_COLOR["unknown"]),
+                    "current_A": current,
+                    "voltage_V": voltage,
+                    "capacity_Ah": capacity,
+                    "energy_Wh": energy,
+                    "totaltime_s": totaltime,
+                    "relativetime_s": relativetime,
+                    "open_or_close": open_close,
+                    "step_type": step_type,
+                    "cycle_id": cycle_id,
+                    "step_id": step_id,
+                    "log_code": log_code,
+                    **({"barcode": barcode} if barcode is not None else {}),
+                }
+                
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"解析XML响应失败: {e}")
+            else:
+                print(f"解析XML响应失败: {e}")
+            
+        return mapping
+
+    def _group_by_devid(self, status_map: Dict['ChannelKey', dict]) -> Dict[int, Dict]:
+        """按设备ID分组状态数据"""
+        result = {}
+        
+        for key, val in status_map.items():
+            if key.devid not in result:
+                result[key.devid] = {
+                    "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
+                    "subunits": {}
+                }
+            
+            dev = result[key.devid]
+            state = val.get("state", "unknown")
+            dev["stats"][state] = dev["stats"].get(state, 0) + 1
+            
+            subunits = dev["subunits"]
+            if key.subdevid not in subunits:
+                subunits[key.subdevid] = {}
+            
+            subunits[key.subdevid][key.chlid] = {
+                "state": state,
+                "color": val.get("color", self.STATUS_COLOR["unknown"]),
+                "open_or_close": val.get("open_or_close", 0),
+                "metrics": {
+                    "voltage_V": val.get("voltage_V", 0.0),
+                    "current_A": val.get("current_A", 0.0),
+                    "capacity_Ah": val.get("capacity_Ah", 0.0),
+                    "energy_Wh": val.get("energy_Wh", 0.0),
+                    "totaltime_s": val.get("totaltime_s", 0.0),
+                    "relativetime_s": val.get("relativetime_s", 0.0)
+                },
+                "meta": {
+                    "step_type": val.get("step_type", ""),
+                    "cycle_id": val.get("cycle_id", 0),
+                    "step_id": val.get("step_id", 0),
+                    "log_code": val.get("log_code", "")
+                }
+            }
+            
+        return result
+
+
+# ========================
+# 示例和测试代码
+# ========================
+def main():
+    """测试和演示设备类的使用（支持2盘80颗电池）"""
+    print("=== 新威电池测试系统设备类演示（2盘80颗电池） ===")
+    
+    # 创建设备实例
+    bts = NewareBatteryTestSystem()
+    
+    # 创建一个模拟的ROS节点用于初始化
+    class MockRosNode:
+        def lab_logger(self):
+            import logging
+            return logging.getLogger(__name__)
+        
+        def update_resource(self, *args, **kwargs):
+            pass  # 空实现，避免ROS调用错误
+    
+    # 调用post_init进行正确的初始化
+    mock_ros_node = MockRosNode()
+    bts.post_init(mock_ros_node)
+    
+    # 测试连接
+    print(f"\n1. 连接测试:")
+    print(f"   连接信息: {bts.connection_info}")
+    if bts.test_connection():
+        print("   ✓ TCP连接正常")
+    else:
+        print("   ✗ TCP连接失败")
+        return
+    
+    # 获取设备摘要
+    print(f"\n2. 设备摘要:")
+    print(f"   总通道数: {bts.total_channels}")
+    summary_result = bts.get_device_summary()
+    if summary_result["success"]:
+        # 直接解析return_info，因为它就是JSON字符串
+        summary = json.loads(summary_result["return_info"])
+        for devid, count in summary.items():
+            print(f"   设备ID {devid}: {count} 个通道")
+    else:
+        print(f"   获取设备摘要失败: {summary_result['return_info']}")
+    
+    # 显示物料管理系统信息
+    print(f"\n3. 物料管理系统:")
+    print(f"   第1盘资源数: {len(bts.station_resources_plate1)}")
+    print(f"   第2盘资源数: {len(bts.station_resources_plate2)}")
+    print(f"   总资源数: {len(bts.station_resources)}")
+    
+    # 获取实时状态
+    print(f"\n4. 获取通道状态:")
+    try:
+        bts.print_status_summary()
+    except Exception as e:
+        print(f"   获取状态失败: {e}")
+    
+    # 分别获取两盘的状态
+    print(f"\n5. 分盘状态统计:")
+    try:
+        plate_status_data = bts.plate_status
+        for plate_num in [1, 2]:
+            plate_key = f"plate{plate_num}"  # 修正键名格式：plate1, plate2
+            if plate_key in plate_status_data:
+                plate_info = plate_status_data[plate_key]
+                print(f"   第{plate_num}盘:")
+                print(f"     总位置数: {plate_info['total_positions']}")
+                print(f"     活跃位置数: {plate_info['active_positions']}")
+                for state, count in plate_info['stats'].items():
+                    if count > 0:
+                        print(f"     {state}: {count} 个位置")
+            else:
+                print(f"   第{plate_num}盘: 无数据")
+    except Exception as e:
+        print(f"   获取分盘状态失败: {e}")
+    
+    # 导出JSON
+    print(f"\n6. 导出状态数据:")
+    result = bts.export_status_json("demo_2plate_status.json")
+    if result["success"]:
+        print("   ✓ 状态数据已导出到 demo_2plate_status.json")
+    else:
+        print("   ✗ 导出失败")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/unilabos/devices/laiyu_liquid/__init__.py b/unilabos/devices/laiyu_liquid/__init__.py
new file mode 100644
index 00000000..89352521
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/__init__.py
@@ -0,0 +1,307 @@
+"""
+LaiYu_Liquid 液体处理工作站集成模块
+
+该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
+- 硬件后端和抽象接口
+- 资源定义和管理
+- 协议执行和液体传输
+- 工作台配置和布局
+
+主要组件：
+- LaiYuLiquidBackend: 硬件后端实现
+- LaiYuLiquid: 液体处理器抽象接口
+- 各种资源类：枪头架、板、容器等
+- 便捷创建函数和配置管理
+
+使用示例：
+    from unilabos.devices.laiyu_liquid import (
+        LaiYuLiquid, 
+        LaiYuLiquidBackend,
+        create_standard_deck,
+        create_tip_rack_1000ul
+    )
+    
+    # 创建后端和液体处理器
+    backend = LaiYuLiquidBackend()
+    lh = LaiYuLiquid(backend=backend)
+    
+    # 创建工作台
+    deck = create_standard_deck()
+    lh.deck = deck
+    
+    # 设置和运行
+    await lh.setup()
+"""
+
+# 版本信息
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Integration Team"
+__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
+
+# 驱动程序导入
+from .drivers import (
+    XYZStepperController,
+    SOPAPipette,
+    MotorAxis,
+    MotorStatus,
+    SOPAConfig,
+    SOPAStatusCode,
+    StepperMotorDriver
+)
+
+# 控制器导入
+from .controllers import (
+    XYZController,
+    PipetteController,
+)
+
+# 后端导入
+from .backend.rviz_backend import (
+    LiquidHandlerRvizBackend,
+)
+
+# 资源类和创建函数导入
+from .core.laiyu_liquid_res import (
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack
+)
+
+# 主设备类和配置
+from .core.laiyu_liquid_main import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack,
+    create_quick_setup
+)
+
+# 后端创建函数导入
+from .backend import (
+    LaiYuLiquidBackend,
+    create_laiyu_backend,
+)
+
+# 导出所有公共接口
+__all__ = [
+    # 版本信息
+    "__version__",
+    "__author__",
+    "__description__",
+    
+    # 驱动程序
+    "SOPAPipette",
+    "SOPAConfig", 
+    "StepperMotorDriver",
+    "XYZStepperController",
+    
+    # 控制器
+    "PipetteController",
+    "XYZController",
+    
+    # 后端
+    "LiquidHandlerRvizBackend",
+    
+    # 资源创建函数
+    "create_tip_rack_1000ul",
+    "create_tip_rack_200ul", 
+    "create_96_well_plate",
+    "create_deep_well_plate",
+    "create_8_tube_rack",
+    "create_standard_deck",
+    "create_waste_container",
+    "create_wash_container",
+    "create_reagent_container",
+    "load_deck_config",
+    
+    # 后端创建函数
+    "create_laiyu_backend",
+    
+    # 主要类
+    "LaiYuLiquid",
+    "LaiYuLiquidConfig", 
+    "LaiYuLiquidBackend",
+    "LaiYuLiquidDeck",
+    
+    # 工具函数
+    "get_version",
+    "get_supported_resources",
+    "create_quick_setup",
+    "validate_installation",
+    "print_module_info",
+    "setup_logging",
+]
+
+# 别名定义，为了向后兼容
+LaiYuLiquidDevice = LaiYuLiquid  # 主设备类别名
+LaiYuLiquidController = XYZController  # 控制器别名
+LaiYuLiquidDriver = XYZStepperController  # 驱动器别名
+
+# 模块级别的便捷函数
+
+def get_version() -> str:
+    """
+    获取模块版本
+    
+    Returns:
+        str: 版本号
+    """
+    return __version__
+
+
+def get_supported_resources() -> dict:
+    """
+    获取支持的资源类型
+    
+    Returns:
+        dict: 支持的资源类型字典
+    """
+    return {
+        "tip_racks": {
+            "LaiYuLiquidTipRack": LaiYuLiquidTipRack,
+        },
+        "containers": {
+            "LaiYuLiquidContainer": LaiYuLiquidContainer,
+        },
+        "decks": {
+            "LaiYuLiquidDeck": LaiYuLiquidDeck,
+        },
+        "devices": {
+            "LaiYuLiquid": LaiYuLiquid,
+        }
+    }
+
+
+def create_quick_setup() -> tuple:
+    """
+    快速创建基本设置
+    
+    Returns:
+        tuple: (backend, controllers, resources) 的元组
+    """
+    # 创建后端
+    backend = LiquidHandlerRvizBackend()
+    
+    # 创建控制器（使用默认端口进行演示）
+    pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
+    xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
+    
+    # 创建测试资源
+    tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
+    tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
+    well_plate = create_96_well_plate("96_well_plate")
+    
+    controllers = {
+        'pipette': pipette_controller,
+        'xyz': xyz_controller
+    }
+    
+    resources = {
+        'tip_rack_1000': tip_rack_1000,
+        'tip_rack_200': tip_rack_200,
+        'well_plate': well_plate
+    }
+    
+    return backend, controllers, resources
+
+
+def validate_installation() -> bool:
+    """
+    验证模块安装是否正确
+    
+    Returns:
+        bool: 安装是否正确
+    """
+    try:
+        # 检查核心类是否可以导入
+        from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
+        from .backend import LaiYuLiquidBackend
+        from .controllers import XYZController, PipetteController
+        from .drivers import XYZStepperController, SOPAPipette
+        
+        # 尝试创建基本对象
+        config = LaiYuLiquidConfig()
+        backend = create_laiyu_backend("validation_test")
+        
+        print("模块安装验证成功")
+        return True
+        
+    except Exception as e:
+        print(f"模块安装验证失败: {e}")
+        return False
+
+
+def print_module_info():
+    """打印模块信息"""
+    print(f"LaiYu_Liquid 集成模块")
+    print(f"版本: {__version__}")
+    print(f"作者: {__author__}")
+    print(f"描述: {__description__}")
+    print(f"")
+    print(f"支持的资源类型:")
+    
+    resources = get_supported_resources()
+    for category, types in resources.items():
+        print(f"  {category}:")
+        for type_name, type_class in types.items():
+            print(f"    - {type_name}: {type_class.__name__}")
+    
+    print(f"")
+    print(f"主要功能:")
+    print(f"  - 硬件集成: LaiYuLiquidBackend")
+    print(f"  - 抽象接口: LaiYuLiquid")
+    print(f"  - 资源管理: 各种资源类和创建函数")
+    print(f"  - 协议执行: transfer_liquid 和相关函数")
+    print(f"  - 配置管理: deck.json 和加载函数")
+
+
+# 模块初始化时的检查
+def _check_dependencies():
+    """检查依赖项"""
+    try:
+        import pylabrobot
+        import asyncio
+        import json
+        import logging
+        return True
+    except ImportError as e:
+        import logging
+        logging.warning(f"缺少依赖项 {e}")
+        return False
+
+
+# 执行依赖检查
+_dependencies_ok = _check_dependencies()
+
+if not _dependencies_ok:
+    import logging
+    logging.warning("某些依赖项缺失，模块功能可能受限")
+
+
+# 模块级别的日志配置
+import logging
+
+def setup_logging(level: str = "INFO"):
+    """
+    设置模块日志
+    
+    Args:
+        level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
+    """
+    logger = logging.getLogger("LaiYu_Liquid")
+    logger.setLevel(getattr(logging, level.upper()))
+    
+    if not logger.handlers:
+        handler = logging.StreamHandler()
+        formatter = logging.Formatter(
+            '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+        )
+        handler.setFormatter(formatter)
+        logger.addHandler(handler)
+    
+    return logger
+
+
+# 默认日志设置
+_logger = setup_logging()
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/backend/__init__.py b/unilabos/devices/laiyu_liquid/backend/__init__.py
new file mode 100644
index 00000000..4bf29392
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/backend/__init__.py
@@ -0,0 +1,9 @@
+"""
+LaiYu液体处理设备后端模块
+
+提供设备后端接口和实现
+"""
+
+from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
+
+__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py b/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
new file mode 100644
index 00000000..5e8041c0
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
@@ -0,0 +1,334 @@
+"""
+LaiYu液体处理设备后端实现
+
+提供设备的后端接口和控制逻辑
+"""
+
+import logging
+from typing import Dict, Any, Optional, List
+from abc import ABC, abstractmethod
+
+# 尝试导入PyLabRobot后端
+try:
+    from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    PYLABROBOT_AVAILABLE = False
+    # 创建模拟后端基类
+    class LiquidHandlerBackend:
+        def __init__(self, name: str):
+            self.name = name
+            self.is_connected = False
+        
+        def connect(self):
+            """连接设备"""
+            pass
+        
+        def disconnect(self):
+            """断开连接"""
+            pass
+
+
+class LaiYuLiquidBackend(LiquidHandlerBackend):
+    """LaiYu液体处理设备后端"""
+    
+    def __init__(self, name: str = "LaiYu_Liquid_Backend"):
+        """
+        初始化LaiYu液体处理设备后端
+        
+        Args:
+            name: 后端名称
+        """
+        if PYLABROBOT_AVAILABLE:
+            # PyLabRobot 的 LiquidHandlerBackend 不接受参数
+            super().__init__()
+        else:
+            # 模拟版本接受 name 参数
+            super().__init__(name)
+        
+        self.name = name
+        self.logger = logging.getLogger(__name__)
+        self.is_connected = False
+        self.device_info = {
+            "name": "LaiYu液体处理设备",
+            "version": "1.0.0",
+            "manufacturer": "LaiYu",
+            "model": "LaiYu_Liquid_Handler"
+        }
+    
+    def connect(self) -> bool:
+        """
+        连接到LaiYu液体处理设备
+        
+        Returns:
+            bool: 连接是否成功
+        """
+        try:
+            self.logger.info("正在连接到LaiYu液体处理设备...")
+            # 这里应该实现实际的设备连接逻辑
+            # 目前返回模拟连接成功
+            self.is_connected = True
+            self.logger.info("成功连接到LaiYu液体处理设备")
+            return True
+        except Exception as e:
+            self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
+            self.is_connected = False
+            return False
+    
+    def disconnect(self) -> bool:
+        """
+        断开与LaiYu液体处理设备的连接
+        
+        Returns:
+            bool: 断开连接是否成功
+        """
+        try:
+            self.logger.info("正在断开与LaiYu液体处理设备的连接...")
+            # 这里应该实现实际的设备断开连接逻辑
+            self.is_connected = False
+            self.logger.info("成功断开与LaiYu液体处理设备的连接")
+            return True
+        except Exception as e:
+            self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
+            return False
+    
+    def is_device_connected(self) -> bool:
+        """
+        检查设备是否已连接
+        
+        Returns:
+            bool: 设备是否已连接
+        """
+        return self.is_connected
+    
+    def get_device_info(self) -> Dict[str, Any]:
+        """
+        获取设备信息
+        
+        Returns:
+            Dict[str, Any]: 设备信息字典
+        """
+        return self.device_info.copy()
+    
+    def home_device(self) -> bool:
+        """
+        设备归零操作
+        
+        Returns:
+            bool: 归零是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行归零操作")
+            return False
+        
+        try:
+            self.logger.info("正在执行设备归零操作...")
+            # 这里应该实现实际的设备归零逻辑
+            self.logger.info("设备归零操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"设备归零操作失败: {e}")
+            return False
+    
+    def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
+        """
+        吸液操作
+        
+        Args:
+            volume: 吸液体积 (微升)
+            location: 吸液位置信息
+            
+        Returns:
+            bool: 吸液是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行吸液操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
+            # 这里应该实现实际的吸液逻辑
+            self.logger.info("吸液操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"吸液操作失败: {e}")
+            return False
+    
+    def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
+        """
+        排液操作
+        
+        Args:
+            volume: 排液体积 (微升)
+            location: 排液位置信息
+            
+        Returns:
+            bool: 排液是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行排液操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
+            # 这里应该实现实际的排液逻辑
+            self.logger.info("排液操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"排液操作失败: {e}")
+            return False
+    
+    def pick_up_tip(self, location: Dict[str, Any]) -> bool:
+        """
+        取枪头操作
+        
+        Args:
+            location: 枪头位置信息
+            
+        Returns:
+            bool: 取枪头是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行取枪头操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行取枪头操作: 位置={location}")
+            # 这里应该实现实际的取枪头逻辑
+            self.logger.info("取枪头操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"取枪头操作失败: {e}")
+            return False
+    
+    def drop_tip(self, location: Dict[str, Any]) -> bool:
+        """
+        丢弃枪头操作
+        
+        Args:
+            location: 丢弃位置信息
+            
+        Returns:
+            bool: 丢弃枪头是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行丢弃枪头操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
+            # 这里应该实现实际的丢弃枪头逻辑
+            self.logger.info("丢弃枪头操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"丢弃枪头操作失败: {e}")
+            return False
+    
+    def move_to(self, location: Dict[str, Any]) -> bool:
+        """
+        移动到指定位置
+        
+        Args:
+            location: 目标位置信息
+            
+        Returns:
+            bool: 移动是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行移动操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在移动到位置: {location}")
+            # 这里应该实现实际的移动逻辑
+            self.logger.info("移动操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"移动操作失败: {e}")
+            return False
+    
+    def get_status(self) -> Dict[str, Any]:
+        """
+        获取设备状态
+        
+        Returns:
+            Dict[str, Any]: 设备状态信息
+        """
+        return {
+            "connected": self.is_connected,
+            "device_info": self.device_info,
+            "status": "ready" if self.is_connected else "disconnected"
+        }
+    
+    # PyLabRobot 抽象方法实现
+    def stop(self):
+        """停止所有操作"""
+        self.logger.info("停止所有操作")
+        pass
+    
+    @property
+    def num_channels(self) -> int:
+        """返回通道数量"""
+        return 1  # 单通道移液器
+    
+    def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
+        """检查是否可以拾取吸头"""
+        return True  # 简化实现，总是返回True
+    
+    def pick_up_tips(self, tip_rack, tip_positions):
+        """拾取多个吸头"""
+        self.logger.info(f"拾取吸头: {tip_positions}")
+        pass
+    
+    def drop_tips(self, tip_rack, tip_positions):
+        """丢弃多个吸头"""
+        self.logger.info(f"丢弃吸头: {tip_positions}")
+        pass
+    
+    def pick_up_tips96(self, tip_rack):
+        """拾取96个吸头"""
+        self.logger.info("拾取96个吸头")
+        pass
+    
+    def drop_tips96(self, tip_rack):
+        """丢弃96个吸头"""
+        self.logger.info("丢弃96个吸头")
+        pass
+    
+    def aspirate96(self, volume, plate, well_positions):
+        """96通道吸液"""
+        self.logger.info(f"96通道吸液: 体积={volume}")
+        pass
+    
+    def dispense96(self, volume, plate, well_positions):
+        """96通道排液"""
+        self.logger.info(f"96通道排液: 体积={volume}")
+        pass
+    
+    def pick_up_resource(self, resource, location):
+        """拾取资源"""
+        self.logger.info(f"拾取资源: {resource}")
+        pass
+    
+    def drop_resource(self, resource, location):
+        """放置资源"""
+        self.logger.info(f"放置资源: {resource}")
+        pass
+    
+    def move_picked_up_resource(self, resource, location):
+        """移动已拾取的资源"""
+        self.logger.info(f"移动资源: {resource} 到 {location}")
+        pass
+
+
+def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
+    """
+    创建LaiYu液体处理设备后端实例
+    
+    Args:
+        name: 后端名称
+        
+    Returns:
+        LaiYuLiquidBackend: 后端实例
+    """
+    return LaiYuLiquidBackend(name)
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py b/unilabos/devices/laiyu_liquid/backend/rviz_backend.py
new file mode 100644
index 00000000..44e7be46
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/backend/rviz_backend.py
@@ -0,0 +1,209 @@
+      
+import json
+from typing import List, Optional, Union
+
+from pylabrobot.liquid_handling.backends.backend import (
+  LiquidHandlerBackend,
+)
+from pylabrobot.liquid_handling.standard import (
+  Drop,
+  DropTipRack,
+  MultiHeadAspirationContainer,
+  MultiHeadAspirationPlate,
+  MultiHeadDispenseContainer,
+  MultiHeadDispensePlate,
+  Pickup,
+  PickupTipRack,
+  ResourceDrop,
+  ResourceMove,
+  ResourcePickup,
+  SingleChannelAspiration,
+  SingleChannelDispense,
+)
+from pylabrobot.resources import Resource, Tip
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+import time
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import re
+
+from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
+
+
+class LiquidHandlerRvizBackend(LiquidHandlerBackend):
+  """Chatter box backend for device-free testing. Prints out all operations."""
+
+  _pip_length = 5
+  _vol_length = 8
+  _resource_length = 20
+  _offset_length = 16
+  _flow_rate_length = 10
+  _blowout_length = 10
+  _lld_z_length = 10
+  _kwargs_length = 15
+  _tip_type_length = 12
+  _max_volume_length = 16
+  _fitting_depth_length = 20
+  _tip_length_length = 16
+  # _pickup_method_length = 20
+  _filter_length = 10
+
+  def __init__(self, num_channels: int = 8):
+    """Initialize a chatter box backend."""
+    super().__init__()
+    self._num_channels = num_channels
+# rclpy.init()
+    if not rclpy.ok():
+        rclpy.init()
+    self.joint_state_publisher = None
+
+  async def setup(self):
+    self.joint_state_publisher = JointStatePublisher()
+    await super().setup()
+  async def stop(self):
+    pass
+
+  def serialize(self) -> dict:
+    return {**super().serialize(), "num_channels": self.num_channels}
+
+  @property
+  def num_channels(self) -> int:
+    return self._num_channels
+
+  async def assigned_resource_callback(self, resource: Resource):
+    pass
+
+  async def unassigned_resource_callback(self, name: str):
+    pass
+
+  async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
+
+    for op, channel in zip(ops, use_channels):
+      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
+      row = (
+        f"  p{channel}: "
+        f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
+        f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
+        f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
+        f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
+        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
+        f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
+      )
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
+    #   goback()
+
+
+
+
+  async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
+
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
+    #   goback()
+
+  async def aspirate(
+    self,
+    ops: List[SingleChannelAspiration],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+    # 执行吸液操作
+    pass
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<15}"
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70 
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
+
+
+  async def dispense(
+    self,
+    ops: List[SingleChannelDispense],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}"
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
+
+  async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
+    pass
+
+  async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
+    pass
+
+  async def aspirate96(
+    self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
+  ):
+    pass
+
+  async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
+    pass
+
+  async def pick_up_resource(self, pickup: ResourcePickup):
+    # 执行资源拾取操作
+    pass
+
+  async def move_picked_up_resource(self, move: ResourceMove):
+    # 执行资源移动操作
+    pass
+
+  async def drop_resource(self, drop: ResourceDrop):
+    # 执行资源放置操作
+    pass
+
+  def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
+    return True
+    
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.json b/unilabos/devices/laiyu_liquid/config/deckconfig.json
new file mode 100644
index 00000000..ddda7e0f
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/config/deckconfig.json
@@ -0,0 +1,2620 @@
+{
+  "name": "LaiYu_Liquid_Deck",
+  "size_x": 340.0,
+  "size_y": 250.0,
+  "size_z": 160.0,
+  "coordinate_system": {
+    "origin": "top_left",
+    "x_axis": "right",
+    "y_axis": "down",
+    "z_axis": "up",
+    "units": "mm"
+  },
+  "children": [
+    {
+      "id": "module_1_8tubes",
+      "name": "8管位置模块",
+      "type": "tube_rack",
+      "position": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "size": {
+        "x": 151.0,
+        "y": 75.0,
+        "z": 75.0
+      },
+      "wells": [
+        {
+          "id": "A1",
+          "position": {
+            "x": 23.0,
+            "y": 20.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A2",
+          "position": {
+            "x": 58.0,
+            "y": 20.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A3",
+          "position": {
+            "x": 93.0,
+            "y": 20.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A4",
+          "position": {
+            "x": 128.0,
+            "y": 20.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B1",
+          "position": {
+            "x": 23.0,
+            "y": 55.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B2",
+          "position": {
+            "x": 58.0,
+            "y": 55.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B3",
+          "position": {
+            "x": 93.0,
+            "y": 55.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B4",
+          "position": {
+            "x": 128.0,
+            "y": 55.0,
+            "z": 0.0
+          },
+          "diameter": 29.0,
+          "depth": 117.0,
+          "volume": 77000.0,
+          "shape": "circular"
+        }
+      ],
+      "well_spacing": {
+        "x": 35.0,
+        "y": 35.0
+      },
+      "grid": {
+        "rows": 2,
+        "columns": 4,
+        "row_labels": ["A", "B"],
+        "column_labels": ["1", "2", "3", "4"]
+      },
+      "metadata": {
+        "description": "8个试管位置，2x4排列",
+        "max_volume_ul": 77000,
+        "well_count": 8,
+        "tube_type": "50ml_falcon"
+      }
+    },
+    {
+      "id": "module_2_96well_deep",
+      "name": "96深孔板",
+      "type": "96_well_plate",
+      "position": {
+        "x": 175.0,
+        "y": 11.0,
+        "z": 48.5
+      },
+      "size": {
+        "x": 127.1,
+        "y": 85.6,
+        "z": 45.5
+      },
+      "wells": [
+        {
+          "id": "A01",
+          "position": {
+            "x": 175.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A02",
+          "position": {
+            "x": 184.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A03",
+          "position": {
+            "x": 193.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A04",
+          "position": {
+            "x": 202.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A05",
+          "position": {
+            "x": 211.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A06",
+          "position": {
+            "x": 220.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A07",
+          "position": {
+            "x": 229.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A08",
+          "position": {
+            "x": 238.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A09",
+          "position": {
+            "x": 247.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A10",
+          "position": {
+            "x": 256.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A11",
+          "position": {
+            "x": 265.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "A12",
+          "position": {
+            "x": 274.0,
+            "y": 11.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B01",
+          "position": {
+            "x": 175.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B02",
+          "position": {
+            "x": 184.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B03",
+          "position": {
+            "x": 193.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B04",
+          "position": {
+            "x": 202.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B05",
+          "position": {
+            "x": 211.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B06",
+          "position": {
+            "x": 220.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B07",
+          "position": {
+            "x": 229.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B08",
+          "position": {
+            "x": 238.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B09",
+          "position": {
+            "x": 247.0,
+            "y": 20.0,
+            "z": 48.5
+          },
+          "diameter": 8.2,
+          "depth": 39.4,
+          "volume": 2080.0,
+          "shape": "circular"
+        },
+        {
+          "id": "B10",
+          "position": {
+            "x": 256.0,
+            "y": 20.0,
+            "z": 48.5
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+          "diameter": 8.2,
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+          "shape": "circular"
+        },
+        {
+          "id": "F04",
+          "position": {
+            "x": 192.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F05",
+          "position": {
+            "x": 201.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F06",
+          "position": {
+            "x": 210.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F07",
+          "position": {
+            "x": 219.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F08",
+          "position": {
+            "x": 228.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F09",
+          "position": {
+            "x": 237.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F10",
+          "position": {
+            "x": 246.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F11",
+          "position": {
+            "x": 255.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "F12",
+          "position": {
+            "x": 264.62,
+            "y": 160.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G01",
+          "position": {
+            "x": 165.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G02",
+          "position": {
+            "x": 174.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G03",
+          "position": {
+            "x": 183.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G04",
+          "position": {
+            "x": 192.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G05",
+          "position": {
+            "x": 201.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G06",
+          "position": {
+            "x": 210.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G07",
+          "position": {
+            "x": 219.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G08",
+          "position": {
+            "x": 228.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G09",
+          "position": {
+            "x": 237.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G10",
+          "position": {
+            "x": 246.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G11",
+          "position": {
+            "x": 255.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "G12",
+          "position": {
+            "x": 264.62,
+            "y": 169.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H01",
+          "position": {
+            "x": 165.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H02",
+          "position": {
+            "x": 174.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H03",
+          "position": {
+            "x": 183.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H04",
+          "position": {
+            "x": 192.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H05",
+          "position": {
+            "x": 201.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H06",
+          "position": {
+            "x": 210.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H07",
+          "position": {
+            "x": 219.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H08",
+          "position": {
+            "x": 228.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H09",
+          "position": {
+            "x": 237.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H10",
+          "position": {
+            "x": 246.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H11",
+          "position": {
+            "x": 255.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        },
+        {
+          "id": "H12",
+          "position": {
+            "x": 264.62,
+            "y": 178.5,
+            "z": 103.0
+          },
+          "diameter": 9.0,
+          "depth": 95.0,
+          "volume": 6000.0,
+          "shape": "circular"
+        }
+      ],
+      "well_spacing": {
+        "x": 9.0,
+        "y": 9.0
+      },
+      "grid": {
+        "rows": 8,
+        "columns": 12,
+        "row_labels": ["A", "B", "C", "D", "E", "F", "G", "H"],
+        "column_labels": ["01", "02", "03", "04", "05", "06", "07", "08", "09", "10", "11", "12"]
+      },
+      "metadata": {
+        "description": "标准96孔枪头盒",
+        "max_volume_ul": 6000,
+        "well_count": 96,
+        "plate_type": "tip_rack"
+      }
+    }
+  ],
+  "deck_metadata": {
+    "total_modules": 4,
+    "total_wells": 201,
+    "deck_area": {
+      "used_x": 299.62,
+      "used_y": 260.5,
+      "used_z": 103.0,
+      "efficiency_x": 88.1,
+      "efficiency_y": 104.2,
+      "efficiency_z": 64.4
+    },
+    "safety_margins": {
+      "x_min": 10.0,
+      "x_max": 10.0,
+      "y_min": 10.0,
+      "y_max": 10.0,
+      "z_clearance": 20.0
+    },
+    "calibration_points": [
+      {
+        "id": "origin",
+        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+        "description": "工作台左上角原点"
+      },
+      {
+        "id": "module_1_ref",
+        "position": {"x": 23.0, "y": 20.0, "z": 0.0},
+        "description": "模块1试管架基准孔A1"
+      },
+      {
+        "id": "module_2_ref", 
+        "position": {"x": 175.0, "y": 11.0, "z": 48.5},
+        "description": "模块2深孔板基准孔A01"
+      },
+      {
+        "id": "module_3_ref",
+        "position": {"x": 65.0, "y": 143.5, "z": 0.0},
+        "description": "模块3敞口玻璃瓶中心"
+      },
+      {
+        "id": "module_4_ref",
+        "position": {"x": 165.62, "y": 115.5, "z": 103.0},
+        "description": "模块4枪头盒基准孔A01"
+      }
+    ],
+    "version": "2.0",
+    "created_by": "Doraemon Team",
+    "last_updated": "2025-09-29"
+  }
+}
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.md b/unilabos/devices/laiyu_liquid/config/deckconfig.md
new file mode 100644
index 00000000..7359e625
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/config/deckconfig.md
@@ -0,0 +1,14 @@
+ goto 171 178 57  H1
+ goto 171 117 57  A1
+ goto 172 178 130
+ goto 173 179 133 
+  goto 173 180 133 
+goto 173 180 138
+goto 173 180 125 （+10mm，在空的上面边缘）
+goto 173 180 130 取不到
+goto 173 180 133 取不到
+goto 173 180 135
+goto 173 180 137 取到了！！！！
+goto 173 180 131 弹出枪头 H1
+
+goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！）
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/controllers/__init__.py b/unilabos/devices/laiyu_liquid/controllers/__init__.py
new file mode 100644
index 00000000..d50b1eca
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/controllers/__init__.py
@@ -0,0 +1,25 @@
+"""
+LaiYu_Liquid 控制器模块
+
+该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
+- 移液器控制器：提供液体处理的高级接口
+- XYZ运动控制器：提供三轴运动的高级接口
+"""
+
+# 移液器控制器导入
+from .pipette_controller import PipetteController
+
+# XYZ运动控制器导入
+from .xyz_controller import XYZController
+
+__all__ = [
+    # 移液器控制器
+    "PipetteController",
+    
+    # XYZ运动控制器
+    "XYZController",
+]
+
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Controller Team"
+__description__ = "LaiYu_Liquid 高级控制器集合"
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py b/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
new file mode 100644
index 00000000..6c314a3a
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
@@ -0,0 +1,1073 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+移液控制器模块
+封装SOPA移液器的高级控制功能
+"""
+
+# 添加项目根目录到Python路径以解决模块导入问题
+import sys
+import os
+
+# 无论如何都添加项目根目录到路径
+current_file = os.path.abspath(__file__)
+# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
+# 向上5级到 .../Uni-Lab-OS
+project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
+# 强制添加项目根目录到sys.path的开头
+sys.path.insert(0, project_root)
+
+import time
+import logging
+from typing import Optional, List, Dict, Tuple
+from dataclasses import dataclass
+from enum import Enum
+
+from unilabos.devices.laiyu_liquid.drivers.sopa_pipette_driver import (
+    SOPAPipette,
+    SOPAConfig,
+    SOPAStatusCode,
+    DetectionMode,
+    create_sopa_pipette,
+)
+from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import (
+    XYZStepperController,
+    MotorAxis,
+    MotorStatus,
+    ModbusException
+)
+
+logger = logging.getLogger(__name__)
+
+
+class TipStatus(Enum):
+    """枪头状态"""
+    NO_TIP = "no_tip"
+    TIP_ATTACHED = "tip_attached"
+    TIP_USED = "tip_used"
+
+
+class LiquidClass(Enum):
+    """液体类型"""
+    WATER = "water"
+    SERUM = "serum"
+    VISCOUS = "viscous"
+    VOLATILE = "volatile"
+    CUSTOM = "custom"
+
+
+@dataclass
+class LiquidParameters:
+    """液体处理参数"""
+    aspirate_speed: int = 500      # 吸液速度
+    dispense_speed: int = 800      # 排液速度
+    air_gap: float = 10.0          # 空气间隙
+    blow_out: float = 5.0          # 吹出量
+    pre_wet: bool = False          # 预润湿
+    mix_cycles: int = 0            # 混合次数
+    mix_volume: float = 50.0       # 混合体积
+    touch_tip: bool = False        # 接触壁
+    delay_after_aspirate: float = 0.5  # 吸液后延时
+    delay_after_dispense: float = 0.5  # 排液后延时
+
+
+class PipetteController:
+    """移液控制器"""
+
+    # 预定义液体参数
+    LIQUID_PARAMS = {
+        LiquidClass.WATER: LiquidParameters(
+            aspirate_speed=500,
+            dispense_speed=800,
+            air_gap=10.0
+        ),
+        LiquidClass.SERUM: LiquidParameters(
+            aspirate_speed=200,
+            dispense_speed=400,
+            air_gap=15.0,
+            pre_wet=True,
+            delay_after_aspirate=1.0
+        ),
+        LiquidClass.VISCOUS: LiquidParameters(
+            aspirate_speed=100,
+            dispense_speed=200,
+            air_gap=20.0,
+            delay_after_aspirate=2.0,
+            delay_after_dispense=2.0
+        ),
+        LiquidClass.VOLATILE: LiquidParameters(
+            aspirate_speed=800,
+            dispense_speed=1000,
+            air_gap=5.0,
+            delay_after_aspirate=0.2,
+            delay_after_dispense=0.2
+        )
+    }
+
+    def __init__(self, port: str, address: int = 4, xyz_port: Optional[str] = None):
+        """
+        初始化移液控制器
+
+        Args:
+            port: 移液器串口端口
+            address: 移液器RS485地址
+            xyz_port: XYZ步进电机串口端口（可选，用于枪头装载等运动控制）
+        """
+        self.config = SOPAConfig(
+            port=port,
+            address=address,
+            baudrate=115200
+        )
+        self.pipette = SOPAPipette(self.config)
+        self.tip_status = TipStatus.NO_TIP
+        self.current_volume = 0.0
+        self.max_volume = 1000.0  # 默认1000ul
+        self.liquid_class = LiquidClass.WATER
+        self.liquid_params = self.LIQUID_PARAMS[LiquidClass.WATER]
+
+        # XYZ步进电机控制器（用于运动控制）
+        self.xyz_controller: Optional[XYZStepperController] = None
+        self.xyz_port = xyz_port
+        self.xyz_connected = False
+
+        # 统计信息
+        self.tip_count = 0
+        self.aspirate_count = 0
+        self.dispense_count = 0
+
+    def connect(self) -> bool:
+        """连接移液器和XYZ步进电机控制器"""
+        try:
+            # 连接移液器
+            if not self.pipette.connect():
+                logger.error("移液器连接失败")
+                return False
+            logger.info("移液器连接成功")
+            
+            # 连接XYZ步进电机控制器（如果提供了端口）
+            if self.xyz_port:
+                try:
+                    self.xyz_controller = XYZStepperController(self.xyz_port)
+                    if self.xyz_controller.connect():
+                        self.xyz_connected = True
+                        logger.info(f"XYZ步进电机控制器连接成功: {self.xyz_port}")
+                    else:
+                        logger.warning(f"XYZ步进电机控制器连接失败: {self.xyz_port}")
+                        self.xyz_controller = None
+                except Exception as e:
+                    logger.warning(f"XYZ步进电机控制器连接异常: {e}")
+                    self.xyz_controller = None
+                    self.xyz_connected = False
+            else:
+                logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
+            
+            return True
+        except Exception as e:
+            logger.error(f"设备连接失败: {e}")
+            return False
+
+    def initialize(self) -> bool:
+        """初始化移液器"""
+        try:
+            if self.pipette.initialize():
+                logger.info("移液器初始化成功")
+                # 检查枪头状态
+                self._update_tip_status()
+                return True
+            return False
+        except Exception as e:
+            logger.error(f"移液器初始化失败: {e}")
+            return False
+
+    def disconnect(self):
+        """断开连接"""
+        # 断开移液器连接
+        self.pipette.disconnect()
+        logger.info("移液器已断开")
+        
+        # 断开 XYZ 步进电机连接
+        if self.xyz_controller and self.xyz_connected:
+            try:
+                self.xyz_controller.disconnect()
+                self.xyz_connected = False
+                logger.info("XYZ 步进电机已断开")
+            except Exception as e:
+                logger.error(f"断开 XYZ 步进电机失败: {e}")
+
+    def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
+        """
+        检查 XYZ 轴移动的安全性
+        
+        Args:
+            axis: 电机轴
+            target_position: 目标位置(步数)
+            
+        Returns:
+            是否安全
+        """
+        try:
+            # 获取当前电机状态
+            motor_position = self.xyz_controller.get_motor_status(axis)
+            
+            # 检查电机状态是否正常 (不是碰撞停止或限位停止)
+            if motor_position.status in [MotorStatus.COLLISION_STOP, 
+                                       MotorStatus.FORWARD_LIMIT_STOP, 
+                                       MotorStatus.REVERSE_LIMIT_STOP]:
+                logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
+                return False
+                
+            # 检查位置限制 (扩大安全范围以适应实际硬件)
+            # 步进电机的位置范围通常很大，这里设置更合理的范围
+            if target_position < -500000 or target_position > 500000:
+                logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
+                return False
+                
+            # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
+            current_position = motor_position.steps
+            move_distance = abs(target_position - current_position)
+            if move_distance > 20000:
+                logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
+                return False
+                
+            return True
+            
+        except Exception as e:
+            logger.error(f"安全检查失败: {e}")
+            return False
+
+    def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
+        """
+        Z轴相对移动
+        
+        Args:
+            distance_mm: 移动距离(mm)，正值向下，负值向上
+            speed: 移动速度(rpm)
+            acceleration: 加速度(rpm/s)
+            
+        Returns:
+            移动是否成功
+        """
+        if not self.xyz_controller or not self.xyz_connected:
+            logger.error("XYZ 步进电机未连接，无法执行移动")
+            return False
+            
+        try:
+            # 参数验证
+            if abs(distance_mm) > 15.0:
+                logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
+                return False
+                
+            if speed < 100 or speed > 5000:
+                logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
+                return False
+                
+            # 获取当前 Z 轴位置
+            current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
+            current_z_position = current_status.steps
+            
+            # 计算移动距离对应的步数 (1mm = 1638.4步)
+            mm_to_steps = 1638.4
+            move_distance_steps = int(distance_mm * mm_to_steps)
+            
+            # 计算目标位置
+            target_z_position = current_z_position + move_distance_steps
+            
+            # 安全检查
+            if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
+                logger.error("Z轴移动安全检查失败")
+                return False
+            
+            logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
+            logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
+            
+            # 执行移动
+            success = self.xyz_controller.move_to_position(
+                axis=MotorAxis.Z,
+                position=target_z_position,
+                speed=speed,
+                acceleration=acceleration,
+                precision=50
+            )
+            
+            if not success:
+                logger.error("Z轴移动命令发送失败")
+                return False
+                
+            # 等待移动完成
+            if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
+                logger.error("Z轴移动超时")
+                return False
+                
+            # 验证移动结果
+            final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
+            final_position = final_status.steps
+            position_error = abs(final_position - target_z_position)
+            
+            logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
+            
+            if position_error > 100:
+                logger.warning(f"Z轴位置误差较大: {position_error}步")
+                
+            return True
+            
+        except ModbusException as e:
+            logger.error(f"Modbus通信错误: {e}")
+            return False
+        except Exception as e:
+            logger.error(f"Z轴移动失败: {e}")
+            return False
+
+    def emergency_stop(self) -> bool:
+        """
+        紧急停止所有运动
+        
+        Returns:
+            停止是否成功
+        """
+        success = True
+        
+        # 停止移液器操作
+        try:
+            if self.pipette and self.connected:
+                # 这里可以添加移液器的紧急停止逻辑
+                logger.info("移液器紧急停止")
+        except Exception as e:
+            logger.error(f"移液器紧急停止失败: {e}")
+            success = False
+            
+        # 停止 XYZ 轴运动
+        try:
+            if self.xyz_controller and self.xyz_connected:
+                self.xyz_controller.emergency_stop()
+                logger.info("XYZ 轴紧急停止")
+        except Exception as e:
+            logger.error(f"XYZ 轴紧急停止失败: {e}")
+            success = False
+            
+        return success
+
+    def pickup_tip(self) -> bool:
+        """
+        装载枪头 - Z轴向下移动10mm进行枪头装载
+
+        Returns:
+            是否成功
+        """
+        if self.tip_status == TipStatus.TIP_ATTACHED:
+            logger.warning("已有枪头，无需重复装载")
+            return True
+
+        logger.info("开始装载枪头 - Z轴向下移动10mm")
+        
+        # 使用相对移动方法，向下移动10mm
+        if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
+            # 更新枪头状态
+            self.tip_status = TipStatus.TIP_ATTACHED
+            self.tip_count += 1
+            self.current_volume = 0.0
+            logger.info("枪头装载成功")
+            return True
+        else:
+            logger.error("枪头装载失败 - Z轴移动失败")
+            return False
+
+    def eject_tip(self) -> bool:
+        """
+        弹出枪头
+
+        Returns:
+            是否成功
+        """
+        if self.tip_status == TipStatus.NO_TIP:
+            logger.warning("无枪头可弹出")
+            return True
+
+        try:
+            if self.pipette.eject_tip():
+                self.tip_status = TipStatus.NO_TIP
+                self.current_volume = 0.0
+                logger.info("枪头已弹出")
+                return True
+            return False
+        except Exception as e:
+            logger.error(f"弹出枪头失败: {e}")
+            return False
+
+    def aspirate(self, volume: float, liquid_class: Optional[LiquidClass] = None,
+                detection: bool = True) -> bool:
+        """
+        吸液
+
+        Args:
+            volume: 吸液体积(ul)
+            liquid_class: 液体类型
+            detection: 是否开启液位检测
+
+        Returns:
+            是否成功
+        """
+        if self.tip_status != TipStatus.TIP_ATTACHED:
+            logger.error("无枪头，无法吸液")
+            return False
+
+        if self.current_volume + volume > self.max_volume:
+            logger.error(f"吸液量超过枪头容量: {self.current_volume + volume} > {self.max_volume}")
+            return False
+
+        # 设置液体参数
+        if liquid_class:
+            self.set_liquid_class(liquid_class)
+
+        try:
+            # 设置吸液速度
+            self.pipette.set_max_speed(self.liquid_params.aspirate_speed)
+
+            # 执行液位检测
+            if detection:
+                if not self.pipette.liquid_level_detection():
+                    logger.warning("液位检测失败，继续吸液")
+
+            # 预润湿
+            if self.liquid_params.pre_wet and self.current_volume == 0:
+                logger.info("执行预润湿")
+                self._pre_wet(volume * 0.2)
+
+            # 吸液
+            if self.pipette.aspirate(volume, detection=False):
+                self.current_volume += volume
+                self.aspirate_count += 1
+
+                # 吸液后延时
+                time.sleep(self.liquid_params.delay_after_aspirate)
+
+                # 吸取空气间隙
+                if self.liquid_params.air_gap > 0:
+                    self.pipette.aspirate(self.liquid_params.air_gap, detection=False)
+                    self.current_volume += self.liquid_params.air_gap
+
+                logger.info(f"吸液完成: {volume}ul, 当前体积: {self.current_volume}ul")
+                return True
+            else:
+                logger.error("吸液失败")
+                return False
+
+        except Exception as e:
+            logger.error(f"吸液异常: {e}")
+            return False
+
+    def dispense(self, volume: float, blow_out: bool = False) -> bool:
+        """
+        排液
+
+        Args:
+            volume: 排液体积(ul)
+            blow_out: 是否吹出
+
+        Returns:
+            是否成功
+        """
+        if self.tip_status != TipStatus.TIP_ATTACHED:
+            logger.error("无枪头，无法排液")
+            return False
+
+        if volume > self.current_volume:
+            logger.error(f"排液量超过当前体积: {volume} > {self.current_volume}")
+            return False
+
+        try:
+            # 设置排液速度
+            self.pipette.set_max_speed(self.liquid_params.dispense_speed)
+
+            # 排液
+            if self.pipette.dispense(volume):
+                self.current_volume -= volume
+                self.dispense_count += 1
+
+                # 排液后延时
+                time.sleep(self.liquid_params.delay_after_dispense)
+
+                # 吹出
+                if blow_out and self.liquid_params.blow_out > 0:
+                    self.pipette.dispense(self.liquid_params.blow_out)
+                    logger.debug(f"执行吹出: {self.liquid_params.blow_out}ul")
+
+                # 接触壁
+                if self.liquid_params.touch_tip:
+                    self._touch_tip()
+
+                logger.info(f"排液完成: {volume}ul, 剩余体积: {self.current_volume}ul")
+                return True
+            else:
+                logger.error("排液失败")
+                return False
+
+        except Exception as e:
+            logger.error(f"排液异常: {e}")
+            return False
+
+    def transfer(self, volume: float,
+                 source_well: Optional[str] = None,
+                 dest_well: Optional[str] = None,
+                 liquid_class: Optional[LiquidClass] = None,
+                 new_tip: bool = True,
+                 mix_before: Optional[Tuple[int, float]] = None,
+                 mix_after: Optional[Tuple[int, float]] = None) -> bool:
+        """
+        液体转移
+
+        Args:
+            volume: 转移体积
+            source_well: 源孔位
+            dest_well: 目标孔位
+            liquid_class: 液体类型
+            new_tip: 是否使用新枪头
+            mix_before: 吸液前混合(次数, 体积)
+            mix_after: 排液后混合(次数, 体积)
+
+        Returns:
+            是否成功
+        """
+        try:
+            # 装载新枪头
+            if new_tip:
+                self.eject_tip()
+                if not self.pickup_tip():
+                    return False
+
+            # 设置液体类型
+            if liquid_class:
+                self.set_liquid_class(liquid_class)
+
+            # 吸液前混合
+            if mix_before:
+                cycles, mix_vol = mix_before
+                self.mix(cycles, mix_vol)
+
+            # 吸液
+            if not self.aspirate(volume):
+                return False
+
+            # 排液
+            if not self.dispense(volume, blow_out=True):
+                return False
+
+            # 排液后混合
+            if mix_after:
+                cycles, mix_vol = mix_after
+                self.mix(cycles, mix_vol)
+
+            logger.info(f"液体转移完成: {volume}ul")
+            return True
+
+        except Exception as e:
+            logger.error(f"液体转移失败: {e}")
+            return False
+
+    def mix(self, cycles: int = 3, volume: Optional[float] = None) -> bool:
+        """
+        混合
+
+        Args:
+            cycles: 混合次数
+            volume: 混合体积
+
+        Returns:
+            是否成功
+        """
+        volume = volume or self.liquid_params.mix_volume
+
+        logger.info(f"开始混合: {cycles}次, {volume}ul")
+
+        for i in range(cycles):
+            if not self.aspirate(volume, detection=False):
+                return False
+            if not self.dispense(volume):
+                return False
+
+        logger.info("混合完成")
+        return True
+
+    def _pre_wet(self, volume: float):
+        """预润湿"""
+        self.pipette.aspirate(volume, detection=False)
+        time.sleep(0.2)
+        self.pipette.dispense(volume)
+        time.sleep(0.2)
+
+    def _touch_tip(self):
+        """接触壁(需要与运动控制配合)"""
+        # TODO: 实现接触壁动作
+        logger.debug("执行接触壁")
+        time.sleep(0.5)
+
+    def _update_tip_status(self):
+        """更新枪头状态"""
+        if self.pipette.get_tip_status():
+            self.tip_status = TipStatus.TIP_ATTACHED
+        else:
+            self.tip_status = TipStatus.NO_TIP
+
+    def set_liquid_class(self, liquid_class: LiquidClass):
+        """设置液体类型"""
+        self.liquid_class = liquid_class
+        if liquid_class in self.LIQUID_PARAMS:
+            self.liquid_params = self.LIQUID_PARAMS[liquid_class]
+        logger.info(f"液体类型设置为: {liquid_class.value}")
+
+    def set_custom_parameters(self, params: LiquidParameters):
+        """设置自定义液体参数"""
+        self.liquid_params = params
+        self.liquid_class = LiquidClass.CUSTOM
+
+    def calibrate_volume(self, expected: float, actual: float):
+        """
+        体积校准
+
+        Args:
+            expected: 期望体积
+            actual: 实际体积
+        """
+        factor = actual / expected
+        self.pipette.set_calibration_factor(factor)
+        logger.info(f"体积校准系数: {factor}")
+
+    def get_status(self) -> Dict:
+        """获取状态信息"""
+        return {
+            'tip_status': self.tip_status.value,
+            'current_volume': self.current_volume,
+            'max_volume': self.max_volume,
+            'liquid_class': self.liquid_class.value,
+            'statistics': {
+                'tip_count': self.tip_count,
+                'aspirate_count': self.aspirate_count,
+                'dispense_count': self.dispense_count
+            }
+        }
+
+    def reset_statistics(self):
+        """重置统计信息"""
+        self.tip_count = 0
+        self.aspirate_count = 0
+        self.dispense_count = 0
+
+# ============================================================================
+# 实例化代码块 - 移液控制器使用示例
+# ============================================================================
+
+if __name__ == "__main__":
+    # 配置日志
+    import logging
+    
+    # 设置日志级别
+    logging.basicConfig(
+        level=logging.INFO,
+        format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+    )
+    
+    def interactive_test():
+        """交互式测试模式 - 适用于已连接的设备"""
+        print("\n" + "=" * 60)
+        print("🧪 移液器交互式测试模式")
+        print("=" * 60)
+        
+        # 获取用户输入的连接参数
+        print("\n📡 设备连接配置:")
+        port = input("请输入移液器串口端口 (默认: /dev/ttyUSB0): ").strip() or "/dev/ttyUSB0"
+        address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
+        address = int(address_input) if address_input else 4
+        
+        # 询问是否连接 XYZ 步进电机控制器
+        xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
+        xyz_port = None
+        if xyz_enable in ['y', 'yes']:
+            xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB1): ").strip() or "/dev/ttyUSB1"
+        
+        try:
+            # 创建移液控制器实例
+            if xyz_port:
+                print(f"\n🔧 创建移液控制器实例 (移液器端口: {port}, 地址: {address}, XYZ端口: {xyz_port})...")
+                pipette = PipetteController(port=port, address=address, xyz_port=xyz_port)
+            else:
+                print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
+                pipette = PipetteController(port=port, address=address)
+            
+            # 连接设备
+            print("\n📞 连接移液器设备...")
+            if not pipette.connect():
+                print("❌ 设备连接失败，请检查连接")
+                return
+            print("✅ 设备连接成功")
+            
+            # 初始化设备
+            print("\n🚀 初始化设备...")
+            if not pipette.initialize():
+                print("❌ 设备初始化失败")
+                return
+            print("✅ 设备初始化成功")
+            
+            # 交互式菜单
+            while True:
+                print("\n" + "=" * 50)
+                print("🎮 交互式操作菜单:")
+                print("1. 📋 查看设备状态")
+                print("2. 🔧 装载枪头")
+                print("3. 🗑️  弹出枪头")
+                print("4. 💧 吸液操作")
+                print("5. 💦 排液操作")
+                print("6. 🌀 混合操作")
+                print("7. 🔄 液体转移")
+                print("8. ⚙️  设置液体类型")
+                print("9. 🎯 自定义参数")
+                print("10. 📊 校准体积")
+                print("11. 🧹 重置统计")
+                print("12. 🔍 液体类型测试")
+                print("99. 🚨 紧急停止")
+                print("0. 🚪 退出程序")
+                print("=" * 50)
+                
+                choice = input("\n请选择操作 (0-12, 99): ").strip()
+                
+                if choice == "0":
+                    print("\n👋 退出程序...")
+                    break
+                elif choice == "1":
+                    # 查看设备状态
+                    status = pipette.get_status()
+                    print("\n📊 设备状态信息:")
+                    print(f"  🎯 枪头状态: {status['tip_status']}")
+                    print(f"  💧 当前体积: {status['current_volume']}ul")
+                    print(f"  📏 最大体积: {status['max_volume']}ul")
+                    print(f"  🧪 液体类型: {status['liquid_class']}")
+                    print(f"  📈 统计信息:")
+                    print(f"    🔧 枪头使用次数: {status['statistics']['tip_count']}")
+                    print(f"    ⬆️  吸液次数: {status['statistics']['aspirate_count']}")
+                    print(f"    ⬇️  排液次数: {status['statistics']['dispense_count']}")
+                
+                elif choice == "2":
+                    # 装载枪头
+                    print("\n🔧 装载枪头...")
+                    if pipette.xyz_connected:
+                        print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
+                    else:
+                        print("⚠️  未连接 XYZ 控制器，仅执行移液器枪头装载")
+                    
+                    if pipette.pickup_tip():
+                        print("✅ 枪头装载成功")
+                        if pipette.xyz_connected:
+                            print("📍 Z 轴已移动到装载位置")
+                    else:
+                        print("❌ 枪头装载失败")
+                
+                elif choice == "3":
+                    # 弹出枪头
+                    print("\n🗑️ 弹出枪头...")
+                    if pipette.eject_tip():
+                        print("✅ 枪头弹出成功")
+                    else:
+                        print("❌ 枪头弹出失败")
+                
+                elif choice == "4":
+                    # 吸液操作
+                    try:
+                        volume = float(input("请输入吸液体积 (ul): "))
+                        detection = input("是否启用液面检测? (y/n, 默认y): ").strip().lower() != 'n'
+                        print(f"\n💧 执行吸液操作 ({volume}ul)...")
+                        if pipette.aspirate(volume, detection=detection):
+                            print(f"✅ 吸液成功: {volume}ul")
+                            print(f"📊 当前体积: {pipette.current_volume}ul")
+                        else:
+                            print("❌ 吸液失败")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "5":
+                    # 排液操作
+                    try:
+                        volume = float(input("请输入排液体积 (ul): "))
+                        blow_out = input("是否执行吹出操作? (y/n, 默认n): ").strip().lower() == 'y'
+                        print(f"\n💦 执行排液操作 ({volume}ul)...")
+                        if pipette.dispense(volume, blow_out=blow_out):
+                            print(f"✅ 排液成功: {volume}ul")
+                            print(f"📊 剩余体积: {pipette.current_volume}ul")
+                        else:
+                            print("❌ 排液失败")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "6":
+                    # 混合操作
+                    try:
+                        cycles = int(input("请输入混合次数 (默认3): ") or "3")
+                        volume_input = input("请输入混合体积 (ul, 默认使用当前体积的50%): ").strip()
+                        volume = float(volume_input) if volume_input else None
+                        print(f"\n🌀 执行混合操作 ({cycles}次)...")
+                        if pipette.mix(cycles=cycles, volume=volume):
+                            print("✅ 混合完成")
+                        else:
+                            print("❌ 混合失败")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "7":
+                    # 液体转移
+                    try:
+                        volume = float(input("请输入转移体积 (ul): "))
+                        source = input("源孔位 (可选, 如A1): ").strip() or None
+                        dest = input("目标孔位 (可选, 如B1): ").strip() or None
+                        new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
+                        
+                        print(f"\n🔄 执行液体转移 ({volume}ul)...")
+                        if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
+                            print("✅ 液体转移完成")
+                        else:
+                            print("❌ 液体转移失败")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "8":
+                    # 设置液体类型
+                    print("\n🧪 可用液体类型:")
+                    liquid_options = {
+                        "1": (LiquidClass.WATER, "水溶液"),
+                        "2": (LiquidClass.SERUM, "血清"),
+                        "3": (LiquidClass.VISCOUS, "粘稠液体"),
+                        "4": (LiquidClass.VOLATILE, "挥发性液体")
+                    }
+                    
+                    for key, (liquid_class, description) in liquid_options.items():
+                        print(f"  {key}. {description}")
+                    
+                    liquid_choice = input("请选择液体类型 (1-4): ").strip()
+                    if liquid_choice in liquid_options:
+                        liquid_class, description = liquid_options[liquid_choice]
+                        pipette.set_liquid_class(liquid_class)
+                        print(f"✅ 液体类型设置为: {description}")
+                        
+                        # 显示参数
+                        params = pipette.liquid_params
+                        print(f"📋 参数设置:")
+                        print(f"  ⬆️ 吸液速度: {params.aspirate_speed}")
+                        print(f"  ⬇️ 排液速度: {params.dispense_speed}")
+                        print(f"  💨 空气间隙: {params.air_gap}ul")
+                        print(f"  💧 预润湿: {'是' if params.pre_wet else '否'}")
+                    else:
+                        print("❌ 无效选择")
+                
+                elif choice == "9":
+                    # 自定义参数
+                    try:
+                        print("\n⚙️ 设置自定义参数 (直接回车使用默认值):")
+                        aspirate_speed = input("吸液速度 (默认500): ").strip()
+                        dispense_speed = input("排液速度 (默认800): ").strip()
+                        air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
+                        pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
+                        
+                        custom_params = LiquidParameters(
+                            aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
+                            dispense_speed=int(dispense_speed) if dispense_speed else 800,
+                            air_gap=float(air_gap) if air_gap else 10.0,
+                            pre_wet=pre_wet
+                        )
+                        
+                        pipette.set_custom_parameters(custom_params)
+                        print("✅ 自定义参数设置完成")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "10":
+                    # 校准体积
+                    try:
+                        expected = float(input("期望体积 (ul): "))
+                        actual = float(input("实际测量体积 (ul): "))
+                        pipette.calibrate_volume(expected, actual)
+                        print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
+                    except ValueError:
+                        print("❌ 请输入有效的数字")
+                
+                elif choice == "11":
+                    # 重置统计
+                    pipette.reset_statistics()
+                    print("✅ 统计信息已重置")
+                
+                elif choice == "12":
+                    # 液体类型测试
+                    print("\n🧪 液体类型参数对比:")
+                    liquid_tests = [
+                        (LiquidClass.WATER, "水溶液"),
+                        (LiquidClass.SERUM, "血清"),
+                        (LiquidClass.VISCOUS, "粘稠液体"),
+                        (LiquidClass.VOLATILE, "挥发性液体")
+                    ]
+                    
+                    for liquid_class, description in liquid_tests:
+                        params = pipette.LIQUID_PARAMS[liquid_class]
+                        print(f"\n📋 {description} ({liquid_class.value}):")
+                        print(f"  ⬆️ 吸液速度: {params.aspirate_speed}")
+                        print(f"  ⬇️ 排液速度: {params.dispense_speed}")
+                        print(f"  💨 空气间隙: {params.air_gap}ul")
+                        print(f"  💧 预润湿: {'是' if params.pre_wet else '否'}")
+                        print(f"  ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
+                
+                elif choice == "99":
+                    # 紧急停止
+                    print("\n🚨 执行紧急停止...")
+                    success = pipette.emergency_stop()
+                    if success:
+                        print("✅ 紧急停止执行成功")
+                        print("⚠️ 所有运动已停止，请检查设备状态")
+                    else:
+                        print("❌ 紧急停止执行失败")
+                        print("⚠️ 请手动检查设备状态并采取必要措施")
+                    
+                    # 紧急停止后询问是否继续
+                    continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
+                    if continue_choice != 'y':
+                        print("🚪 退出程序")
+                        break
+                
+                else:
+                    print("❌ 无效选择，请重新输入")
+                
+                # 等待用户确认继续
+                input("\n按回车键继续...")
+            
+        except KeyboardInterrupt:
+            print("\n\n⚠️ 用户中断操作")
+        except Exception as e:
+            print(f"\n❌ 发生异常: {e}")
+        finally:
+            # 断开连接
+            print("\n📞 断开设备连接...")
+            try:
+                pipette.disconnect()
+                print("✅ 连接已断开")
+            except:
+                print("⚠️ 断开连接时出现问题")
+    
+    def demo_test():
+        """演示测试模式 - 完整功能演示"""
+        print("\n" + "=" * 60)
+        print("🎬 移液控制器演示测试")
+        print("=" * 60)
+        
+        try:
+            # 创建移液控制器实例
+            print("1. 🔧 创建移液控制器实例...")
+            pipette = PipetteController(port="/dev/ttyUSB0", address=4)
+            print("✅ 移液控制器实例创建成功")
+            
+            # 连接设备
+            print("\n2. 📞 连接移液器设备...")
+            if pipette.connect():
+                print("✅ 设备连接成功")
+            else:
+                print("❌ 设备连接失败")
+                return False
+            
+            # 初始化设备
+            print("\n3. 🚀 初始化设备...")
+            if pipette.initialize():
+                print("✅ 设备初始化成功")
+            else:
+                print("❌ 设备初始化失败")
+                return False
+            
+            # 装载枪头
+            print("\n4. 🔧 装载枪头...")
+            if pipette.pickup_tip():
+                print("✅ 枪头装载成功")
+            else:
+                print("❌ 枪头装载失败")
+            
+            # 设置液体类型
+            print("\n5. 🧪 设置液体类型为血清...")
+            pipette.set_liquid_class(LiquidClass.SERUM)
+            print("✅ 液体类型设置完成")
+            
+            # 吸液操作
+            print("\n6. 💧 执行吸液操作...")
+            volume_to_aspirate = 100.0
+            if pipette.aspirate(volume_to_aspirate, detection=True):
+                print(f"✅ 吸液成功: {volume_to_aspirate}ul")
+                print(f"📊 当前体积: {pipette.current_volume}ul")
+            else:
+                print("❌ 吸液失败")
+            
+            # 排液操作
+            print("\n7. 💦 执行排液操作...")
+            volume_to_dispense = 50.0
+            if pipette.dispense(volume_to_dispense, blow_out=True):
+                print(f"✅ 排液成功: {volume_to_dispense}ul")
+                print(f"📊 剩余体积: {pipette.current_volume}ul")
+            else:
+                print("❌ 排液失败")
+            
+            # 混合操作
+            print("\n8. 🌀 执行混合操作...")
+            if pipette.mix(cycles=3, volume=30.0):
+                print("✅ 混合完成")
+            else:
+                print("❌ 混合失败")
+            
+            # 获取状态信息
+            print("\n9. 📊 获取设备状态...")
+            status = pipette.get_status()
+            print("设备状态信息:")
+            print(f"  🎯 枪头状态: {status['tip_status']}")
+            print(f"  💧 当前体积: {status['current_volume']}ul")
+            print(f"  📏 最大体积: {status['max_volume']}ul")
+            print(f"  🧪 液体类型: {status['liquid_class']}")
+            print(f"  📈 统计信息:")
+            print(f"    🔧 枪头使用次数: {status['statistics']['tip_count']}")
+            print(f"    ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
+            print(f"    ⬇️ 排液次数: {status['statistics']['dispense_count']}")
+            
+            # 弹出枪头
+            print("\n10. 🗑️ 弹出枪头...")
+            if pipette.eject_tip():
+                print("✅ 枪头弹出成功")
+            else:
+                print("❌ 枪头弹出失败")
+            
+            print("\n" + "=" * 60)
+            print("✅ 移液控制器演示测试完成")
+            print("=" * 60)
+            
+            return True
+            
+        except Exception as e:
+            print(f"\n❌ 测试过程中发生异常: {e}")
+            return False
+            
+        finally:
+            # 断开连接
+            print("\n📞 断开连接...")
+            pipette.disconnect()
+            print("✅ 连接已断开")
+    
+    # 主程序入口
+    print("🧪 移液器控制器测试程序")
+    print("=" * 40)
+    print("1. 🎮 交互式测试 (推荐)")
+    print("2. 🎬 演示测试")
+    print("0. 🚪 退出")
+    print("=" * 40)
+    
+    mode = input("请选择测试模式 (0-2): ").strip()
+    
+    if mode == "1":
+        interactive_test()
+    elif mode == "2":
+        demo_test()
+    elif mode == "0":
+        print("👋 再见！")
+    else:
+        print("❌ 无效选择")
+    
+    print("\n🎉 程序结束！")
+    print("\n💡 使用说明:")
+    print("1. 确保移液器硬件已正确连接")
+    print("2. 根据实际情况修改串口端口号")
+    print("3. 交互模式支持实时操作和参数调整")
+    print("4. 在实际使用中需要配合运动控制器进行位置移动")
diff --git a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py b/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
new file mode 100644
index 00000000..2526f485
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
@@ -0,0 +1,1183 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+XYZ三轴步进电机控制器
+支持坐标系管理、限位开关回零、工作原点设定等功能
+
+主要功能：
+- 坐标系转换层（步数↔毫米）
+- 限位开关回零功能
+- 工作原点示教和保存
+- 安全限位检查
+- 运动控制接口
+
+"""
+
+import json
+import os
+import time
+from typing import Optional, Dict, Tuple, Union
+from dataclasses import dataclass, asdict
+from pathlib import Path
+import logging
+
+# 添加项目根目录到Python路径以解决模块导入问题
+import sys
+import os
+
+# 无论如何都添加项目根目录到路径
+current_file = os.path.abspath(__file__)
+# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/xyz_controller.py
+# 向上5级到 .../Uni-Lab-OS
+project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
+# 强制添加项目根目录到sys.path的开头
+sys.path.insert(0, project_root)
+
+# 导入原有的驱动
+from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import XYZStepperController, MotorAxis, MotorStatus
+
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class MachineConfig:
+    """机械配置参数"""
+    # 步距配置 (基于16384步/圈的步进电机)
+    steps_per_mm_x: float = 204.8    # X轴步距 (16384步/圈 ÷ 80mm导程)
+    steps_per_mm_y: float = 204.8    # Y轴步距 (16384步/圈 ÷ 80mm导程)  
+    steps_per_mm_z: float = 3276.8   # Z轴步距 (16384步/圈 ÷ 5mm导程)
+    
+    # 行程限制
+    max_travel_x: float = 340.0     # X轴最大行程
+    max_travel_y: float = 250.0     # Y轴最大行程
+    max_travel_z: float = 160.0     # Z轴最大行程
+    
+    # 安全移动参数
+    safe_z_height: float = 0.0      # Z轴安全移动高度 (mm) - 液体处理工作站安全高度
+    z_approach_height: float = 5.0  # Z轴接近高度 (mm) - 在目标位置上方的预备高度
+    
+    # 回零参数
+    homing_speed: int = 100          # 回零速度 (rpm)
+    homing_timeout: float = 30.0    # 回零超时时间
+    safe_clearance: float = 1.0     # 安全间隙 (mm)
+    position_stable_time: float = 3.0  # 位置稳定检测时间（秒）
+    position_check_interval: float = 0.2  # 位置检查间隔（秒）
+    
+    # 运动参数
+    default_speed: int = 100         # 默认运动速度 (rpm)
+    default_acceleration: int = 1000 # 默认加速度
+
+
+@dataclass 
+class CoordinateOrigin:
+    """坐标原点信息"""
+    machine_origin_steps: Dict[str, int] = None    # 机械原点步数位置
+    work_origin_steps: Dict[str, int] = None       # 工作原点步数位置
+    is_homed: bool = False                         # 是否已回零
+    timestamp: str = ""                            # 设定时间戳
+    
+    def __post_init__(self):
+        if self.machine_origin_steps is None:
+            self.machine_origin_steps = {"x": 0, "y": 0, "z": 0}
+        if self.work_origin_steps is None:
+            self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
+
+
+class CoordinateSystemError(Exception):
+    """坐标系统异常"""
+    pass
+
+
+class XYZController(XYZStepperController):
+    """XYZ三轴控制器"""
+    
+    def __init__(self, port: str, baudrate: int = 115200, 
+                 machine_config: Optional[MachineConfig] = None,
+                 config_file: str = "machine_config.json",
+                 auto_connect: bool = True):
+        """
+        初始化XYZ控制器
+        
+        Args:
+            port: 串口端口
+            baudrate: 波特率
+            machine_config: 机械配置参数
+            config_file: 配置文件路径
+            auto_connect: 是否自动连接设备
+        """
+        super().__init__(port, baudrate)
+        
+        # 机械配置
+        self.machine_config = machine_config or MachineConfig()
+        self.config_file = config_file
+        
+        # 坐标系统
+        self.coordinate_origin = CoordinateOrigin()
+        self.origin_file = "coordinate_origin.json"
+        
+        # 连接状态
+        self.is_connected = False
+        
+        # 加载配置
+        self._load_config()
+        self._load_coordinate_origin()
+        
+        # 自动连接设备
+        if auto_connect:
+            self.connect_device()
+    
+    def connect_device(self) -> bool:
+        """
+        连接设备并初始化
+        
+        Returns:
+            bool: 连接是否成功
+        """
+        try:
+            logger.info(f"正在连接设备: {self.port}")
+            
+            # 连接硬件
+            if not self.connect():
+                logger.error("硬件连接失败")
+                return False
+            
+            self.is_connected = True
+            logger.info("设备连接成功")
+            
+            # 使能所有轴
+            enable_results = self.enable_all_axes(True)
+            success_count = sum(1 for result in enable_results.values() if result)
+            logger.info(f"轴使能结果: {success_count}/{len(enable_results)} 成功")
+            
+            # 获取系统状态
+            try:
+                status = self.get_system_status()
+                logger.info(f"系统状态获取成功: {len(status)} 项信息")
+            except Exception as e:
+                logger.warning(f"获取系统状态失败: {e}")
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"设备连接失败: {e}")
+            self.is_connected = False
+            return False
+    
+    def disconnect_device(self):
+        """断开设备连接"""
+        try:
+            if self.is_connected:
+                self.disconnect()  # 使用父类的disconnect方法
+                self.is_connected = False
+                logger.info("设备连接已断开")
+        except Exception as e:
+            logger.error(f"断开连接失败: {e}")
+    
+    def _load_config(self):
+        """加载机械配置"""
+        try:
+            if os.path.exists(self.config_file):
+                with open(self.config_file, 'r', encoding='utf-8') as f:
+                    config_data = json.load(f)
+                    # 更新配置参数
+                    for key, value in config_data.items():
+                        if hasattr(self.machine_config, key):
+                            setattr(self.machine_config, key, value)
+                logger.info("机械配置加载完成")
+        except Exception as e:
+            logger.warning(f"加载机械配置失败: {e}，使用默认配置")
+    
+    def _save_config(self):
+        """保存机械配置"""
+        try:
+            with open(self.config_file, 'w', encoding='utf-8') as f:
+                json.dump(asdict(self.machine_config), f, indent=2, ensure_ascii=False)
+            logger.info("机械配置保存完成")
+        except Exception as e:
+            logger.error(f"保存机械配置失败: {e}")
+    
+    def _load_coordinate_origin(self):
+        """加载坐标原点信息"""
+        try:
+            if os.path.exists(self.origin_file):
+                with open(self.origin_file, 'r', encoding='utf-8') as f:
+                    origin_data = json.load(f)
+                    self.coordinate_origin = CoordinateOrigin(**origin_data)
+                logger.info("坐标原点信息加载完成")
+        except Exception as e:
+            logger.warning(f"加载坐标原点失败: {e}，使用默认设置")
+    
+    def _save_coordinate_origin(self):
+        """保存坐标原点信息"""
+        try:
+            # 更新时间戳
+            from datetime import datetime
+            self.coordinate_origin.timestamp = datetime.now().isoformat()
+            
+            with open(self.origin_file, 'w', encoding='utf-8') as f:
+                json.dump(asdict(self.coordinate_origin), f, indent=2, ensure_ascii=False)
+            logger.info("坐标原点信息保存完成")
+        except Exception as e:
+            logger.error(f"保存坐标原点失败: {e}")
+    
+    # ==================== 坐标转换方法 ====================
+    
+    def mm_to_steps(self, axis: MotorAxis, mm: float) -> int:
+        """毫米转步数"""
+        if axis == MotorAxis.X:
+            return int(mm * self.machine_config.steps_per_mm_x)
+        elif axis == MotorAxis.Y:
+            return int(mm * self.machine_config.steps_per_mm_y)
+        elif axis == MotorAxis.Z:
+            return int(mm * self.machine_config.steps_per_mm_z)
+        else:
+            raise ValueError(f"未知轴: {axis}")
+    
+    def steps_to_mm(self, axis: MotorAxis, steps: int) -> float:
+        """步数转毫米"""
+        if axis == MotorAxis.X:
+            return steps / self.machine_config.steps_per_mm_x
+        elif axis == MotorAxis.Y:
+            return steps / self.machine_config.steps_per_mm_y
+        elif axis == MotorAxis.Z:
+            return steps / self.machine_config.steps_per_mm_z
+        else:
+            raise ValueError(f"未知轴: {axis}")
+    
+    def work_to_machine_steps(self, x: float = None, y: float = None, z: float = None) -> Dict[str, int]:
+        """工作坐标转机械坐标步数"""
+        machine_steps = {}
+        
+        if x is not None:
+            work_steps = self.mm_to_steps(MotorAxis.X, x)
+            machine_steps['x'] = self.coordinate_origin.work_origin_steps['x'] + work_steps
+        
+        if y is not None:
+            work_steps = self.mm_to_steps(MotorAxis.Y, y)
+            machine_steps['y'] = self.coordinate_origin.work_origin_steps['y'] + work_steps
+            
+        if z is not None:
+            work_steps = self.mm_to_steps(MotorAxis.Z, z)
+            machine_steps['z'] = self.coordinate_origin.work_origin_steps['z'] + work_steps
+            
+        return machine_steps
+    
+    def machine_to_work_coords(self, machine_steps: Dict[str, int]) -> Dict[str, float]:
+        """机械坐标步数转工作坐标"""
+        work_coords = {}
+        
+        for axis_name, steps in machine_steps.items():
+            axis = MotorAxis[axis_name.upper()]
+            work_origin_steps = self.coordinate_origin.work_origin_steps[axis_name]
+            relative_steps = steps - work_origin_steps
+            work_coords[axis_name] = self.steps_to_mm(axis, relative_steps)
+            
+        return work_coords
+    
+    def check_travel_limits(self, x: float = None, y: float = None, z: float = None) -> bool:
+        """检查行程限制"""
+        if x is not None and (x < 0 or x > self.machine_config.max_travel_x):
+            raise CoordinateSystemError(f"X轴超出行程范围: {x}mm (0 ~ {self.machine_config.max_travel_x}mm)")
+        
+        if y is not None and (y < 0 or y > self.machine_config.max_travel_y):
+            raise CoordinateSystemError(f"Y轴超出行程范围: {y}mm (0 ~ {self.machine_config.max_travel_y}mm)")
+            
+        if z is not None and (z < 0 or z > self.machine_config.max_travel_z):
+            raise CoordinateSystemError(f"Z轴超出行程范围: {z}mm (0 ~ {self.machine_config.max_travel_z}mm)")
+            
+        return True
+    
+    # ==================== 回零和原点设定方法 ====================
+    
+    def home_axis(self, axis: MotorAxis, direction: int = -1) -> bool:
+        """
+        单轴回零到限位开关 - 使用步数变化检测
+        
+        Args:
+            axis: 要回零的轴
+            direction: 回零方向 (-1负方向, 1正方向)
+            
+        Returns:
+            bool: 回零是否成功
+        """
+        if not self.is_connected:
+            logger.error("设备未连接，无法执行回零操作")
+            return False
+            
+        try:
+            logger.info(f"开始{axis.name}轴回零")
+            
+            # 使能电机
+            if not self.enable_motor(axis, True):
+                raise CoordinateSystemError(f"{axis.name}轴使能失败")
+            
+            # 设置回零速度模式，根据方向设置正负
+            speed = self.machine_config.homing_speed * direction
+            if not self.set_speed_mode(axis, speed):
+                raise CoordinateSystemError(f"{axis.name}轴设置回零速度失败")
+            
+
+            
+            # 智能回零检测 - 基于步数变化
+            start_time = time.time()
+            limit_detected = False
+            final_position = None
+            
+            # 步数变化检测参数（从配置获取）
+            position_stable_time = self.machine_config.position_stable_time
+            check_interval = self.machine_config.position_check_interval
+            last_position = None
+            stable_start_time = None
+            
+            logger.info(f"{axis.name}轴开始移动，监测步数变化...")
+            
+            while time.time() - start_time < self.machine_config.homing_timeout:
+                status = self.get_motor_status(axis)
+                current_position = status.steps
+                
+                # 检查是否明确触碰限位开关
+                if (direction < 0 and status.status == MotorStatus.REVERSE_LIMIT_STOP) or \
+                   (direction > 0 and status.status == MotorStatus.FORWARD_LIMIT_STOP):
+                    # 停止运动
+                    self.emergency_stop(axis)
+                    time.sleep(0.5)
+                    
+                    # 记录机械原点位置
+                    final_position = current_position
+                    limit_detected = True
+                    logger.info(f"{axis.name}轴检测到限位开关信号，位置: {final_position}步")
+                    break
+                
+                # 检查是否发生碰撞
+                if status.status == MotorStatus.COLLISION_STOP:
+                    raise CoordinateSystemError(f"{axis.name}轴回零时发生碰撞")
+                
+                # 步数变化检测逻辑
+                if last_position is not None:
+                    # 检查位置是否发生变化
+                    if abs(current_position - last_position) <= 1:  # 允许1步的误差
+                        # 位置基本没有变化
+                        if stable_start_time is None:
+                            stable_start_time = time.time()
+                            logger.debug(f"{axis.name}轴位置开始稳定在 {current_position}步")
+                        elif time.time() - stable_start_time >= position_stable_time:
+                            # 位置稳定超过指定时间，认为已到达限位
+                            self.emergency_stop(axis)
+                            time.sleep(0.5)
+                            
+                            final_position = current_position
+                            limit_detected = True
+                            logger.info(f"{axis.name}轴位置稳定{position_stable_time}秒，假设已到达限位开关，位置: {final_position}步")
+                            break
+                    else:
+                        # 位置发生变化，重置稳定计时
+                        stable_start_time = None
+                        logger.debug(f"{axis.name}轴位置变化: {last_position} -> {current_position}")
+                
+                last_position = current_position
+                time.sleep(check_interval)
+            
+            # 超时处理
+            if not limit_detected:
+                logger.warning(f"{axis.name}轴回零超时({self.machine_config.homing_timeout}秒)，强制停止")
+                self.emergency_stop(axis)
+                time.sleep(0.5)
+                
+                # 获取当前位置作为机械原点
+                try:
+                    status = self.get_motor_status(axis)
+                    final_position = status.steps
+                    logger.info(f"{axis.name}轴超时后位置: {final_position}步")
+                except Exception as e:
+                    logger.error(f"获取{axis.name}轴位置失败: {e}")
+                    return False
+            
+            # 记录机械原点位置
+            self.coordinate_origin.machine_origin_steps[axis.name.lower()] = final_position
+            
+            # 从限位开关退出安全距离
+            try:
+                clearance_steps = self.mm_to_steps(axis, self.machine_config.safe_clearance)
+                safe_position = final_position + (clearance_steps * -direction)  # 反方向退出
+                
+                if not self.move_to_position(axis, safe_position, 
+                                            self.machine_config.default_speed):
+                    logger.warning(f"{axis.name}轴无法退出到安全位置")
+                else:
+                    self.wait_for_completion(axis, 10.0)
+                    logger.info(f"{axis.name}轴已退出到安全位置: {safe_position}步")
+            except Exception as e:
+                logger.warning(f"{axis.name}轴退出安全位置时出错: {e}")
+            
+            status_msg = "限位检测成功" if limit_detected else "超时假设成功"
+            logger.info(f"{axis.name}轴回零完成 ({status_msg})，机械原点: {final_position}步")
+            return True
+            
+        except Exception as e:
+            logger.error(f"{axis.name}轴回零失败: {e}")
+            self.emergency_stop(axis)
+            return False
+    
+    def home_all_axes(self, sequence: list = None) -> bool:
+        """
+        全轴回零 (液体处理工作站安全回零)
+        
+        液体处理工作站回零策略：
+        1. Z轴必须首先回零，避免与容器、试管架等碰撞
+        2. 然后XY轴回零，确保移动路径安全
+        3. 严格按照Z->X->Y顺序执行，不允许更改
+        
+        Args:
+            sequence: 回零顺序，液体处理工作站固定为Z->X->Y，不建议修改
+            
+        Returns:
+            bool: 全轴回零是否成功
+        """
+        if not self.is_connected:
+            logger.error("设备未连接，无法执行回零操作")
+            return False
+        
+        # 液体处理工作站安全回零序列：Z轴绝对优先
+        safe_sequence = [MotorAxis.Z, MotorAxis.X, MotorAxis.Y]
+        
+        if sequence is not None and sequence != safe_sequence:
+            logger.warning(f"液体处理工作站不建议修改回零序列，使用安全序列: {[axis.name for axis in safe_sequence]}")
+            
+        sequence = safe_sequence  # 强制使用安全序列
+        
+        logger.info("开始全轴回零")
+        
+        try:
+            for axis in sequence:
+                if not self.home_axis(axis):
+                    logger.error(f"全轴回零失败，停止在{axis.name}轴")
+                    return False
+                
+                # 轴间等待时间
+                time.sleep(0.5)
+            
+            # 标记为已回零
+            self.coordinate_origin.is_homed = True
+            self._save_coordinate_origin()
+            
+            logger.info("全轴回零完成")
+            return True
+            
+        except Exception as e:
+            logger.error(f"全轴回零异常: {e}")
+            return False
+    
+    def set_work_origin_here(self) -> bool:
+        """将当前位置设置为工作原点"""
+        if not self.is_connected:
+            logger.error("设备未连接，无法设置工作原点")
+            return False
+            
+        try:
+            if not self.coordinate_origin.is_homed:
+                logger.warning("建议先执行回零操作再设置工作原点")
+            
+            # 获取当前各轴位置
+            positions = self.get_all_positions()
+            
+            for axis in MotorAxis:
+                axis_name = axis.name.lower()
+                current_steps = positions[axis].steps
+                self.coordinate_origin.work_origin_steps[axis_name] = current_steps
+                
+                logger.info(f"{axis.name}轴工作原点设置为: {current_steps}步 "
+                          f"({self.steps_to_mm(axis, current_steps):.2f}mm)")
+            
+            self._save_coordinate_origin()
+            logger.info("工作原点设置完成")
+            return True
+            
+        except Exception as e:
+            logger.error(f"设置工作原点失败: {e}")
+            return False
+    
+    # ==================== 高级运动控制方法 ====================
+    
+    def move_to_work_coord_safe(self, x: float = None, y: float = None, z: float = None,
+                               speed: int = None, acceleration: int = None) -> bool:
+        """
+        安全移动到工作坐标系指定位置 (液体处理工作站专用)
+        移动策略：Z轴先上升到安全高度 -> XY轴移动到目标位置 -> Z轴下降到目标位置
+        
+        Args:
+            x, y, z: 工作坐标系下的目标位置 (mm)
+            speed: 运动速度 (rpm)
+            acceleration: 加速度 (rpm/s)
+            
+        Returns:
+            bool: 移动是否成功
+        """
+        if not self.is_connected:
+            logger.error("设备未连接，无法执行移动操作")
+            return False
+            
+        try:
+            # 检查坐标系是否已设置
+            if not self.coordinate_origin.work_origin_steps:
+                raise CoordinateSystemError("工作原点未设置，请先调用set_work_origin_here()")
+            
+            # 检查行程限制
+            self.check_travel_limits(x, y, z)
+            
+            # 设置运动参数
+            speed = speed or self.machine_config.default_speed
+            acceleration = acceleration or self.machine_config.default_acceleration
+            
+            # 步骤1: Z轴先上升到安全高度
+            if z is not None:
+                safe_z_steps = self.work_to_machine_steps(None, None, self.machine_config.safe_z_height)
+                if not self.move_to_position(MotorAxis.Z, safe_z_steps['z'], speed, acceleration):
+                    logger.error("Z轴上升到安全高度失败")
+                    return False
+                logger.info(f"Z轴上升到安全高度: {self.machine_config.safe_z_height} mm")
+                
+                # 等待Z轴移动完成
+                self.wait_for_completion(MotorAxis.Z, 10.0)
+            
+            # 步骤2: XY轴移动到目标位置
+            xy_success = True
+            if x is not None:
+                machine_steps = self.work_to_machine_steps(x, None, None)
+                if not self.move_to_position(MotorAxis.X, machine_steps['x'], speed, acceleration):
+                    xy_success = False
+                    
+            if y is not None:
+                machine_steps = self.work_to_machine_steps(None, y, None)
+                if not self.move_to_position(MotorAxis.Y, machine_steps['y'], speed, acceleration):
+                    xy_success = False
+            
+            if not xy_success:
+                logger.error("XY轴移动失败")
+                return False
+                
+            if x is not None or y is not None:
+                logger.info(f"XY轴移动到目标位置: X:{x} Y:{y} mm")
+                # 等待XY轴移动完成
+                if x is not None:
+                    self.wait_for_completion(MotorAxis.X, 10.0)
+                if y is not None:
+                    self.wait_for_completion(MotorAxis.Y, 10.0)
+            
+            # 步骤3: Z轴下降到目标位置
+            if z is not None:
+                machine_steps = self.work_to_machine_steps(None, None, z)
+                if not self.move_to_position(MotorAxis.Z, machine_steps['z'], speed, acceleration):
+                    logger.error("Z轴下降到目标位置失败")
+                    return False
+                logger.info(f"Z轴下降到目标位置: {z} mm")
+                self.wait_for_completion(MotorAxis.Z, 10.0)
+            
+            logger.info(f"安全移动到工作坐标 X:{x} Y:{y} Z:{z} (mm) 完成")
+            return True
+            
+        except Exception as e:
+            logger.error(f"安全移动失败: {e}")
+            return False
+
+    def move_to_work_coord(self, x: float = None, y: float = None, z: float = None,
+                          speed: int = None, acceleration: int = None) -> bool:
+        """
+        移动到工作坐标 (已禁用)
+        
+        此方法已被禁用，请使用 move_to_work_coord_safe() 方法。
+        
+        Raises:
+            RuntimeError: 方法已禁用
+        """
+        error_msg = "Method disabled, use move_to_work_coord_safe instead"
+        logger.error(error_msg)
+        raise RuntimeError(error_msg)
+    
+    def move_relative_work_coord(self, dx: float = 0, dy: float = 0, dz: float = 0,
+                               speed: int = None, acceleration: int = None) -> bool:
+        """
+        相对当前位置移动
+        
+        Args:
+            dx, dy, dz: 相对移动距离 (mm)
+            speed: 运动速度 (rpm)  
+            acceleration: 加速度 (rpm/s)
+            
+        Returns:
+            bool: 移动是否成功
+        """
+        if not self.is_connected:
+            logger.error("设备未连接，无法执行移动操作")
+            return False
+            
+        try:
+            # 获取当前工作坐标
+            current_work = self.get_current_work_coords()
+            
+            # 计算目标坐标
+            target_x = current_work['x'] + dx if dx != 0 else None
+            target_y = current_work['y'] + dy if dy != 0 else None  
+            target_z = current_work['z'] + dz if dz != 0 else None
+            
+            return self.move_to_work_coord_safe(target_x, target_y, target_z, speed, acceleration)
+            
+        except Exception as e:
+            logger.error(f"相对移动失败: {e}")
+            return False
+    
+    def get_current_work_coords(self) -> Dict[str, float]:
+        """获取当前工作坐标"""
+        if not self.is_connected:
+            logger.error("设备未连接，无法获取当前坐标")
+            return {'x': 0.0, 'y': 0.0, 'z': 0.0}
+            
+        try:
+            # 获取当前机械坐标
+            positions = self.get_all_positions()
+            machine_steps = {axis.name.lower(): pos.steps for axis, pos in positions.items()}
+            
+            # 转换为工作坐标
+            return self.machine_to_work_coords(machine_steps)
+            
+        except Exception as e:
+            logger.error(f"获取工作坐标失败: {e}")
+            return {'x': 0.0, 'y': 0.0, 'z': 0.0}
+    
+    def get_current_position_mm(self) -> Dict[str, float]:
+        """获取当前位置坐标（毫米单位）"""
+        return self.get_current_work_coords()
+    
+    def wait_for_move_completion(self, timeout: float = 30.0) -> bool:
+        """等待所有轴运动完成"""
+        if not self.is_connected:
+            return False
+            
+        for axis in MotorAxis:
+            if not self.wait_for_completion(axis, timeout):
+                return False
+        return True
+    
+    # ==================== 系统状态和配置方法 ====================
+    
+    def get_system_status(self) -> Dict:
+        """获取系统状态信息"""
+        status = {
+            "connection": {
+                "is_connected": self.is_connected,
+                "port": self.port,
+                "baudrate": self.baudrate
+            },
+            "coordinate_system": {
+                "is_homed": self.coordinate_origin.is_homed,
+                "machine_origin": self.coordinate_origin.machine_origin_steps,
+                "work_origin": self.coordinate_origin.work_origin_steps,
+                "timestamp": self.coordinate_origin.timestamp
+            },
+            "machine_config": asdict(self.machine_config),
+            "current_position": {}
+        }
+        
+        if self.is_connected:
+            try:
+                # 获取当前位置
+                positions = self.get_all_positions()
+                for axis, pos in positions.items():
+                    axis_name = axis.name.lower()
+                    status["current_position"][axis_name] = {
+                        "steps": pos.steps,
+                        "mm": self.steps_to_mm(axis, pos.steps),
+                        "status": pos.status.name if hasattr(pos.status, 'name') else str(pos.status)
+                    }
+                    
+                # 获取工作坐标
+                work_coords = self.get_current_work_coords()
+                status["current_work_coords"] = work_coords
+                
+            except Exception as e:
+                status["position_error"] = str(e)
+        
+        return status
+    
+    def update_machine_config(self, **kwargs):
+        """更新机械配置参数"""
+        for key, value in kwargs.items():
+            if hasattr(self.machine_config, key):
+                setattr(self.machine_config, key, value)
+                logger.info(f"更新配置参数 {key}: {value}")
+            else:
+                logger.warning(f"未知配置参数: {key}")
+        
+        # 保存配置
+        self._save_config()
+    
+    def reset_coordinate_system(self):
+        """重置坐标系统"""
+        self.coordinate_origin = CoordinateOrigin()
+        self._save_coordinate_origin()
+        logger.info("坐标系统已重置")
+    
+    def __enter__(self):
+        """上下文管理器入口"""
+        return self
+    
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """上下文管理器出口"""
+        self.disconnect_device()
+
+
+def interactive_control(controller: XYZController):
+    """
+    交互式控制模式
+    
+    Args:
+        controller: 已连接的控制器实例
+    """
+    print("\n" + "="*60)
+    print("进入交互式控制模式")
+    print("="*60)
+    
+    # 显示当前状态
+    def show_status():
+        try:
+            current_pos = controller.get_current_position_mm()
+            print(f"\n当前位置: X={current_pos['x']:.2f}mm, Y={current_pos['y']:.2f}mm, Z={current_pos['z']:.2f}mm")
+        except Exception as e:
+            print(f"获取位置失败: {e}")
+    
+    # 显示帮助信息
+    def show_help():
+        print("\n可用命令:")
+        print("  move <轴> <距离>     - 相对移动，例: move x 10.5")
+        print("  goto <x> <y> <z>     - 绝对移动到指定坐标，例: goto 10 20 5")
+        print("  home [轴]            - 回零操作，例: home 或 home x")
+        print("  origin               - 设置当前位置为工作原点")
+        print("  status               - 显示当前状态")
+        print("  speed <速度>         - 设置运动速度(rpm)，例: speed 2000")
+        print("  limits               - 显示行程限制")
+        print("  config               - 显示机械配置")
+        print("  help                 - 显示此帮助信息")
+        print("  quit/exit            - 退出交互模式")
+        print("\n提示:")
+        print("  - 轴名称: x, y, z")
+        print("  - 距离单位: 毫米(mm)")
+        print("  - 正数向正方向移动，负数向负方向移动")
+    
+    # 安全回零操作
+    def safe_homing():
+        print("\n系统安全初始化...")
+        print("为确保操作安全，系统将执行回零操作")
+        print("提示: 已安装限位开关，超时后将假设回零成功")
+        
+        # 询问用户是否继续
+        while True:
+            user_choice = input("是否继续执行回零操作? (y/n/skip): ").strip().lower()
+            if user_choice in ['y', 'yes', '是']:
+                print("\n开始执行全轴回零...")
+                print("回零过程可能需要一些时间，请耐心等待...")
+                
+                # 执行回零操作
+                homing_success = controller.home_all_axes()
+                
+                if homing_success:
+                    print("回零操作完成，系统已就绪")
+                    # 设置当前位置为工作原点
+                    if controller.set_work_origin_here():
+                        print("工作原点已设置为回零位置")
+                    else:
+                        print("工作原点设置失败，但可以继续操作")
+                    return True
+                else:
+                    print("回零操作失败")
+                    print("这可能是由于通信问题，但限位开关应该已经起作用")
+                    
+                    # 询问是否继续
+                    retry_choice = input("是否仍要继续操作? (y/n): ").strip().lower()
+                    if retry_choice in ['y', 'yes', '是']:
+                        print("继续操作，请手动确认设备位置安全")
+                        return True
+                    else:
+                        return False
+                        
+            elif user_choice in ['n', 'no', '否']:
+                print("用户取消回零操作，退出交互模式")
+                return False
+            elif user_choice in ['skip', 's', '跳过']:
+                print("跳过回零操作，请注意安全！")
+                print("建议在开始操作前手动执行 'home' 命令")
+                return True
+            else:
+                print("请输入 y(继续)/n(取消)/skip(跳过)")
+    
+    # 安全回原点操作
+    def safe_return_home():
+        print("\n系统安全关闭...")
+        print("正在将所有轴移动到安全位置...")
+        
+        try:
+            # 移动到工作原点 (0,0,0) - 使用安全移动方法
+            if controller.move_to_work_coord_safe(0, 0, 0, speed=500):
+                print("已安全返回工作原点")
+                show_status()
+            else:
+                print("返回原点失败，请手动检查设备位置")
+        except Exception as e:
+            print(f"返回原点时出错: {e}")
+    
+    # 当前运动速度
+    current_speed = controller.machine_config.default_speed
+    
+    try:
+        # 1. 首先执行安全回零
+        if not safe_homing():
+            return
+        
+        # 2. 显示初始状态和帮助
+        show_status()
+        show_help()
+        
+        while True:
+            try:
+                # 获取用户输入
+                user_input = input("\n请输入命令 (输入 help 查看帮助): ").strip().lower()
+                
+                if not user_input:
+                    continue
+                
+                # 解析命令
+                parts = user_input.split()
+                command = parts[0]
+                
+                if command in ['quit', 'exit', 'q']:
+                    print("准备退出交互模式...")
+                    # 执行安全回原点操作
+                    safe_return_home()
+                    print("退出交互模式")
+                    break
+                
+                elif command == 'help' or command == 'h':
+                    show_help()
+                
+                elif command == 'status' or command == 's':
+                    show_status()
+                    print(f"当前速度: {current_speed} rpm")
+                    print(f"是否已回零: {controller.coordinate_origin.is_homed}")
+                
+                elif command == 'move' or command == 'm':
+                    if len(parts) != 3:
+                        print("格式错误，正确格式: move <轴> <距离>")
+                        print("   例如: move x 10.5")
+                        continue
+                    
+                    axis = parts[1].lower()
+                    try:
+                        distance = float(parts[2])
+                    except ValueError:
+                        print("距离必须是数字")
+                        continue
+                    
+                    if axis not in ['x', 'y', 'z']:
+                        print("轴名称必须是 x, y 或 z")
+                        continue
+                    
+                    print(f"{axis.upper()}轴移动 {distance:+.2f}mm...")
+                    
+                    # 执行移动
+                    kwargs = {f'd{axis}': distance, 'speed': current_speed}
+                    if controller.move_relative_work_coord(**kwargs):
+                        print(f"{axis.upper()}轴移动完成")
+                        show_status()
+                    else:
+                        print(f"{axis.upper()}轴移动失败")
+                
+                elif command == 'goto' or command == 'g':
+                    if len(parts) != 4:
+                        print("格式错误，正确格式: goto <x> <y> <z>")
+                        print("   例如: goto 10 20 5")
+                        continue
+                    
+                    try:
+                        x = float(parts[1])
+                        y = float(parts[2])
+                        z = float(parts[3])
+                    except ValueError:
+                        print("坐标必须是数字")
+                        continue
+                    
+                    print(f"移动到坐标 ({x}, {y}, {z})...")
+                    print("使用安全移动策略: Z轴先上升 → XY移动 → Z轴下降")
+                    
+                    if controller.move_to_work_coord_safe(x, y, z, speed=current_speed):
+                        print("安全移动到目标位置完成")
+                        show_status()
+                    else:
+                        print("移动失败")
+                
+                elif command == 'home':
+                    if len(parts) == 1:
+                        # 全轴回零
+                        print("开始全轴回零...")
+                        if controller.home_all_axes():
+                            print("全轴回零完成")
+                            show_status()
+                        else:
+                            print("回零失败")
+                    elif len(parts) == 2:
+                        # 单轴回零
+                        axis_name = parts[1].lower()
+                        if axis_name not in ['x', 'y', 'z']:
+                            print("轴名称必须是 x, y 或 z")
+                            continue
+                        
+                        axis = MotorAxis[axis_name.upper()]
+                        print(f"{axis_name.upper()}轴回零...")
+                        
+                        if controller.home_axis(axis):
+                            print(f"{axis_name.upper()}轴回零完成")
+                            show_status()
+                        else:
+                            print(f"{axis_name.upper()}轴回零失败")
+                    else:
+                        print("格式错误，正确格式: home 或 home <轴>")
+                
+                elif command == 'origin' or command == 'o':
+                    print("设置当前位置为工作原点...")
+                    if controller.set_work_origin_here():
+                        print("工作原点设置完成")
+                        show_status()
+                    else:
+                        print("工作原点设置失败")
+                
+                elif command == 'speed':
+                    if len(parts) != 2:
+                        print("格式错误，正确格式: speed <速度>")
+                        print("   例如: speed 2000")
+                        continue
+                    
+                    try:
+                        new_speed = int(parts[1])
+                        if new_speed <= 0:
+                            print("速度必须大于0")
+                            continue
+                        if new_speed > 10000:
+                            print("速度不能超过10000 rpm")
+                            continue
+                        
+                        current_speed = new_speed
+                        print(f"运动速度设置为: {current_speed} rpm")
+                        
+                    except ValueError:
+                        print("速度必须是整数")
+                
+                elif command == 'limits' or command == 'l':
+                    config = controller.machine_config
+                    print("\n行程限制:")
+                    print(f"  X轴: 0 ~ {config.max_travel_x} mm")
+                    print(f"  Y轴: 0 ~ {config.max_travel_y} mm")
+                    print(f"  Z轴: 0 ~ {config.max_travel_z} mm")
+                
+                elif command == 'config' or command == 'c':
+                    config = controller.machine_config
+                    print("\n机械配置:")
+                    print(f"  X轴步距: {config.steps_per_mm_x:.1f} 步/mm")
+                    print(f"  Y轴步距: {config.steps_per_mm_y:.1f} 步/mm")
+                    print(f"  Z轴步距: {config.steps_per_mm_z:.1f} 步/mm")
+                    print(f"  回零速度: {config.homing_speed} rpm")
+                    print(f"  默认速度: {config.default_speed} rpm")
+                    print(f"  安全间隙: {config.safe_clearance} mm")
+                
+                else:
+                    print(f"未知命令: {command}")
+                    print("输入 help 查看可用命令")
+            
+            except KeyboardInterrupt:
+                print("\n\n用户中断，退出交互模式")
+                break
+            except Exception as e:
+                print(f"命令执行错误: {e}")
+                print("输入 help 查看正确的命令格式")
+    
+    finally:
+        # 确保正确断开连接
+        try:
+            controller.disconnect_device()
+            print("设备连接已断开")
+        except Exception as e:
+            print(f"断开连接时出错: {e}")
+
+
+def run_tests():
+    """运行测试函数"""
+    print("=== XYZ控制器测试 ===")
+    
+    # 1. 测试机械配置
+    print("\n1. 测试机械配置")
+    config = MachineConfig(
+        steps_per_mm_x=204.8,   # 16384步/圈 ÷ 80mm导程
+        steps_per_mm_y=204.8,   # 16384步/圈 ÷ 80mm导程
+        steps_per_mm_z=3276.8,  # 16384步/圈 ÷ 5mm导程
+        max_travel_x=340.0,
+        max_travel_y=250.0,
+        max_travel_z=160.0,
+        homing_speed=100,
+        default_speed=100
+    )
+    print(f"X轴步距: {config.steps_per_mm_x} 步/mm")
+    print(f"Y轴步距: {config.steps_per_mm_y} 步/mm")
+    print(f"Z轴步距: {config.steps_per_mm_z} 步/mm")
+    print(f"行程限制: X={config.max_travel_x}mm, Y={config.max_travel_y}mm, Z={config.max_travel_z}mm")
+    
+    # 2. 测试坐标原点数据结构
+    print("\n2. 测试坐标原点数据结构")
+    origin = CoordinateOrigin()
+    print(f"初始状态: 已回零={origin.is_homed}")
+    print(f"机械原点: {origin.machine_origin_steps}")
+    print(f"工作原点: {origin.work_origin_steps}")
+    
+    # 设置示例数据
+    origin.machine_origin_steps = {'x': 0, 'y': 0, 'z': 0}
+    origin.work_origin_steps = {'x': 16384, 'y': 16384, 'z': 13107}  # 5mm, 5mm, 2mm (基于16384步/圈)
+    origin.is_homed = True
+    origin.timestamp = "2024-09-26 12:00:00"
+    print(f"设置后: 已回零={origin.is_homed}")
+    print(f"机械原点: {origin.machine_origin_steps}")
+    print(f"工作原点: {origin.work_origin_steps}")
+    
+    # 3. 测试离线功能
+    print("\n3. 测试离线功能")
+    
+    # 创建离线控制器（不自动连接）
+    offline_controller = XYZController(
+        port='/dev/tty.usbserial-3130',
+        machine_config=config,
+        auto_connect=False
+    )
+    
+    # 测试单位转换
+    print("\n单位转换测试:")
+    test_distances = [1.0, 5.0, 10.0, 25.5]
+    for distance in test_distances:
+        x_steps = offline_controller.mm_to_steps(MotorAxis.X, distance)
+        y_steps = offline_controller.mm_to_steps(MotorAxis.Y, distance)
+        z_steps = offline_controller.mm_to_steps(MotorAxis.Z, distance)
+        print(f"{distance}mm -> X:{x_steps}步, Y:{y_steps}步, Z:{z_steps}步")
+        
+        # 反向转换验证
+        x_mm = offline_controller.steps_to_mm(MotorAxis.X, x_steps)
+        y_mm = offline_controller.steps_to_mm(MotorAxis.Y, y_steps)
+        z_mm = offline_controller.steps_to_mm(MotorAxis.Z, z_steps)
+        print(f"反向转换: X:{x_mm:.2f}mm, Y:{y_mm:.2f}mm, Z:{z_mm:.2f}mm")
+    
+    # 测试坐标系转换
+    print("\n坐标系转换测试:")
+    offline_controller.coordinate_origin = origin  # 使用示例原点
+    work_coords = [(0, 0, 0), (10, 15, 5), (50, 30, 20)]
+    
+    for x, y, z in work_coords:
+        try:
+            machine_steps = offline_controller.work_to_machine_steps(x, y, z)
+            print(f"工作坐标 ({x}, {y}, {z}) -> 机械步数 {machine_steps}")
+            
+            # 反向转换验证
+            work_coords_back = offline_controller.machine_to_work_coords(machine_steps)
+            print(f"反向转换: ({work_coords_back['x']:.2f}, {work_coords_back['y']:.2f}, {work_coords_back['z']:.2f})")
+        except Exception as e:
+            print(f"转换失败: {e}")
+    
+    # 测试行程限制检查
+    print("\n行程限制检查测试:")
+    test_positions = [
+        (50, 50, 25, "正常位置"),
+        (250, 50, 25, "X轴超限"),
+        (50, 350, 25, "Y轴超限"),
+        (50, 50, 150, "Z轴超限"),
+        (-10, 50, 25, "X轴负超限"),
+        (50, -10, 25, "Y轴负超限"),
+        (50, 50, -5, "Z轴负超限")
+    ]
+    
+    for x, y, z, desc in test_positions:
+        try:
+            offline_controller.check_travel_limits(x, y, z)
+            print(f"{desc} ({x}, {y}, {z}): 有效")
+        except CoordinateSystemError as e:
+            print(f"{desc} ({x}, {y}, {z}): 超限 - {e}")
+    
+    print("\n=== 离线功能测试完成 ===")
+    
+    # 4. 硬件连接测试
+    print("\n4. 硬件连接测试")
+    print("尝试连接真实设备...")
+    
+    # 可能的串口列表
+    possible_ports = [
+        '/dev/ttyCH341USB0'  # CH340 USB串口转换器 
+    ]
+    
+    connected_controller = None
+    
+    for port in possible_ports:
+        try:
+            print(f"尝试连接端口: {port}")
+            controller = XYZController(
+                port=port,
+                machine_config=config,
+                auto_connect=True
+            )
+            
+            if controller.is_connected:
+                print(f"成功连接到 {port}")
+                connected_controller = controller
+                
+                # 获取系统状态
+                status = controller.get_system_status()
+                print("\n系统状态:")
+                print(f"  连接状态: {status['connection']['is_connected']}")
+                print(f"  是否已回零: {status['coordinate_system']['is_homed']}")
+                
+                if 'current_position' in status:
+                    print("  当前位置:")
+                    for axis, pos_info in status['current_position'].items():
+                        print(f"    {axis.upper()}轴: {pos_info['steps']}步 ({pos_info['mm']:.2f}mm)")
+                
+                # 测试基本移动功能
+                print("\n测试基本移动功能:")
+                try:
+                    # 获取当前位置
+                    current_pos = controller.get_current_position_mm()
+                    print(f"当前工作坐标: {current_pos}")
+                    
+                    # 小幅移动测试
+                    print("执行小幅移动测试 (X+1mm)...")
+                    if controller.move_relative_work_coord(dx=1.0, speed=500):
+                        print("移动成功")
+                        time.sleep(1)
+                        new_pos = controller.get_current_position_mm()
+                        print(f"移动后坐标: {new_pos}")
+                    else:
+                        print("移动失败")
+                        
+                except Exception as e:
+                    print(f"移动测试失败: {e}")
+                
+                break
+                
+        except Exception as e:
+            print(f"连接 {port} 失败: {e}")
+            continue
+    
+    if not connected_controller:
+        print("未找到可用的设备端口")
+        print("请检查:")
+        print("  1. 设备是否正确连接")
+        print("  2. 串口端口是否正确")
+        print("  3. 设备驱动是否安装")
+    else:
+        # 进入交互式控制模式
+        interactive_control(connected_controller)
+    
+    print("\n=== XYZ控制器测试完成 ===")
+
+
+# ==================== 测试和示例代码 ====================
+if __name__ == "__main__":
+    run_tests()
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/core/__init__.py b/unilabos/devices/laiyu_liquid/core/__init__.py
new file mode 100644
index 00000000..87214f83
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/core/__init__.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LaiYu液体处理设备核心模块
+
+该模块包含LaiYu液体处理设备的核心功能组件：
+- LaiYu_Liquid.py: 主设备类和配置管理
+- abstract_protocol.py: 抽象协议定义
+- laiyu_liquid_res.py: 设备资源管理
+
+作者: UniLab团队
+版本: 2.0.0
+"""
+
+from .laiyu_liquid_main import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    LaiYuLiquidBackend,
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack,
+    create_quick_setup
+)
+
+from .laiyu_liquid_res import (
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer, 
+    LaiYuLiquidTipRack
+)
+
+__all__ = [
+    # 主设备类
+    'LaiYuLiquid',
+    'LaiYuLiquidConfig',
+    'LaiYuLiquidBackend',
+    
+    # 设备资源
+    'LaiYuLiquidDeck',
+    'LaiYuLiquidContainer',
+    'LaiYuLiquidTipRack',
+    
+    # 工具函数
+    'create_quick_setup'
+]
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/core/abstract_protocol.py b/unilabos/devices/laiyu_liquid/core/abstract_protocol.py
new file mode 100644
index 00000000..9959c364
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/core/abstract_protocol.py
@@ -0,0 +1,529 @@
+"""
+LaiYu_Liquid 抽象协议实现
+
+该模块提供了液体资源管理和转移的抽象协议，包括：
+- MaterialResource: 液体资源管理类
+- transfer_liquid: 液体转移函数
+- 相关的辅助类和函数
+
+主要功能：
+- 管理多孔位的液体资源
+- 计算和跟踪液体体积
+- 处理液体转移操作
+- 提供资源状态查询
+"""
+
+import logging
+from typing import Dict, List, Optional, Union, Any, Tuple
+from dataclasses import dataclass, field
+from enum import Enum
+import uuid
+import time
+
+# pylabrobot 导入
+from pylabrobot.resources import Resource, Well, Plate
+
+logger = logging.getLogger(__name__)
+
+
+class LiquidType(Enum):
+    """液体类型枚举"""
+    WATER = "water"
+    ETHANOL = "ethanol"
+    DMSO = "dmso"
+    BUFFER = "buffer"
+    SAMPLE = "sample"
+    REAGENT = "reagent"
+    WASTE = "waste"
+    UNKNOWN = "unknown"
+
+
+@dataclass
+class LiquidInfo:
+    """液体信息类"""
+    liquid_type: LiquidType = LiquidType.UNKNOWN
+    volume: float = 0.0  # 体积 (μL)
+    concentration: Optional[float] = None  # 浓度 (mg/ml, M等)
+    ph: Optional[float] = None  # pH值
+    temperature: Optional[float] = None  # 温度 (°C)
+    viscosity: Optional[float] = None  # 粘度 (cP)
+    density: Optional[float] = None  # 密度 (g/ml)
+    description: str = ""  # 描述信息
+    
+    def __str__(self) -> str:
+        return f"{self.liquid_type.value}({self.description})"
+
+
+@dataclass
+class WellContent:
+    """孔位内容类"""
+    volume: float = 0.0  # 当前体积 (ul)
+    max_volume: float = 1000.0  # 最大容量 (ul)
+    liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
+    last_updated: float = field(default_factory=time.time)
+    
+    @property
+    def is_empty(self) -> bool:
+        """检查是否为空"""
+        return self.volume <= 0.0
+    
+    @property
+    def is_full(self) -> bool:
+        """检查是否已满"""
+        return self.volume >= self.max_volume
+    
+    @property
+    def available_volume(self) -> float:
+        """可用体积"""
+        return max(0.0, self.max_volume - self.volume)
+    
+    @property
+    def fill_percentage(self) -> float:
+        """填充百分比"""
+        return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
+    
+    def can_add_volume(self, volume: float) -> bool:
+        """检查是否可以添加指定体积"""
+        return (self.volume + volume) <= self.max_volume
+    
+    def can_remove_volume(self, volume: float) -> bool:
+        """检查是否可以移除指定体积"""
+        return self.volume >= volume
+    
+    def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
+        """
+        添加液体体积
+        
+        Args:
+            volume: 要添加的体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功添加
+        """
+        if not self.can_add_volume(volume):
+            return False
+        
+        self.volume += volume
+        if liquid_info:
+            self.liquid_info = liquid_info
+        self.last_updated = time.time()
+        return True
+    
+    def remove_volume(self, volume: float) -> bool:
+        """
+        移除液体体积
+        
+        Args:
+            volume: 要移除的体积 (ul)
+            
+        Returns:
+            bool: 是否成功移除
+        """
+        if not self.can_remove_volume(volume):
+            return False
+        
+        self.volume -= volume
+        self.last_updated = time.time()
+        
+        # 如果完全清空，重置液体信息
+        if self.volume <= 0.0:
+            self.volume = 0.0
+            self.liquid_info = LiquidInfo()
+        
+        return True
+
+
+class MaterialResource:
+    """
+    液体资源管理类
+    
+    该类用于管理液体处理过程中的资源状态，包括：
+    - 跟踪多个孔位的液体体积和类型
+    - 计算总体积和可用体积
+    - 处理液体的添加和移除
+    - 提供资源状态查询
+    """
+    
+    def __init__(
+        self,
+        resource: Resource,
+        wells: Optional[List[Well]] = None,
+        default_max_volume: float = 1000.0
+    ):
+        """
+        初始化材料资源
+        
+        Args:
+            resource: pylabrobot 资源对象
+            wells: 孔位列表，如果为None则自动获取
+            default_max_volume: 默认最大体积 (ul)
+        """
+        self.resource = resource
+        self.resource_id = str(uuid.uuid4())
+        self.default_max_volume = default_max_volume
+        
+        # 获取孔位列表
+        if wells is None:
+            if hasattr(resource, 'get_wells'):
+                self.wells = resource.get_wells()
+            elif hasattr(resource, 'wells'):
+                self.wells = resource.wells
+            else:
+                # 如果没有孔位，创建一个虚拟孔位
+                self.wells = [resource]
+        else:
+            self.wells = wells
+        
+        # 初始化孔位内容
+        self.well_contents: Dict[str, WellContent] = {}
+        for well in self.wells:
+            well_id = self._get_well_id(well)
+            self.well_contents[well_id] = WellContent(
+                max_volume=default_max_volume
+            )
+        
+        logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
+    
+    def _get_well_id(self, well: Union[Well, Resource]) -> str:
+        """获取孔位ID"""
+        if hasattr(well, 'name'):
+            return well.name
+        else:
+            return str(id(well))
+    
+    @property
+    def name(self) -> str:
+        """资源名称"""
+        return self.resource.name
+    
+    @property
+    def total_volume(self) -> float:
+        """总液体体积"""
+        return sum(content.volume for content in self.well_contents.values())
+    
+    @property
+    def total_max_volume(self) -> float:
+        """总最大容量"""
+        return sum(content.max_volume for content in self.well_contents.values())
+    
+    @property
+    def available_volume(self) -> float:
+        """总可用体积"""
+        return sum(content.available_volume for content in self.well_contents.values())
+    
+    @property
+    def well_count(self) -> int:
+        """孔位数量"""
+        return len(self.wells)
+    
+    @property
+    def empty_wells(self) -> List[str]:
+        """空孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if content.is_empty]
+    
+    @property
+    def full_wells(self) -> List[str]:
+        """满孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if content.is_full]
+    
+    @property
+    def occupied_wells(self) -> List[str]:
+        """有液体的孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if not content.is_empty]
+    
+    def get_well_content(self, well_id: str) -> Optional[WellContent]:
+        """获取指定孔位的内容"""
+        return self.well_contents.get(well_id)
+    
+    def get_well_volume(self, well_id: str) -> float:
+        """获取指定孔位的体积"""
+        content = self.get_well_content(well_id)
+        return content.volume if content else 0.0
+    
+    def set_well_volume(
+        self,
+        well_id: str,
+        volume: float,
+        liquid_info: Optional[LiquidInfo] = None
+    ) -> bool:
+        """
+        设置指定孔位的体积
+        
+        Args:
+            well_id: 孔位ID
+            volume: 体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功设置
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        if volume > content.max_volume:
+            logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
+            return False
+        
+        content.volume = max(0.0, volume)
+        if liquid_info:
+            content.liquid_info = liquid_info
+        content.last_updated = time.time()
+        
+        logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
+        return True
+    
+    def add_liquid(
+        self,
+        well_id: str,
+        volume: float,
+        liquid_info: Optional[LiquidInfo] = None
+    ) -> bool:
+        """
+        向指定孔位添加液体
+        
+        Args:
+            well_id: 孔位ID
+            volume: 添加的体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功添加
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        success = content.add_volume(volume, liquid_info)
+        
+        if success:
+            logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
+        else:
+            logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
+        
+        return success
+    
+    def remove_liquid(self, well_id: str, volume: float) -> bool:
+        """
+        从指定孔位移除液体
+        
+        Args:
+            well_id: 孔位ID
+            volume: 移除的体积 (ul)
+            
+        Returns:
+            bool: 是否成功移除
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        success = content.remove_volume(volume)
+        
+        if success:
+            logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
+        else:
+            logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
+        
+        return success
+    
+    def find_wells_with_volume(self, min_volume: float) -> List[str]:
+        """
+        查找具有指定最小体积的孔位
+        
+        Args:
+            min_volume: 最小体积 (ul)
+            
+        Returns:
+            List[str]: 符合条件的孔位ID列表
+        """
+        return [well_id for well_id, content in self.well_contents.items()
+                if content.volume >= min_volume]
+    
+    def find_wells_with_space(self, min_space: float) -> List[str]:
+        """
+        查找具有指定最小空间的孔位
+        
+        Args:
+            min_space: 最小空间 (ul)
+            
+        Returns:
+            List[str]: 符合条件的孔位ID列表
+        """
+        return [well_id for well_id, content in self.well_contents.items()
+                if content.available_volume >= min_space]
+    
+    def get_status_summary(self) -> Dict[str, Any]:
+        """获取资源状态摘要"""
+        return {
+            "resource_name": self.name,
+            "resource_id": self.resource_id,
+            "well_count": self.well_count,
+            "total_volume": self.total_volume,
+            "total_max_volume": self.total_max_volume,
+            "available_volume": self.available_volume,
+            "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
+            "empty_wells": len(self.empty_wells),
+            "full_wells": len(self.full_wells),
+            "occupied_wells": len(self.occupied_wells)
+        }
+    
+    def get_detailed_status(self) -> Dict[str, Any]:
+        """获取详细状态信息"""
+        well_details = {}
+        for well_id, content in self.well_contents.items():
+            well_details[well_id] = {
+                "volume": content.volume,
+                "max_volume": content.max_volume,
+                "available_volume": content.available_volume,
+                "fill_percentage": content.fill_percentage,
+                "liquid_type": content.liquid_info.liquid_type.value,
+                "description": content.liquid_info.description,
+                "last_updated": content.last_updated
+            }
+        
+        return {
+            "summary": self.get_status_summary(),
+            "wells": well_details
+        }
+
+
+def transfer_liquid(
+    source: MaterialResource,
+    target: MaterialResource,
+    volume: float,
+    source_well_id: Optional[str] = None,
+    target_well_id: Optional[str] = None,
+    liquid_info: Optional[LiquidInfo] = None
+) -> bool:
+    """
+    在两个材料资源之间转移液体
+    
+    Args:
+        source: 源资源
+        target: 目标资源
+        volume: 转移体积 (ul)
+        source_well_id: 源孔位ID，如果为None则自动选择
+        target_well_id: 目标孔位ID，如果为None则自动选择
+        liquid_info: 液体信息
+        
+    Returns:
+        bool: 转移是否成功
+    """
+    try:
+        # 自动选择源孔位
+        if source_well_id is None:
+            available_wells = source.find_wells_with_volume(volume)
+            if not available_wells:
+                logger.error(f"源资源 {source.name} 没有足够体积的孔位")
+                return False
+            source_well_id = available_wells[0]
+        
+        # 自动选择目标孔位
+        if target_well_id is None:
+            available_wells = target.find_wells_with_space(volume)
+            if not available_wells:
+                logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
+                return False
+            target_well_id = available_wells[0]
+        
+        # 检查源孔位是否有足够液体
+        if not source.get_well_content(source_well_id).can_remove_volume(volume):
+            logger.error(f"源孔位 {source_well_id} 液体不足")
+            return False
+        
+        # 检查目标孔位是否有足够空间
+        if not target.get_well_content(target_well_id).can_add_volume(volume):
+            logger.error(f"目标孔位 {target_well_id} 空间不足")
+            return False
+        
+        # 获取源液体信息
+        source_content = source.get_well_content(source_well_id)
+        transfer_liquid_info = liquid_info or source_content.liquid_info
+        
+        # 执行转移
+        if source.remove_liquid(source_well_id, volume):
+            if target.add_liquid(target_well_id, volume, transfer_liquid_info):
+                logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
+                return True
+            else:
+                # 如果目标添加失败，回滚源操作
+                source.add_liquid(source_well_id, volume, source_content.liquid_info)
+                logger.error("目标添加失败，已回滚源操作")
+                return False
+        else:
+            logger.error("源移除失败")
+            return False
+    
+    except Exception as e:
+        logger.error(f"液体转移失败: {e}")
+        return False
+
+
+def create_material_resource(
+    name: str,
+    resource: Resource,
+    initial_volumes: Optional[Dict[str, float]] = None,
+    liquid_info: Optional[LiquidInfo] = None,
+    max_volume: float = 1000.0
+) -> MaterialResource:
+    """
+    创建材料资源的便捷函数
+    
+    Args:
+        name: 资源名称
+        resource: pylabrobot 资源对象
+        initial_volumes: 初始体积字典 {well_id: volume}
+        liquid_info: 液体信息
+        max_volume: 最大体积
+        
+    Returns:
+        MaterialResource: 创建的材料资源
+    """
+    material_resource = MaterialResource(
+        resource=resource,
+        default_max_volume=max_volume
+    )
+    
+    # 设置初始体积
+    if initial_volumes:
+        for well_id, volume in initial_volumes.items():
+            material_resource.set_well_volume(well_id, volume, liquid_info)
+    
+    return material_resource
+
+
+def batch_transfer_liquid(
+    transfers: List[Tuple[MaterialResource, MaterialResource, float]],
+    liquid_info: Optional[LiquidInfo] = None
+) -> List[bool]:
+    """
+    批量液体转移
+    
+    Args:
+        transfers: 转移列表 [(source, target, volume), ...]
+        liquid_info: 液体信息
+        
+    Returns:
+        List[bool]: 每个转移操作的结果
+    """
+    results = []
+    
+    for source, target, volume in transfers:
+        result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
+        results.append(result)
+        
+        if not result:
+            logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
+    
+    success_count = sum(results)
+    logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
+    
+    return results
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
new file mode 100644
index 00000000..96092556
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
@@ -0,0 +1,881 @@
+"""
+LaiYu_Liquid 液体处理工作站主要集成文件
+
+该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
+主要包含：
+- LaiYuLiquidBackend: 硬件通信后端
+- LaiYuLiquid: 主要接口类
+- 相关的异常类和容器类
+"""
+
+import asyncio
+import logging
+import time
+from typing import List, Optional, Dict, Any, Union, Tuple
+from dataclasses import dataclass
+from abc import ABC, abstractmethod
+
+# 基础导入
+try:
+    from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    # 如果 pylabrobot 不可用，创建基础的模拟类
+    PYLABROBOT_AVAILABLE = False
+    
+    class Resource:
+        def __init__(self, name: str):
+            self.name = name
+    
+    class Deck(Resource):
+        pass
+    
+    class Plate(Resource):
+        pass
+    
+    class TipRack(Resource):
+        pass
+    
+    class Tip(Resource):
+        pass
+    
+    class Well(Resource):
+        pass
+
+# LaiYu_Liquid 控制器导入
+try:
+    from .controllers.pipette_controller import (
+        PipetteController, TipStatus, LiquidClass, LiquidParameters
+    )
+    from .controllers.xyz_controller import (
+        XYZController, MachineConfig, CoordinateOrigin, MotorAxis
+    )
+    CONTROLLERS_AVAILABLE = True
+except ImportError:
+    CONTROLLERS_AVAILABLE = False
+    # 创建模拟的控制器类
+    class PipetteController:
+        def __init__(self, *args, **kwargs):
+            pass
+        
+        def connect(self):
+            return True
+        
+        def initialize(self):
+            return True
+    
+    class XYZController:
+        def __init__(self, *args, **kwargs):
+            pass
+        
+        def connect_device(self):
+            return True
+
+logger = logging.getLogger(__name__)
+
+
+class LaiYuLiquidError(RuntimeError):
+    """LaiYu_Liquid 设备异常"""
+    pass
+
+
+@dataclass
+class LaiYuLiquidConfig:
+    """LaiYu_Liquid 设备配置"""
+    port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
+    address: int = 1  # 设备地址
+    baudrate: int = 9600  # 波特率
+    timeout: float = 5.0  # 通信超时时间
+    
+    # 工作台尺寸
+    deck_width: float = 340.0  # 工作台宽度 (mm)
+    deck_height: float = 250.0  # 工作台高度 (mm)
+    deck_depth: float = 160.0  # 工作台深度 (mm)
+    
+    # 移液参数
+    max_volume: float = 1000.0  # 最大体积 (μL)
+    min_volume: float = 0.1  # 最小体积 (μL)
+    
+    # 运动参数
+    max_speed: float = 100.0  # 最大速度 (mm/s)
+    acceleration: float = 50.0  # 加速度 (mm/s²)
+    
+    # 安全参数
+    safe_height: float = 50.0  # 安全高度 (mm)
+    tip_pickup_depth: float = 10.0  # 吸头拾取深度 (mm)
+    liquid_detection: bool = True  # 液面检测
+    
+    # 取枪头相关参数
+    tip_pickup_speed: int = 30  # 取枪头时的移动速度 (rpm)
+    tip_pickup_acceleration: int = 500  # 取枪头时的加速度 (rpm/s)
+    tip_approach_height: float = 5.0  # 接近枪头时的高度 (mm)
+    tip_pickup_force_depth: float = 2.0  # 强制插入深度 (mm)
+    tip_pickup_retract_height: float = 20.0  # 取枪头后的回退高度 (mm)
+    
+    # 丢弃枪头相关参数
+    tip_drop_height: float = 10.0  # 丢弃枪头时的高度 (mm)
+    tip_drop_speed: int = 50  # 丢弃枪头时的移动速度 (rpm)
+    trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0)  # 垃圾桶位置 (mm)
+    
+    # 安全范围配置
+    deck_width: float = 300.0  # 工作台宽度 (mm)
+    deck_height: float = 200.0  # 工作台高度 (mm)
+    deck_depth: float = 100.0  # 工作台深度 (mm)
+    safe_height: float = 50.0  # 安全高度 (mm)
+    position_validation: bool = True  # 启用位置验证
+    emergency_stop_enabled: bool = True  # 启用紧急停止
+
+
+class LaiYuLiquidDeck:
+    """LaiYu_Liquid 工作台管理"""
+    
+    def __init__(self, config: LaiYuLiquidConfig):
+        self.config = config
+        self.resources: Dict[str, Resource] = {}
+        self.positions: Dict[str, Tuple[float, float, float]] = {}
+        
+    def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
+        """添加资源到工作台"""
+        self.resources[name] = resource
+        self.positions[name] = position
+        
+    def get_resource(self, name: str) -> Optional[Resource]:
+        """获取资源"""
+        return self.resources.get(name)
+        
+    def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
+        """获取资源位置"""
+        return self.positions.get(name)
+        
+    def list_resources(self) -> List[str]:
+        """列出所有资源"""
+        return list(self.resources.keys())
+
+
+class LaiYuLiquidContainer:
+    """LaiYu_Liquid 容器类"""
+    
+    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
+        self.name = name
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        self.lid_height = lid_height
+        self.container_type = container_type
+        self.volume = volume
+        self.max_volume = max_volume
+        self.last_updated = time.time()
+        self.child_resources = {}  # 存储子资源
+        
+    @property
+    def is_empty(self) -> bool:
+        return self.volume <= 0.0
+        
+    @property
+    def is_full(self) -> bool:
+        return self.volume >= self.max_volume
+        
+    @property
+    def available_volume(self) -> float:
+        return max(0.0, self.max_volume - self.volume)
+        
+    def add_volume(self, volume: float) -> bool:
+        """添加体积"""
+        if self.volume + volume <= self.max_volume:
+            self.volume += volume
+            self.last_updated = time.time()
+            return True
+        return False
+        
+    def remove_volume(self, volume: float) -> bool:
+        """移除体积"""
+        if self.volume >= volume:
+            self.volume -= volume
+            self.last_updated = time.time()
+            return True
+        return False
+    
+    def assign_child_resource(self, resource, location=None):
+        """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
+        if hasattr(resource, 'name'):
+            self.child_resources[resource.name] = {
+                'resource': resource,
+                'location': location
+            }
+
+
+class LaiYuLiquidTipRack:
+    """LaiYu_Liquid 吸头架类"""
+    
+    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
+        self.name = name
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        self.tip_count = tip_count
+        self.tip_volume = tip_volume
+        self.tips_available = [True] * tip_count
+        self.child_resources = {}  # 存储子资源
+        
+    @property
+    def available_tips(self) -> int:
+        return sum(self.tips_available)
+        
+    @property
+    def is_empty(self) -> bool:
+        return self.available_tips == 0
+        
+    def pick_tip(self, position: int) -> bool:
+        """拾取吸头"""
+        if 0 <= position < self.tip_count and self.tips_available[position]:
+            self.tips_available[position] = False
+            return True
+        return False
+        
+    def has_tip(self, position: int) -> bool:
+        """检查位置是否有吸头"""
+        if 0 <= position < self.tip_count:
+            return self.tips_available[position]
+        return False
+    
+    def assign_child_resource(self, resource, location=None):
+        """分配子资源到指定位置"""
+        self.child_resources[resource.name] = {
+            'resource': resource,
+            'location': location
+        }
+
+
+def get_module_info():
+    """获取模块信息"""
+    return {
+        "name": "LaiYu_Liquid",
+        "version": "1.0.0",
+        "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
+        "author": "UniLabOS Team",
+        "capabilities": [
+            "移液器控制",
+            "XYZ轴运动控制", 
+            "吸头架管理",
+            "板和容器管理",
+            "资源位置管理"
+        ],
+        "dependencies": {
+            "required": ["serial"],
+            "optional": ["pylabrobot"]
+        }
+    }
+
+
+class LaiYuLiquidBackend:
+    """LaiYu_Liquid 硬件通信后端"""
+    
+    def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
+        self.config = config
+        self.deck = deck  # 工作台引用，用于获取资源位置信息
+        self.pipette_controller = None
+        self.xyz_controller = None
+        self.is_connected = False
+        self.is_initialized = False
+        
+        # 状态跟踪
+        self.current_position = (0.0, 0.0, 0.0)
+        self.tip_attached = False
+        self.current_volume = 0.0
+        
+    def _validate_position(self, x: float, y: float, z: float) -> bool:
+        """验证位置是否在安全范围内"""
+        try:
+            # 检查X轴范围
+            if not (0 <= x <= self.config.deck_width):
+                logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
+                return False
+            
+            # 检查Y轴范围
+            if not (0 <= y <= self.config.deck_height):
+                logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
+                return False
+            
+            # 检查Z轴范围（负值表示向下，0为工作台表面）
+            if not (-self.config.deck_depth <= z <= self.config.safe_height):
+                logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
+                return False
+            
+            return True
+        except Exception as e:
+            logger.error(f"位置验证失败: {e}")
+            return False
+    
+    def _check_hardware_ready(self) -> bool:
+        """检查硬件是否准备就绪"""
+        if not self.is_connected:
+            logger.error("设备未连接")
+            return False
+        
+        if CONTROLLERS_AVAILABLE:
+            if self.xyz_controller is None:
+                logger.error("XYZ控制器未初始化")
+                return False
+        
+        return True
+    
+    async def emergency_stop(self) -> bool:
+        """紧急停止所有运动"""
+        try:
+            logger.warning("执行紧急停止")
+            
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 停止XYZ控制器
+                await self.xyz_controller.stop_all_motion()
+                logger.info("XYZ控制器已停止")
+            
+            if self.pipette_controller:
+                # 停止移液器控制器
+                await self.pipette_controller.stop()
+                logger.info("移液器控制器已停止")
+            
+            return True
+        except Exception as e:
+            logger.error(f"紧急停止失败: {e}")
+            return False
+    
+    async def move_to_safe_position(self) -> bool:
+        """移动到安全位置"""
+        try:
+            if not self._check_hardware_ready():
+                return False
+            
+            safe_position = (
+                self.config.deck_width / 2,  # 工作台中心X
+                self.config.deck_height / 2,  # 工作台中心Y
+                self.config.safe_height  # 安全高度Z
+            )
+            
+            if not self._validate_position(*safe_position):
+                logger.error("安全位置无效")
+                return False
+            
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                await self.xyz_controller.move_to_work_coord(*safe_position)
+                self.current_position = safe_position
+                logger.info(f"已移动到安全位置: {safe_position}")
+                return True
+            else:
+                # 模拟模式
+                self.current_position = safe_position
+                logger.info("模拟移动到安全位置")
+                return True
+                
+        except Exception as e:
+            logger.error(f"移动到安全位置失败: {e}")
+            return False
+        
+    async def setup(self) -> bool:
+        """设置硬件连接"""
+        try:
+            if CONTROLLERS_AVAILABLE:
+                # 初始化移液器控制器
+                self.pipette_controller = PipetteController(
+                    port=self.config.port,
+                    address=self.config.address
+                )
+                
+                # 初始化XYZ控制器
+                machine_config = MachineConfig()
+                self.xyz_controller = XYZController(
+                    port=self.config.port,
+                    baudrate=self.config.baudrate,
+                    machine_config=machine_config
+                )
+                
+                # 连接设备
+                pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
+                xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
+                
+                if pipette_connected and xyz_connected:
+                    self.is_connected = True
+                    logger.info("LaiYu_Liquid 硬件连接成功")
+                    return True
+                else:
+                    logger.error("LaiYu_Liquid 硬件连接失败")
+                    return False
+            else:
+                # 模拟模式
+                logger.info("LaiYu_Liquid 运行在模拟模式")
+                self.is_connected = True
+                return True
+                
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 设置失败: {e}")
+            return False
+    
+    async def stop(self):
+        """停止设备"""
+        try:
+            if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
+                await asyncio.to_thread(self.pipette_controller.disconnect)
+            
+            if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
+                await asyncio.to_thread(self.xyz_controller.disconnect)
+                
+            self.is_connected = False
+            self.is_initialized = False
+            logger.info("LaiYu_Liquid 已停止")
+            
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 停止失败: {e}")
+    
+    async def move_to(self, x: float, y: float, z: float) -> bool:
+        """移动到指定位置"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+            
+            # 模拟移动
+            await asyncio.sleep(0.1)  # 模拟移动时间
+            self.current_position = (x, y, z)
+            logger.debug(f"移动到位置: ({x}, {y}, {z})")
+            return True
+            
+        except Exception as e:
+            logger.error(f"移动失败: {e}")
+            return False
+    
+    async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
+        """拾取吸头 - 包含真正的Z轴下降控制"""
+        try:
+            # 硬件准备检查
+            if not self._check_hardware_ready():
+                return False
+                
+            if self.tip_attached:
+                logger.warning("已有吸头附着，无法拾取新吸头")
+                return False
+                
+            logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
+            
+            # 获取枪头架位置信息
+            if self.deck is None:
+                logger.error("工作台未初始化")
+                return False
+                
+            tip_position = self.deck.get_position(tip_rack)
+            if tip_position is None:
+                logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
+                return False
+                
+            # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
+            tip_x, tip_y, tip_z = tip_position
+            
+            # 验证所有关键位置的安全性
+            safe_z = tip_z + self.config.tip_approach_height
+            pickup_z = tip_z - self.config.tip_pickup_force_depth
+            retract_z = tip_z + self.config.tip_pickup_retract_height
+            
+            if not (self._validate_position(tip_x, tip_y, safe_z) and 
+                    self._validate_position(tip_x, tip_y, pickup_z) and 
+                    self._validate_position(tip_x, tip_y, retract_z)):
+                logger.error("枪头拾取位置超出安全范围")
+                return False
+            
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 真实硬件控制流程
+                logger.info("使用真实XYZ控制器进行枪头拾取")
+                
+                try:
+                    # 1. 移动到枪头上方的安全位置
+                    safe_z = tip_z + self.config.tip_approach_height
+                    logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
+                    move_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, 
+                        tip_x, tip_y, safe_z
+                    )
+                    if not move_success:
+                        logger.error("移动到枪头上方失败")
+                        return False
+                    
+                    # 2. Z轴下降到枪头位置
+                    pickup_z = tip_z - self.config.tip_pickup_force_depth
+                    logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
+                    z_down_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord,
+                        tip_x, tip_y, pickup_z
+                    )
+                    if not z_down_success:
+                        logger.error("Z轴下降到枪头位置失败")
+                        return False
+                    
+                    # 3. 等待一小段时间确保枪头牢固附着
+                    await asyncio.sleep(0.2)
+                    
+                    # 4. Z轴上升到回退高度
+                    retract_z = tip_z + self.config.tip_pickup_retract_height
+                    logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
+                    z_up_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord,
+                        tip_x, tip_y, retract_z
+                    )
+                    if not z_up_success:
+                        logger.error("Z轴上升失败")
+                        return False
+                    
+                    # 5. 更新当前位置
+                    self.current_position = (tip_x, tip_y, retract_z)
+                    
+                except Exception as move_error:
+                    logger.error(f"枪头拾取过程中发生错误: {move_error}")
+                    # 尝试移动到安全位置
+                    if self.config.emergency_stop_enabled:
+                        await self.emergency_stop()
+                        await self.move_to_safe_position()
+                    return False
+                
+            else:
+                # 模拟模式
+                logger.info("模拟模式：执行枪头拾取动作")
+                await asyncio.sleep(1.0)  # 模拟整个拾取过程的时间
+                self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
+            
+            # 6. 标记枪头已附着
+            self.tip_attached = True
+            logger.info("吸头拾取成功")
+            return True
+            
+        except Exception as e:
+            logger.error(f"拾取吸头失败: {e}")
+            return False
+    
+    async def drop_tip(self, location: str = "trash") -> bool:
+        """丢弃吸头 - 包含真正的Z轴控制"""
+        try:
+            # 硬件准备检查
+            if not self._check_hardware_ready():
+                return False
+            
+            if not self.tip_attached:
+                logger.warning("没有吸头附着，无需丢弃")
+                return True
+            
+            logger.info(f"开始丢弃吸头到 {location}")
+            
+            # 确定丢弃位置
+            if location == "trash":
+                # 使用配置中的垃圾桶位置
+                drop_x, drop_y, drop_z = self.config.trash_position
+            else:
+                # 尝试从deck获取指定位置
+                if self.deck is None:
+                    logger.error("工作台未初始化")
+                    return False
+                    
+                drop_position = self.deck.get_position(location)
+                if drop_position is None:
+                    logger.error(f"未找到丢弃位置 {location} 的信息")
+                    return False
+                drop_x, drop_y, drop_z = drop_position
+            
+            # 验证丢弃位置的安全性
+            safe_z = drop_z + self.config.safe_height
+            drop_height_z = drop_z + self.config.tip_drop_height
+            
+            if not (self._validate_position(drop_x, drop_y, safe_z) and 
+                    self._validate_position(drop_x, drop_y, drop_height_z)):
+                logger.error("枪头丢弃位置超出安全范围")
+                return False
+            
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 真实硬件控制流程
+                logger.info("使用真实XYZ控制器进行枪头丢弃")
+                
+                try:
+                    # 1. 移动到丢弃位置上方的安全高度
+                    safe_z = drop_z + self.config.tip_drop_height
+                    logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
+                    move_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord,
+                        drop_x, drop_y, safe_z
+                    )
+                    if not move_success:
+                        logger.error("移动到丢弃位置上方失败")
+                        return False
+                    
+                    # 2. Z轴下降到丢弃高度
+                    logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
+                    z_down_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord,
+                        drop_x, drop_y, drop_z
+                    )
+                    if not z_down_success:
+                        logger.error("Z轴下降到丢弃位置失败")
+                        return False
+                    
+                    # 3. 执行枪头弹出动作（如果有移液器控制器）
+                    if self.pipette_controller:
+                        try:
+                            # 发送弹出枪头命令
+                            await asyncio.to_thread(self.pipette_controller.eject_tip)
+                            logger.info("执行枪头弹出命令")
+                        except Exception as e:
+                            logger.warning(f"枪头弹出命令失败: {e}")
+                    
+                    # 4. 等待一小段时间确保枪头完全脱离
+                    await asyncio.sleep(0.3)
+                    
+                    # 5. Z轴上升到安全高度
+                    logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
+                    z_up_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord,
+                        drop_x, drop_y, safe_z
+                    )
+                    if not z_up_success:
+                        logger.error("Z轴上升失败")
+                        return False
+                    
+                    # 6. 更新当前位置
+                    self.current_position = (drop_x, drop_y, safe_z)
+                    
+                except Exception as drop_error:
+                    logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
+                    # 尝试移动到安全位置
+                    if self.config.emergency_stop_enabled:
+                        await self.emergency_stop()
+                        await self.move_to_safe_position()
+                    return False
+                
+            else:
+                # 模拟模式
+                logger.info("模拟模式：执行枪头丢弃动作")
+                await asyncio.sleep(0.8)  # 模拟整个丢弃过程的时间
+                self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
+            
+            # 7. 标记枪头已脱离，清空体积
+            self.tip_attached = False
+            self.current_volume = 0.0
+            logger.info("吸头丢弃成功")
+            return True
+            
+        except Exception as e:
+            logger.error(f"丢弃吸头失败: {e}")
+            return False
+    
+    async def aspirate(self, volume: float, location: str) -> bool:
+        """吸取液体"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+            
+            if not self.tip_attached:
+                raise LaiYuLiquidError("没有吸头附着")
+            
+            if volume <= 0 or volume > self.config.max_volume:
+                raise LaiYuLiquidError(f"体积超出范围: {volume}")
+            
+            # 模拟吸取
+            await asyncio.sleep(0.3)
+            self.current_volume += volume
+            logger.debug(f"从 {location} 吸取 {volume} μL")
+            return True
+            
+        except Exception as e:
+            logger.error(f"吸取失败: {e}")
+            return False
+    
+    async def dispense(self, volume: float, location: str) -> bool:
+        """分配液体"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+            
+            if not self.tip_attached:
+                raise LaiYuLiquidError("没有吸头附着")
+            
+            if volume <= 0 or volume > self.current_volume:
+                raise LaiYuLiquidError(f"分配体积无效: {volume}")
+            
+            # 模拟分配
+            await asyncio.sleep(0.3)
+            self.current_volume -= volume
+            logger.debug(f"向 {location} 分配 {volume} μL")
+            return True
+            
+        except Exception as e:
+            logger.error(f"分配失败: {e}")
+            return False
+
+
+class LaiYuLiquid:
+    """LaiYu_Liquid 主要接口类"""
+    
+    def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
+        # 如果传入了关键字参数，创建配置对象
+        if kwargs and config is None:
+            # 从kwargs中提取配置参数
+            config_params = {}
+            for key, value in kwargs.items():
+                if hasattr(LaiYuLiquidConfig, key):
+                    config_params[key] = value
+            self.config = LaiYuLiquidConfig(**config_params)
+        else:
+            self.config = config or LaiYuLiquidConfig()
+        
+        # 先创建deck，然后传递给backend
+        self.deck = LaiYuLiquidDeck(self.config)
+        self.backend = LaiYuLiquidBackend(self.config, self.deck)
+        self.is_setup = False
+    
+    @property
+    def current_position(self) -> Tuple[float, float, float]:
+        """获取当前位置"""
+        return self.backend.current_position
+    
+    @property
+    def current_volume(self) -> float:
+        """获取当前体积"""
+        return self.backend.current_volume
+    
+    @property
+    def is_connected(self) -> bool:
+        """获取连接状态"""
+        return self.backend.is_connected
+    
+    @property
+    def is_initialized(self) -> bool:
+        """获取初始化状态"""
+        return self.backend.is_initialized
+    
+    @property
+    def tip_attached(self) -> bool:
+        """获取吸头附着状态"""
+        return self.backend.tip_attached
+        
+    async def setup(self) -> bool:
+        """设置液体处理器"""
+        try:
+            success = await self.backend.setup()
+            if success:
+                self.is_setup = True
+                logger.info("LaiYu_Liquid 设置完成")
+            return success
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 设置失败: {e}")
+            return False
+    
+    async def stop(self):
+        """停止液体处理器"""
+        await self.backend.stop()
+        self.is_setup = False
+    
+    async def transfer(self, source: str, target: str, volume: float, 
+                      tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
+        """液体转移"""
+        try:
+            if not self.is_setup:
+                raise LaiYuLiquidError("设备未设置")
+            
+            # 获取源和目标位置
+            source_pos = self.deck.get_position(source)
+            target_pos = self.deck.get_position(target)
+            tip_pos = self.deck.get_position(tip_rack)
+            
+            if not all([source_pos, target_pos, tip_pos]):
+                raise LaiYuLiquidError("位置信息不完整")
+            
+            # 执行转移步骤
+            steps = [
+                ("移动到吸头架", self.backend.move_to(*tip_pos)),
+                ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
+                ("移动到源位置", self.backend.move_to(*source_pos)),
+                ("吸取液体", self.backend.aspirate(volume, source)),
+                ("移动到目标位置", self.backend.move_to(*target_pos)),
+                ("分配液体", self.backend.dispense(volume, target)),
+                ("丢弃吸头", self.backend.drop_tip())
+            ]
+            
+            for step_name, step_coro in steps:
+                logger.debug(f"执行步骤: {step_name}")
+                success = await step_coro
+                if not success:
+                    raise LaiYuLiquidError(f"步骤失败: {step_name}")
+            
+            logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
+            return True
+            
+        except Exception as e:
+            logger.error(f"液体转移失败: {e}")
+            return False
+    
+    def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
+        """添加资源到工作台"""
+        if resource_type == "plate":
+            resource = Plate(name)
+        elif resource_type == "tip_rack":
+            resource = TipRack(name)
+        else:
+            resource = Resource(name)
+        
+        self.deck.add_resource(name, resource, position)
+    
+    def get_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return {
+            "connected": self.backend.is_connected,
+            "setup": self.is_setup,
+            "current_position": self.backend.current_position,
+            "tip_attached": self.backend.tip_attached,
+            "current_volume": self.backend.current_volume,
+            "resources": self.deck.list_resources()
+        }
+
+
+def create_quick_setup() -> LaiYuLiquidDeck:
+    """
+    创建快速设置的LaiYu液体处理工作站
+    
+    Returns:
+        LaiYuLiquidDeck: 配置好的工作台实例
+    """
+    # 创建默认配置
+    config = LaiYuLiquidConfig()
+    
+    # 创建工作台
+    deck = LaiYuLiquidDeck(config)
+    
+    # 导入资源创建函数
+    try:
+        from .laiyu_liquid_res import (
+            create_tip_rack_1000ul,
+            create_tip_rack_200ul,
+            create_96_well_plate,
+            create_waste_container
+        )
+        
+        # 添加基本资源
+        tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
+        tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
+        plate_96 = create_96_well_plate("plate_96")
+        waste = create_waste_container("waste")
+        
+        # 添加到工作台
+        deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
+        deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
+        deck.add_resource("plate_96", plate_96, (250, 50, 0))
+        deck.add_resource("waste", waste, (50, 150, 0))
+        
+    except ImportError:
+        # 如果资源模块不可用，创建空的工作台
+        logger.warning("资源模块不可用，创建空的工作台")
+    
+    return deck
+
+
+__all__ = [
+    "LaiYuLiquid",
+    "LaiYuLiquidBackend", 
+    "LaiYuLiquidConfig",
+    "LaiYuLiquidDeck",
+    "LaiYuLiquidContainer",
+    "LaiYuLiquidTipRack",
+    "LaiYuLiquidError",
+    "create_quick_setup",
+    "get_module_info"
+]
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
new file mode 100644
index 00000000..f6adcb13
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
@@ -0,0 +1,954 @@
+"""
+LaiYu_Liquid 资源定义模块
+
+该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
+- 各种规格的枪头架
+- 不同类型的板和容器
+- 特殊功能位置
+- 资源创建的便捷函数
+
+所有资源都基于 deck.json 中的配置参数创建。
+"""
+
+import json
+import os
+from typing import Dict, List, Optional, Tuple, Any
+from pathlib import Path
+
+# PyLabRobot 资源导入
+try:
+    from pylabrobot.resources import (
+        Resource, Deck, Plate, TipRack, Container, Tip,
+        Coordinate
+    )
+    from pylabrobot.resources.tip_rack import TipSpot
+    from pylabrobot.resources.well import Well as PlateWell
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    # 如果 PyLabRobot 不可用，创建模拟类
+    PYLABROBOT_AVAILABLE = False
+    
+    class Resource:
+        def __init__(self, name: str):
+            self.name = name
+    
+    class Deck(Resource):
+        pass
+    
+    class Plate(Resource):
+        pass
+    
+    class TipRack(Resource):
+        pass
+    
+    class Container(Resource):
+        pass
+    
+    class Tip(Resource):
+        pass
+    
+    class TipSpot(Resource):
+        def __init__(self, name: str, **kwargs):
+            super().__init__(name)
+            # 忽略其他参数
+    
+    class PlateWell(Resource):
+        pass
+    
+    class Coordinate:
+        def __init__(self, x: float, y: float, z: float):
+            self.x = x
+            self.y = y
+            self.z = z
+
+# 本地导入
+from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
+
+
+def load_deck_config() -> Dict[str, Any]:
+    """
+    加载工作台配置文件
+    
+    Returns:
+        Dict[str, Any]: 配置字典
+    """
+    # 优先使用最新的deckconfig.json文件
+    config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
+    
+    # 如果最新配置文件不存在，回退到旧配置文件
+    if not config_path.exists():
+        config_path = Path(__file__).parent / "config" / "deck.json"
+    
+    try:
+        with open(config_path, 'r', encoding='utf-8') as f:
+            return json.load(f)
+    except FileNotFoundError:
+        # 如果找不到配置文件，返回默认配置
+        return {
+            "name": "LaiYu_Liquid_Deck",
+            "size_x": 340.0,  
+            "size_y": 250.0,
+            "size_z": 160.0
+        }
+
+
+# 加载配置
+DECK_CONFIG = load_deck_config()
+
+
+class LaiYuTipRack1000(LaiYuLiquidTipRack):
+    """1000μL 枪头架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化1000μL枪头架
+        
+        Args:
+            name: 枪头架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=30.0,
+            tip_count=96,
+            tip_volume=1000.0
+        )
+        
+        # 创建枪头位置
+        self._create_tip_spots(
+            tip_count=96,
+            tip_spacing=9.0,
+            tip_type="1000ul"
+        )
+    
+    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
+        """
+        创建枪头位置 - 从配置文件中读取绝对坐标
+        
+        Args:
+            tip_count: 枪头数量
+            tip_spacing: 枪头间距
+            tip_type: 枪头类型
+        """
+        # 从配置文件中获取枪头架的孔位信息
+        config = DECK_CONFIG
+        tip_module = None
+        
+        # 查找枪头架模块
+        for module in config.get("children", []):
+            if module.get("type") == "tip_rack":
+                tip_module = module
+                break
+        
+        if not tip_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    spot_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * tip_spacing + tip_spacing / 2
+                    y = row * tip_spacing + tip_spacing / 2
+                    
+                    # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+                    if PYLABROBOT_AVAILABLE:
+                        # PyLabRobot的Tip需要特定参数
+                        tip = Tip(
+                            has_filter=False,
+                            total_tip_length=95.0,  # 1000ul枪头长度
+                            maximal_volume=1000.0,  # 最大体积
+                            fitting_depth=8.0       # 安装深度
+                        )
+                    else:
+                        # 模拟类只需要name
+                        tip = Tip(name=f"tip_{spot_name}")
+                    
+                    # 创建枪头位置
+                    if PYLABROBOT_AVAILABLE:
+                        # PyLabRobot的TipSpot需要特定参数
+                        tip_spot = TipSpot(
+                            name=spot_name,
+                            size_x=9.0,  # 枪头位置宽度
+                            size_y=9.0,  # 枪头位置深度
+                            size_z=95.0,  # 枪头位置高度
+                            make_tip=lambda: tip  # 创建枪头的函数
+                        )
+                    else:
+                        # 模拟类只需要name
+                        tip_spot = TipSpot(name=spot_name)
+                    
+                    # 将吸头位置分配到吸头架
+                    self.assign_child_resource(
+                        tip_spot,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in tip_module.get("wells", []):
+            spot_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+            if PYLABROBOT_AVAILABLE:
+                # PyLabRobot的Tip需要特定参数
+                tip = Tip(
+                    has_filter=False,
+                    total_tip_length=95.0,  # 1000ul枪头长度
+                    maximal_volume=1000.0,  # 最大体积
+                    fitting_depth=8.0       # 安装深度
+                )
+            else:
+                # 模拟类只需要name
+                tip = Tip(name=f"tip_{spot_name}")
+            
+            # 创建枪头位置
+            if PYLABROBOT_AVAILABLE:
+                # PyLabRobot的TipSpot需要特定参数
+                tip_spot = TipSpot(
+                    name=spot_name,
+                    size_x=well_config.get("diameter", 9.0),  # 使用配置中的直径
+                    size_y=well_config.get("diameter", 9.0),
+                    size_z=well_config.get("depth", 95.0),    # 使用配置中的深度
+                    make_tip=lambda: tip  # 创建枪头的函数
+                )
+            else:
+                # 模拟类只需要name
+                tip_spot = TipSpot(name=spot_name)
+            
+            # 将吸头位置分配到吸头架
+            self.assign_child_resource(
+                tip_spot,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+            
+            # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
+            # TipSpot的make_tip函数会在需要时创建Tip
+
+
+class LaiYuTipRack200(LaiYuLiquidTipRack):
+    """200μL 枪头架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化200μL枪头架
+        
+        Args:
+            name: 枪头架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=30.0,
+            tip_count=96,
+            tip_volume=200.0
+        )
+        
+        # 创建枪头位置
+        self._create_tip_spots(
+            tip_count=96,
+            tip_spacing=9.0,
+            tip_type="200ul"
+        )
+    
+    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
+        """
+        创建枪头位置
+        
+        Args:
+            tip_count: 枪头数量
+            tip_spacing: 枪头间距
+            tip_type: 枪头类型
+        """
+        rows = 8
+        cols = 12
+        
+        for row in range(rows):
+            for col in range(cols):
+                spot_name = f"{chr(65 + row)}{col + 1:02d}"
+                x = col * tip_spacing + tip_spacing / 2
+                y = row * tip_spacing + tip_spacing / 2
+                
+                # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+                if PYLABROBOT_AVAILABLE:
+                    # PyLabRobot的Tip需要特定参数
+                    tip = Tip(
+                        has_filter=False,
+                        total_tip_length=72.0,  # 200ul枪头长度
+                        maximal_volume=200.0,   # 最大体积
+                        fitting_depth=8.0       # 安装深度
+                    )
+                else:
+                    # 模拟类只需要name
+                    tip = Tip(name=f"tip_{spot_name}")
+                
+                # 创建枪头位置
+                if PYLABROBOT_AVAILABLE:
+                    # PyLabRobot的TipSpot需要特定参数
+                    tip_spot = TipSpot(
+                        name=spot_name,
+                        size_x=9.0,  # 枪头位置宽度
+                        size_y=9.0,  # 枪头位置深度
+                        size_z=72.0,  # 枪头位置高度
+                        make_tip=lambda: tip  # 创建枪头的函数
+                    )
+                else:
+                    # 模拟类只需要name
+                    tip_spot = TipSpot(name=spot_name)
+                
+                # 将吸头位置分配到吸头架
+                self.assign_child_resource(
+                    tip_spot,
+                    location=Coordinate(x, y, 0)
+                )
+                
+                # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
+                # TipSpot的make_tip函数会在需要时创建Tip
+
+
+class LaiYu96WellPlate(LaiYuLiquidContainer):
+    """96孔板"""
+    
+    def __init__(self, name: str, lid_height: float = 0.0):
+        """
+        初始化96孔板
+        
+        Args:
+            name: 板名称
+            lid_height: 盖子高度
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=14.22,
+            container_type="96_well_plate",
+            volume=0.0,
+            max_volume=200.0,
+            lid_height=lid_height
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=96,
+            well_volume=200.0,
+            well_spacing=9.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 10.0  # 96孔板孔位深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取96孔板的孔位信息
+        config = DECK_CONFIG
+        plate_module = None
+        
+        # 查找96孔板模块
+        for module in config.get("children", []):
+            if module.get("type") == "96_well_plate":
+                plate_module = module
+                break
+        
+        if not plate_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=well_spacing * 0.8,
+                        size_y=well_spacing * 0.8,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到板
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in plate_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
+                size_y=well_config.get("diameter", 8.2) * 0.8,
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到板
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuDeepWellPlate(LaiYuLiquidContainer):
+    """深孔板"""
+    
+    def __init__(self, name: str, lid_height: float = 0.0):
+        """
+        初始化深孔板
+        
+        Args:
+            name: 板名称
+            lid_height: 盖子高度
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=41.3,
+            container_type="deep_well_plate",
+            volume=0.0,
+            max_volume=2000.0,
+            lid_height=lid_height
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=96,
+            well_volume=2000.0,
+            well_spacing=9.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 35.0  # 深孔板孔位深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取深孔板的孔位信息
+        config = DECK_CONFIG
+        plate_module = None
+        
+        # 查找深孔板模块（通常是第二个96孔板模块）
+        plate_modules = []
+        for module in config.get("children", []):
+            if module.get("type") == "96_well_plate":
+                plate_modules.append(module)
+        
+        # 如果有多个96孔板模块，选择第二个作为深孔板
+        if len(plate_modules) > 1:
+            plate_module = plate_modules[1]
+        elif len(plate_modules) == 1:
+            plate_module = plate_modules[0]
+        
+        if not plate_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=well_spacing * 0.8,
+                        size_y=well_spacing * 0.8,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到板
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in plate_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
+                size_y=well_config.get("diameter", 8.2) * 0.8,
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到板
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuWasteContainer(Container):
+    """废液容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化废液容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0,
+            max_volume=5000.0
+        )
+
+
+class LaiYuWashContainer(Container):
+    """清洗容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化清洗容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0,
+            max_volume=5000.0
+        )
+
+
+class LaiYuReagentContainer(Container):
+    """试剂容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化试剂容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=50.0,
+            size_y=50.0,
+            size_z=100.0,
+            max_volume=2000.0
+        )
+
+
+class LaiYu8TubeRack(LaiYuLiquidContainer):
+    """8管试管架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化8管试管架
+        
+        Args:
+            name: 试管架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=151.0,
+            size_y=75.0,
+            size_z=75.0,
+            container_type="tube_rack",
+            volume=0.0,
+            max_volume=77000.0
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=8,
+            well_volume=77000.0,
+            well_spacing=35.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 117.0  # 试管深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取8管试管架的孔位信息
+        config = DECK_CONFIG
+        tube_module = None
+        
+        # 查找8管试管架模块
+        for module in config.get("children", []):
+            if module.get("type") == "tube_rack":
+                tube_module = module
+                break
+        
+        if not tube_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 2
+            cols = 4
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=29.0,
+                        size_y=29.0,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到试管架
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in tube_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 29.0),
+                size_y=well_config.get("diameter", 29.0),
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到试管架
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuTipDisposal(Resource):
+    """枪头废料位置"""
+    
+    def __init__(self, name: str):
+        """
+        初始化枪头废料位置
+        
+        Args:
+            name: 位置名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0
+        )
+
+
+class LaiYuMaintenancePosition(Resource):
+    """维护位置"""
+    
+    def __init__(self, name: str):
+        """
+        初始化维护位置
+        
+        Args:
+            name: 位置名称
+        """
+        super().__init__(
+            name=name,
+            size_x=50.0,
+            size_y=50.0,
+            size_z=100.0
+        )
+
+
+# 资源创建函数
+def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
+    """
+    创建1000μL枪头架
+    
+    Args:
+        name: 枪头架名称
+        
+    Returns:
+        LaiYuTipRack1000: 1000μL枪头架实例
+    """
+    return LaiYuTipRack1000(name)
+
+
+def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
+    """
+    创建200μL枪头架
+    
+    Args:
+        name: 枪头架名称
+        
+    Returns:
+        LaiYuTipRack200: 200μL枪头架实例
+    """
+    return LaiYuTipRack200(name)
+
+
+def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
+    """
+    创建96孔板
+    
+    Args:
+        name: 板名称
+        lid_height: 盖子高度
+        
+    Returns:
+        LaiYu96WellPlate: 96孔板实例
+    """
+    return LaiYu96WellPlate(name, lid_height)
+
+
+def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
+    """
+    创建深孔板
+    
+    Args:
+        name: 板名称
+        lid_height: 盖子高度
+        
+    Returns:
+        LaiYuDeepWellPlate: 深孔板实例
+    """
+    return LaiYuDeepWellPlate(name, lid_height)
+
+
+def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
+    """
+    创建8管试管架
+    
+    Args:
+        name: 试管架名称
+        
+    Returns:
+        LaiYu8TubeRack: 8管试管架实例
+    """
+    return LaiYu8TubeRack(name)
+
+
+def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
+    """
+    创建废液容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuWasteContainer: 废液容器实例
+    """
+    return LaiYuWasteContainer(name)
+
+
+def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
+    """
+    创建清洗容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuWashContainer: 清洗容器实例
+    """
+    return LaiYuWashContainer(name)
+
+
+def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
+    """
+    创建试剂容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuReagentContainer: 试剂容器实例
+    """
+    return LaiYuReagentContainer(name)
+
+
+def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
+    """
+    创建枪头废料位置
+    
+    Args:
+        name: 位置名称
+        
+    Returns:
+        LaiYuTipDisposal: 枪头废料位置实例
+    """
+    return LaiYuTipDisposal(name)
+
+
+def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
+    """
+    创建维护位置
+    
+    Args:
+        name: 位置名称
+        
+    Returns:
+        LaiYuMaintenancePosition: 维护位置实例
+    """
+    return LaiYuMaintenancePosition(name)
+
+
+def create_standard_deck() -> LaiYuLiquidDeck:
+    """
+    创建标准工作台配置
+    
+    Returns:
+        LaiYuLiquidDeck: 配置好的工作台实例
+    """
+    # 从配置文件创建工作台
+    deck = LaiYuLiquidDeck(config=DECK_CONFIG)
+    
+    return deck
+
+
+def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
+    """
+    根据名称获取资源
+    
+    Args:
+        deck: 工作台实例
+        name: 资源名称
+        
+    Returns:
+        Optional[Resource]: 找到的资源，如果不存在则返回None
+    """
+    for child in deck.children:
+        if child.name == name:
+            return child
+    return None
+
+
+def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
+    """
+    根据类型获取资源列表
+    
+    Args:
+        deck: 工作台实例
+        resource_type: 资源类型
+        
+    Returns:
+        List[Resource]: 匹配类型的资源列表
+    """
+    return [child for child in deck.children if isinstance(child, resource_type)]
+
+
+def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
+    """
+    列出所有资源
+    
+    Args:
+        deck: 工作台实例
+        
+    Returns:
+        Dict[str, List[str]]: 按类型分组的资源名称字典
+    """
+    resources = {
+        "tip_racks": [],
+        "plates": [],
+        "containers": [],
+        "positions": []
+    }
+    
+    for child in deck.children:
+        if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
+            resources["tip_racks"].append(child.name)
+        elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
+            resources["plates"].append(child.name)
+        elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
+            resources["containers"].append(child.name)
+        elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
+            resources["positions"].append(child.name)
+    
+    return resources
+
+
+# 导出的类别名（向后兼容）
+TipRack1000ul = LaiYuTipRack1000
+TipRack200ul = LaiYuTipRack200
+Plate96Well = LaiYu96WellPlate
+Plate96DeepWell = LaiYuDeepWellPlate
+TubeRack8 = LaiYu8TubeRack
+WasteContainer = LaiYuWasteContainer
+WashContainer = LaiYuWashContainer
+ReagentContainer = LaiYuReagentContainer
+TipDisposal = LaiYuTipDisposal
+MaintenancePosition = LaiYuMaintenancePosition
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md b/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
new file mode 100644
index 00000000..a0f2b632
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
@@ -0,0 +1,69 @@
+# 更新日志
+
+本文档记录了 LaiYu_Liquid 模块的所有重要变更。
+
+## [1.0.0] - 2024-01-XX
+
+### 新增功能
+- ✅ 完整的液体处理工作站集成
+- ✅ RS485 通信协议支持
+- ✅ SOPA 气动式移液器驱动
+- ✅ XYZ 三轴步进电机控制
+- ✅ PyLabRobot 兼容后端
+- ✅ 标准化资源管理系统
+- ✅ 96孔板、离心管架、枪头架支持
+- ✅ RViz 可视化后端
+- ✅ 完整的配置管理系统
+- ✅ 抽象协议实现
+- ✅ 生产级错误处理和日志记录
+
+### 技术特性
+- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
+- **通信协议**: RS485总线，波特率115200
+- **坐标系统**: 机械坐标与工作坐标自动转换
+- **安全机制**: 限位保护、紧急停止、错误恢复
+- **兼容性**: 完全兼容 PyLabRobot 框架
+
+### 文件结构
+```
+LaiYu_Liquid/
+├── core/
+│   └── LaiYu_Liquid.py      # 主模块文件
+├── __init__.py              # 模块初始化
+├── abstract_protocol.py    # 抽象协议
+├── laiyu_liquid_res.py     # 资源管理
+├── rviz_backend.py         # RViz后端
+├── backend/                # 后端驱动
+├── config/                 # 配置文件
+├── controllers/           # 控制器
+├── docs/                  # 技术文档
+└── drivers/               # 底层驱动
+```
+
+### 已知问题
+- 无
+
+### 依赖要求
+- Python 3.8+
+- PyLabRobot
+- pyserial
+- asyncio
+
+---
+
+## 版本说明
+
+### 版本号格式
+采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
+
+- **MAJOR**: 不兼容的API变更
+- **MINOR**: 向后兼容的功能新增
+- **PATCH**: 向后兼容的问题修复
+
+### 变更类型
+- **新增功能**: 新的功能特性
+- **变更**: 现有功能的变更
+- **弃用**: 即将移除的功能
+- **移除**: 已移除的功能
+- **修复**: 问题修复
+- **安全**: 安全相关的修复
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md
new file mode 100644
index 00000000..6db19eb1
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md
@@ -0,0 +1,267 @@
+# SOPA气动式移液器RS485控制指令合集
+
+## 1. RS485通信基本配置
+
+### 1.1 支持的设备型号
+- **仅SC-STxxx-00-13支持RS485通信**
+- 其他型号主要使用CAN通信
+
+### 1.2 通信参数
+- **波特率**: 9600, 115200（默认值）
+- **地址范围**: 1~254个设备，255为广播地址
+- **通信接口**: RS485差分信号
+
+### 1.3 引脚分配（10位LIF连接器）
+- **引脚7**: RS485+ (RS485通信正极)
+- **引脚8**: RS485- (RS485通信负极)
+
+## 2. RS485通信协议格式
+
+### 2.1 发送数据格式
+```
+头码 | 地址 | 命令/数据 | 尾码 | 校验和
+```
+
+### 2.2 从机回应格式
+```
+头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
+```
+
+### 2.3 格式详细说明
+- **头码**: 
+  - 终端调试: '/' (0x2F)
+  - OEM通信: '[' (0x5B) 
+- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
+- **命令/数据**: ASCII格式的命令字符串
+- **尾码**: 'E' (0x45)
+- **校验和**: 以上数据的累加值，1字节
+
+## 3. 初始化和基本控制指令
+
+### 3.1 初始化指令
+```bash
+# 初始化活塞驱动机构
+HE
+
+# 示例（OEM通信）：
+# 主机发送: 5B 32 48 45 1A
+# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
+# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
+```
+
+### 3.2 枪头操作指令
+```bash
+# 顶出枪头
+RE
+
+# 枪头检测状态报告
+Q28  # 返回枪头存在状态（0=不存在，1=存在）
+```
+
+## 4. 移液控制指令
+
+### 4.1 位置控制指令
+```bash
+# 绝对位置移动（微升）
+A[n]E
+# 示例：移动到位置0
+A0E
+
+# 相对抽吸（向上移动）
+P[n]E
+# 示例：抽吸200微升
+P200E
+
+# 相对分配（向下移动）  
+D[n]E
+# 示例：分配200微升
+D200E
+```
+
+### 4.2 速度设置指令
+```bash
+# 设置最高速度（0.1ul/秒为单位）
+s[n]E
+# 示例：设置最高速度为2000（200ul/秒）
+s2000E
+
+# 设置启动速度
+b[n]E
+# 示例：设置启动速度为100（10ul/秒）
+b100E
+
+# 设置断流速度
+c[n]E
+# 示例：设置断流速度为100（10ul/秒）
+c100E
+
+# 设置加速度
+a[n]E
+# 示例：设置加速度为30000
+a30000E
+```
+
+## 5. 液体检测和安全控制指令
+
+### 5.1 吸排液检测控制
+```bash
+# 开启吸排液检测
+f1E  # 开启
+f0E  # 关闭
+
+# 设置空吸门限
+$[n]E
+# 示例：设置空吸门限为4
+$4E
+
+# 设置泡沫门限
+![n]E
+# 示例：设置泡沫门限为20
+!20E
+
+# 设置堵塞门限
+%[n]E
+# 示例：设置堵塞门限为350
+%350E
+```
+
+### 5.2 液位检测指令
+```bash
+# 压力式液位检测
+m0E  # 设置为压力探测模式
+L[n]E  # 执行液位检测，[n]为灵敏度(3~40)
+k[n]E  # 设置检测速度(100~2000)
+
+# 电容式液位检测  
+m1E  # 设置为电容探测模式
+```
+
+## 6. 状态查询和报告指令
+
+### 6.1 基本状态查询
+```bash
+# 查询固件版本
+V
+
+# 查询设备状态
+Q[n]
+# 常用查询参数：
+Q01  # 报告加速度
+Q02  # 报告启动速度  
+Q03  # 报告断流速度
+Q06  # 报告最大速度
+Q08  # 报告节点地址
+Q11  # 报告波特率
+Q18  # 报告当前位置
+Q28  # 报告枪头存在状态
+Q29  # 报告校准系数
+Q30  # 报告空吸门限
+Q31  # 报告堵针门限
+Q32  # 报告泡沫门限
+```
+
+## 7. 配置和校准指令
+
+### 7.1 校准参数设置
+```bash
+# 设置校准系数
+j[n]E
+# 示例：设置校准系数为1.04
+j1.04E
+
+# 设置补偿偏差
+e[n]E  
+# 示例：设置补偿偏差为2.03
+e2.03E
+
+# 设置吸头容量
+C[n]E
+# 示例：设置1000ul吸头
+C1000E
+```
+
+### 7.2 高级控制参数
+```bash
+# 设置回吸粘度
+][n]E
+# 示例：设置回吸粘度为30
+]30E
+
+# 延时控制
+M[n]E
+# 示例：延时1000毫秒
+M1000E
+```
+
+## 8. 复合操作指令示例
+
+### 8.1 标准移液操作
+```bash
+# 完整的200ul移液操作
+a30000b200c200s2000P200E
+# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
+```
+
+### 8.2 带检测的移液操作
+```bash
+# 带空吸检测的200ul抽吸
+a30000b200c200s2000f1P200f0E
+# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
+```
+
+### 8.3 液面检测操作
+```bash
+# 压力式液面检测
+m0k200L5E
+# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
+
+# 电容式液面检测  
+m1L3E
+# 解析：电容模式 + 灵敏度3 + 执行检测
+```
+
+## 9. 错误处理
+
+### 9.1 状态字节说明
+- **00h**: 无错误
+- **01h**: 上次动作未完成
+- **02h**: 设备未初始化  
+- **03h**: 设备过载
+- **04h**: 无效指令
+- **05h**: 液位探测故障
+- **0Dh**: 空吸
+- **0Eh**: 堵针
+- **10h**: 泡沫
+- **11h**: 吸液超过吸头容量
+
+### 9.2 错误查询
+```bash
+# 查询当前错误状态
+Q  # 返回状态字节和错误代码
+```
+
+## 10. 通信示例
+
+### 10.1 基本通信流程
+1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
+2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
+
+### 10.2 快速指令表
+| 操作 | 指令 | 说明 |
+|------|------|------|
+| 初始化 | `HE` | 初始化设备 |
+| 退枪头 | `RE` | 顶出枪头 |
+| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
+| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
+| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
+| 压力液面检测 | `m0k200L5E` | pLLD检测 |
+| 电容液面检测 | `m1L3E` | cLLD检测 |
+
+## 11. 注意事项
+
+1. **地址限制**: RS485地址不可设为47、69、91
+2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
+3. **ASCII格式**: 所有命令和参数都使用ASCII字符
+4. **执行指令**: 大部分命令需要以'E'结尾才能执行
+5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
+6. **波特率设置**: 默认115200，可设置为9600
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
new file mode 100644
index 00000000..e7013484
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
@@ -0,0 +1,162 @@
+# 步进电机B系列控制指令详解
+
+## 基本通信参数
+- **通信方式**: RS485
+- **协议**: Modbus
+- **波特率**: 115200 (默认)
+- **数据位**: 8位
+- **停止位**: 1位
+- **校验位**: 无
+- **默认站号**: 1 (可设置1-254)
+
+## 支持的功能码
+- **03H**: 读取寄存器
+- **06H**: 写入单个寄存器  
+- **10H**: 写入多个寄存器
+
+## 寄存器地址表
+
+### 状态监控寄存器 (只读)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
+| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
+| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
+| 03H | 03H | 实际速度 | 当前转速 (rpm) |
+| 05H | 03H | 电流 | 当前工作电流 (mA) |
+
+### 控制寄存器 (读写)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
+| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
+| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
+| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
+| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
+
+### 位置模式寄存器
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
+| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
+| 12H | 03H/06H/10H | 保留 | - |
+| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
+| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
+| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
+
+### 速度模式寄存器
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 60H | 03H/06H/10H | 保留 | - |
+| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
+| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
+
+### 设备参数寄存器
+| 地址 | 功能码 | 内容 | 默认值 | 说明 |
+|------|--------|------|--------|------|
+| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
+| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
+| E2H | 03H/06H/10H | 保留 | 0258H | - |
+| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
+| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
+| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
+| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
+| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
+| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
+| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
+| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
+| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
+
+### 版本信息寄存器 (只读)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| F0H | 03H | 版本号 | 固件版本信息 |
+| F1H-F4H | 03H | 型号 | 产品型号信息 |
+
+## 常用控制指令示例
+
+### 读取电机状态
+```
+发送: 01 03 00 00 00 01 84 0A
+接收: 01 03 02 00 01 79 84
+说明: 电机状态为0001H (正在运行)
+```
+
+### 读取当前位置
+```
+发送: 01 03 00 01 00 02 95 CB  
+接收: 01 03 04 00 19 00 00 2B F4
+说明: 当前位置为1638400步 (100圈)
+```
+
+### 停止电机
+```
+发送: 01 10 00 04 00 01 02 00 00 A7 D4
+接收: 01 10 00 04 00 01 40 08
+说明: 急停指令
+```
+
+### 位置模式运动
+```
+发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
+接收: 01 10 00 10 00 06 41 CE
+说明: 以5000rpm速度运动到1638400步位置
+```
+
+### 速度模式 - 正转
+```
+发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
+接收: 01 10 00 60 00 04 C1 D4
+说明: 以5000rpm速度正转
+```
+
+### 速度模式 - 反转
+```
+发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
+接收: 01 10 00 60 00 04 C1 D4
+说明: 以5000rpm速度反转 (EC78H = -5000)
+```
+
+### 设置设备地址
+```
+发送: 00 06 00 E0 00 02 C9 F1
+接收: 00 06 00 E0 00 02 C9 F1
+说明: 将设备地址设置为2
+```
+
+## 错误码
+| 状态码 | 含义 |
+|--------|------|
+| 0001H | 功能码错误 |
+| 0002H | 地址错误 |
+| 0003H | 长度错误 |
+
+## CRC校验算法
+```c
+public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
+    int wCrc = 0x0000FFFF;
+    byte[] CRC = new byte[2];
+    for (int i = 0; i < cnt; i++) {
+        wCrc ^= ((data[i + offset]) & 0xFF);
+        for (int j = 0; j < 8; j++) {
+            if ((wCrc & 0x00000001) == 1) {
+                wCrc >>= 1;
+                wCrc ^= 0x0000A001;
+            } else {
+                wCrc >>= 1;
+            }
+        }
+    }
+    CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
+    CRC[0] = (byte) (wCrc & 0x000000FF);
+    return CRC;
+}
+```
+
+## 注意事项
+1. 所有16位数据采用大端序传输
+2. 步数计算: 实际步数 = 高位<<16 | 低位
+3. 负数使用补码表示
+4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
+5. 光电开关需使用NPN开漏型
+6. 限位开关: LF正向, LB反向
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md b/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
new file mode 100644
index 00000000..64529097
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
@@ -0,0 +1,1281 @@
+# LaiYu液体处理设备硬件连接配置指南
+
+## 📋 文档概述
+
+本指南提供LaiYu液体处理设备的完整硬件连接配置方案，包括快速入门、详细配置、连接验证和故障排除。适用于设备初次安装、配置变更和问题诊断。
+
+---
+
+## 🚀 快速入门指南
+
+### 基本配置步骤
+
+1. **确认硬件连接**
+   - 将RS485转USB设备连接到计算机
+   - 确保XYZ控制器和移液器通过RS485总线连接
+   - 检查设备供电状态
+
+2. **获取串口信息**
+   ```bash
+   # macOS/Linux
+   ls /dev/cu.* | grep usbserial
+   
+   # 常见输出: /dev/cu.usbserial-3130
+   ```
+
+3. **基本配置参数**
+   ```python
+   # 推荐的默认配置
+   config = LaiYuLiquidConfig(
+       port="/dev/cu.usbserial-3130",  # 🔧 替换为实际串口号
+       address=4,                       # 移液器地址（固定）
+       baudrate=115200,                 # 推荐波特率
+       timeout=5.0                      # 通信超时
+   )
+   ```
+
+4. **快速连接测试**
+   ```python
+   device = LaiYuLiquid(config)
+   success = await device.setup()
+   print(f"连接状态: {'成功' if success else '失败'}")
+   ```
+
+---
+
+## 🏗️ 硬件架构详解
+
+### 系统组成
+
+LaiYu液体处理设备采用RS485总线架构，包含以下核心组件：
+
+| 组件 | 通信协议 | 设备地址 | 默认波特率 | 功能描述 |
+|------|----------|----------|------------|----------|
+| **XYZ三轴控制器** | RS485 (Modbus) | X轴=1, Y轴=2, Z轴=3 | 115200 | 三维运动控制 |
+| **SOPA移液器** | RS485 | 4 (推荐) | 115200 | 液体吸取分配 |
+| **RS485转USB** | USB/串口 | - | 115200 | 通信接口转换 |
+
+### 地址分配策略
+
+```
+RS485总线地址分配:
+├── 地址 1: X轴步进电机 (自动分配)
+├── 地址 2: Y轴步进电机 (自动分配)  
+├── 地址 3: Z轴步进电机 (自动分配)
+├── 地址 4: SOPA移液器 (推荐配置)
+└── 禁用地址: 47('/'), 69('E'), 91('[')
+```
+
+### 通信参数规范
+
+| 参数 | XYZ控制器 | SOPA移液器 | 说明 |
+|------|-----------|------------|------|
+| **数据位** | 8 | 8 | 固定值 |
+| **停止位** | 1 | 1 | 固定值 |
+| **校验位** | 无 | 无 | 固定值 |
+| **流控制** | 无 | 无 | 固定值 |
+
+---
+
+## ⚙️ 配置参数详解
+
+### 1. 核心配置类
+
+#### LaiYuLiquidConfig 参数说明
+
+```python
+@dataclass
+class LaiYuLiquidConfig:
+    # === 通信参数 ===
+    port: str = "/dev/cu.usbserial-3130"    # 串口设备路径
+    address: int = 4                         # 移液器地址（推荐值）
+    baudrate: int = 115200                   # 通信波特率（推荐值）
+    timeout: float = 5.0                     # 通信超时时间（秒）
+    
+    # === 工作台物理尺寸 ===
+    deck_width: float = 340.0                # 工作台宽度 (mm)
+    deck_height: float = 250.0               # 工作台高度 (mm) 
+    deck_depth: float = 160.0                # 工作台深度 (mm)
+    
+    # === 运动控制参数 ===
+    max_speed: float = 100.0                 # 最大移动速度 (mm/s)
+    acceleration: float = 50.0               # 加速度 (mm/s²)
+    safe_height: float = 50.0                # 安全移动高度 (mm)
+    
+    # === 移液参数 ===
+    max_volume: float = 1000.0               # 最大移液体积 (μL)
+    min_volume: float = 0.1                  # 最小移液体积 (μL)
+    liquid_detection: bool = True            # 启用液面检测
+    
+    # === 枪头操作参数 ===
+    tip_pickup_speed: int = 30               # 取枪头速度 (rpm)
+    tip_pickup_acceleration: int = 500       # 取枪头加速度 (rpm/s)
+    tip_pickup_depth: float = 10.0           # 枪头插入深度 (mm)
+    tip_drop_height: float = 10.0            # 丢弃枪头高度 (mm)
+```
+
+### 2. 配置文件位置
+
+#### A. 代码配置（推荐）
+```python
+# 在Python代码中直接配置
+from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig
+
+config = LaiYuLiquidConfig(
+    port="/dev/cu.usbserial-3130",  # 🔧 修改为实际串口
+    address=4,                       # 🔧 移液器地址
+    baudrate=115200,                 # 🔧 通信波特率
+    timeout=5.0                      # 🔧 超时时间
+)
+```
+
+#### B. JSON配置文件
+```json
+{
+    "laiyu_liquid_config": {
+        "port": "/dev/cu.usbserial-3130",
+        "address": 4,
+        "baudrate": 115200,
+        "timeout": 5.0,
+        "deck_width": 340.0,
+        "deck_height": 250.0,
+        "deck_depth": 160.0,
+        "max_speed": 100.0,
+        "acceleration": 50.0,
+        "safe_height": 50.0
+    }
+}
+```
+
+#### C. 实验协议配置
+```json
+// test/experiments/laiyu_liquid.json
+{
+    "device_config": {
+        "type": "laiyu_liquid",
+        "config": {
+            "port": "/dev/cu.usbserial-3130",
+            "address": 4,
+            "baudrate": 115200
+        }
+    }
+}
+```
+
+### 2. 串口设备识别
+
+#### 自动识别方法（推荐）
+
+```python
+import serial.tools.list_ports
+
+def find_laiyu_device():
+    """自动查找LaiYu设备串口"""
+    ports = serial.tools.list_ports.comports()
+    
+    for port in ports:
+        # 根据设备描述或VID/PID识别
+        if 'usbserial' in port.device.lower():
+            print(f"找到可能的设备: {port.device}")
+            print(f"描述: {port.description}")
+            print(f"硬件ID: {port.hwid}")
+            return port.device
+    
+    return None
+
+# 使用示例
+device_port = find_laiyu_device()
+if device_port:
+    print(f"检测到设备端口: {device_port}")
+else:
+    print("未检测到设备")
+```
+
+#### 手动识别方法
+
+| 操作系统 | 命令 | 设备路径格式 |
+|---------|------|-------------|
+| **macOS** | `ls /dev/cu.*` | `/dev/cu.usbserial-XXXX` |
+| **Linux** | `ls /dev/ttyUSB*` | `/dev/ttyUSB0` |
+| **Windows** | 设备管理器 | `COM3`, `COM4` 等 |
+
+#### macOS 详细识别
+```bash
+# 1. 列出所有USB串口设备
+ls /dev/cu.usbserial-*
+
+# 2. 查看USB设备详细信息
+system_profiler SPUSBDataType | grep -A 10 "Serial"
+
+# 3. 实时监控设备插拔
+ls /dev/cu.* && echo "--- 请插入设备 ---" && sleep 3 && ls /dev/cu.*
+```
+
+#### Linux 详细识别
+```bash
+# 1. 列出串口设备
+ls /dev/ttyUSB* /dev/ttyACM*
+
+# 2. 查看设备信息
+dmesg | grep -i "usb.*serial"
+lsusb | grep -i "serial\|converter"
+
+# 3. 查看设备属性
+udevadm info --name=/dev/ttyUSB0 --attribute-walk
+```
+
+#### Windows 详细识别
+```powershell
+# PowerShell命令
+Get-WmiObject -Class Win32_SerialPort | Select-Object Name, DeviceID, Description
+
+# 或在设备管理器中查看"端口(COM和LPT)"
+```
+
+### 3. 控制器特定配置
+
+#### XYZ步进电机控制器
+- **地址范围**: 1-3 (X轴=1, Y轴=2, Z轴=3)
+- **通信协议**: Modbus RTU
+- **波特率**: 9600 或 115200
+- **数据位**: 8
+- **停止位**: 1
+- **校验位**: None
+
+#### XYZ控制器配置 (`controllers/xyz_controller.py`)
+
+XYZ控制器负责三轴运动控制，提供精确的位置控制和运动规划功能。
+
+**主要功能：**
+- 三轴独立控制（X、Y、Z轴）
+- 位置精度控制
+- 运动速度调节
+- 安全限位检测
+
+**配置参数：**
+```python
+xyz_config = {
+    "port": "/dev/ttyUSB0",           # 串口设备
+    "baudrate": 115200,               # 波特率
+    "timeout": 1.0,                   # 通信超时
+    "max_speed": {                    # 最大速度限制
+        "x": 1000,                    # X轴最大速度
+        "y": 1000,                    # Y轴最大速度  
+        "z": 500                      # Z轴最大速度
+    },
+    "acceleration": 500,              # 加速度
+    "home_position": [0, 0, 0]        # 原点位置
+}
+```
+
+```python
+def __init__(self, port: str, baudrate: int = 115200, 
+             machine_config: Optional[MachineConfig] = None,
+             config_file: str = "machine_config.json",
+             auto_connect: bool = True):
+    """
+    Args:
+        port: 串口端口 (如: "/dev/cu.usbserial-3130")
+        baudrate: 波特率 (默认: 115200)
+        machine_config: 机械配置参数
+        config_file: 配置文件路径
+        auto_connect: 是否自动连接
+    """
+```
+
+#### SOPA移液器
+- **地址**: 通常为 4 或更高
+- **通信协议**: 自定义协议
+- **波特率**: 115200 (推荐)
+- **响应时间**: < 100ms
+
+#### 移液器控制器配置 (`controllers/pipette_controller.py`)
+
+移液器控制器负责精确的液体吸取和分配操作，支持多种移液模式和参数配置。
+
+**主要功能：**
+- 精确体积控制
+- 液面检测
+- 枪头管理
+- 速度调节
+
+**配置参数：**
+```python
+@dataclass
+class SOPAConfig:
+    # 通信参数
+    port: str = "/dev/ttyUSB0"              # 🔧 修改串口号
+    baudrate: int = 115200                  # 🔧 修改波特率
+    address: int = 1                        # 🔧 修改设备地址 (1-254)
+    timeout: float = 5.0                    # 🔧 修改超时时间
+    comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG
+```
+
+## 🔍 连接验证与测试
+
+### 1. 编程方式验证连接
+
+#### 创建测试脚本
+```python
+#!/usr/bin/env python3
+"""
+LaiYu液体处理设备连接测试脚本
+"""
+
+import sys
+import os
+sys.path.append('/Users/dp/Documents/DPT/HuaiRou/Uni-Lab-OS')
+
+from unilabos.devices.laiyu_liquid.core.LaiYu_Liquid import (
+    LaiYuLiquid, LaiYuLiquidConfig
+)
+
+def test_connection():
+    """测试设备连接"""
+    
+    # 🔧 修改这里的配置参数
+    config = LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3130",  # 修改为你的串口号
+        address=1,                       # 修改为你的设备地址
+        baudrate=9600,                   # 修改为你的波特率
+        timeout=5.0
+    )
+    
+    print("🔌 正在测试LaiYu液体处理设备连接...")
+    print(f"串口: {config.port}")
+    print(f"波特率: {config.baudrate}")
+    print(f"设备地址: {config.address}")
+    print("-" * 50)
+    
+    try:
+        # 创建设备实例
+        device = LaiYuLiquid(config)
+        
+        # 尝试连接和初始化
+        print("📡 正在连接设备...")
+        success = await device.setup()
+        
+        if success:
+            print("✅ 设备连接成功!")
+            print(f"连接状态: {device.is_connected}")
+            print(f"初始化状态: {device.is_initialized}")
+            print(f"当前位置: {device.current_position}")
+            
+            # 获取设备状态
+            status = device.get_status()
+            print("\n📊 设备状态:")
+            for key, value in status.items():
+                print(f"  {key}: {value}")
+                
+        else:
+            print("❌ 设备连接失败!")
+            print("请检查:")
+            print("  1. 串口号是否正确")
+            print("  2. 设备是否已连接并通电")
+            print("  3. 波特率和设备地址是否匹配")
+            print("  4. 串口是否被其他程序占用")
+            
+    except Exception as e:
+        print(f"❌ 连接测试出错: {e}")
+        print("\n🔧 故障排除建议:")
+        print("  1. 检查串口设备是否存在:")
+        print("     macOS: ls /dev/cu.*")
+        print("     Linux: ls /dev/ttyUSB* /dev/ttyACM*")
+        print("  2. 检查设备权限:")
+        print("     sudo chmod 666 /dev/cu.usbserial-*")
+        print("  3. 检查设备是否被占用:")
+        print("     lsof | grep /dev/cu.usbserial")
+        
+    finally:
+        # 清理连接
+        if 'device' in locals():
+            await device.stop()
+
+if __name__ == "__main__":
+    import asyncio
+    asyncio.run(test_connection())
+```
+
+### 2. 命令行验证工具
+
+#### 串口通信测试
+```bash
+# 安装串口调试工具
+pip install pyserial
+
+# 使用Python测试串口
+python -c "
+import serial
+try:
+    ser = serial.Serial('/dev/cu.usbserial-3130', 9600, timeout=1)
+    print('串口连接成功:', ser.is_open)
+    ser.close()
+except Exception as e:
+    print('串口连接失败:', e)
+"
+```
+
+#### 设备权限检查
+```bash
+# macOS/Linux 检查串口权限
+ls -la /dev/cu.usbserial-*
+
+# 如果权限不足，修改权限
+sudo chmod 666 /dev/cu.usbserial-*
+
+# 检查串口是否被占用
+lsof | grep /dev/cu.usbserial
+```
+
+### 3. 连接状态指示器
+
+设备提供多种方式检查连接状态：
+
+#### A. 属性检查
+```python
+device = LaiYuLiquid(config)
+
+# 检查连接状态
+print(f"设备已连接: {device.is_connected}")
+print(f"设备已初始化: {device.is_initialized}")
+print(f"枪头已安装: {device.tip_attached}")
+print(f"当前位置: {device.current_position}")
+print(f"当前体积: {device.current_volume}")
+```
+
+#### B. 状态字典
+```python
+status = device.get_status()
+print("完整设备状态:", status)
+
+# 输出示例:
+# {
+#     'connected': True,
+#     'initialized': True, 
+#     'position': (0.0, 0.0, 50.0),
+#     'tip_attached': False,
+#     'current_volume': 0.0,
+#     'last_error': None
+# }
+```
+
+## 🛠️ 故障排除指南
+
+### 1. 连接问题诊断
+
+#### 🔍 问题诊断流程
+```python
+def diagnose_connection_issues():
+    """连接问题诊断工具"""
+    import serial.tools.list_ports
+    import serial
+    
+    print("🔍 开始连接问题诊断...")
+    
+    # 1. 检查串口设备
+    ports = list(serial.tools.list_ports.comports())
+    if not ports:
+        print("❌ 未检测到任何串口设备")
+        print("💡 解决方案:")
+        print("   - 检查USB连接线")
+        print("   - 确认设备电源")
+        print("   - 安装设备驱动")
+        return
+    
+    print(f"✅ 检测到 {len(ports)} 个串口设备")
+    for port in ports:
+        print(f"   📍 {port.device}: {port.description}")
+    
+    # 2. 测试串口访问权限
+    for port in ports:
+        try:
+            with serial.Serial(port.device, 9600, timeout=1):
+                print(f"✅ {port.device}: 访问权限正常")
+        except PermissionError:
+            print(f"❌ {port.device}: 权限不足")
+            print("💡 解决方案: sudo chmod 666 " + port.device)
+        except Exception as e:
+            print(f"⚠️ {port.device}: {e}")
+
+# 运行诊断
+diagnose_connection_issues()
+```
+
+#### 🚫 常见连接错误
+
+| 错误类型 | 症状 | 解决方案 |
+|---------|------|----------|
+| **设备未找到** | `FileNotFoundError: No such file or directory` | 1. 检查USB连接<br>2. 确认设备驱动<br>3. 重新插拔设备 |
+| **权限不足** | `PermissionError: Permission denied` | 1. `sudo chmod 666 /dev/ttyUSB0`<br>2. 添加用户到dialout组<br>3. 使用sudo运行 |
+| **设备占用** | `SerialException: Device or resource busy` | 1. 关闭其他程序<br>2. `lsof /dev/ttyUSB0`查找占用<br>3. 重启系统 |
+| **驱动问题** | 设备管理器显示未知设备 | 1. 安装CH340/CP210x驱动<br>2. 更新系统驱动<br>3. 使用原装USB线 |
+
+### 2. 通信问题解决
+
+#### 📡 通信参数调试
+```python
+def test_communication_parameters():
+    """测试不同通信参数"""
+    import serial
+    
+    port = "/dev/cu.usbserial-3130"  # 修改为实际端口
+    baudrates = [9600, 19200, 38400, 57600, 115200]
+    
+    for baudrate in baudrates:
+        print(f"🔄 测试波特率: {baudrate}")
+        try:
+            with serial.Serial(port, baudrate, timeout=2) as ser:
+                # 发送测试命令
+                test_cmd = b'\x01\x03\x00\x00\x00\x01\x84\x0A'
+                ser.write(test_cmd)
+                
+                response = ser.read(100)
+                if response:
+                    print(f"   ✅ 成功: 收到 {len(response)} 字节")
+                    print(f"   📦 数据: {response.hex()}")
+                    return baudrate
+                else:
+                    print(f"   ❌ 无响应")
+        except Exception as e:
+            print(f"   ❌ 错误: {e}")
+    
+    return None
+```
+
+#### ⚡ 通信故障排除
+
+| 问题类型 | 症状 | 诊断方法 | 解决方案 |
+|---------|------|----------|----------|
+| **通信超时** | `TimeoutError` | 检查波特率和设备地址 | 1. 调整超时时间<br>2. 验证波特率<br>3. 检查设备地址 |
+| **数据校验错误** | `CRCError` | 检查数据完整性 | 1. 更换USB线<br>2. 降低波特率<br>3. 检查电磁干扰 |
+| **协议错误** | 响应格式异常 | 验证命令格式 | 1. 检查协议版本<br>2. 确认设备类型<br>3. 更新固件 |
+| **间歇性故障** | 时好时坏 | 监控连接稳定性 | 1. 检查连接线<br>2. 稳定电源<br>3. 减少干扰源 |
+
+### 3. 设备功能问题
+
+#### 🎯 设备状态检查
+```python
+def check_device_health():
+    """设备健康状态检查"""
+    from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend
+    
+    config = LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3130",
+        address=4,
+        baudrate=115200,
+        timeout=5.0
+    )
+    
+    try:
+        backend = LaiYuLiquidBackend(config)
+        backend.connect()
+        
+        # 检查项目
+        checks = {
+            "设备连接": lambda: backend.is_connected(),
+            "XYZ轴状态": lambda: backend.xyz_controller.get_all_positions(),
+            "移液器状态": lambda: backend.pipette_controller.get_status(),
+            "设备温度": lambda: backend.get_temperature(),
+            "错误状态": lambda: backend.get_error_status(),
+        }
+        
+        print("🏥 设备健康检查报告")
+        print("=" * 40)
+        
+        for check_name, check_func in checks.items():
+            try:
+                result = check_func()
+                print(f"✅ {check_name}: 正常")
+                if result:
+                    print(f"   📊 数据: {result}")
+            except Exception as e:
+                print(f"❌ {check_name}: 异常 - {e}")
+        
+        backend.disconnect()
+        
+    except Exception as e:
+        print(f"❌ 无法连接设备: {e}")
+```
+
+### 4. 高级故障排除
+
+#### 🔧 日志分析工具
+```python
+import logging
+
+def setup_debug_logging():
+    """设置调试日志"""
+    logging.basicConfig(
+        level=logging.DEBUG,
+        format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+        handlers=[
+            logging.FileHandler('laiyu_debug.log'),
+            logging.StreamHandler()
+        ]
+    )
+    
+    # 启用串口通信日志
+    serial_logger = logging.getLogger('serial')
+    serial_logger.setLevel(logging.DEBUG)
+    
+    print("🔍 调试日志已启用，日志文件: laiyu_debug.log")
+```
+
+#### 📊 性能监控
+```python
+def monitor_performance():
+    """性能监控工具"""
+    import time
+    import psutil
+    
+    print("📊 开始性能监控...")
+    
+    start_time = time.time()
+    start_cpu = psutil.cpu_percent()
+    start_memory = psutil.virtual_memory().percent
+    
+    # 执行设备操作
+    # ... 你的设备操作代码 ...
+    
+    end_time = time.time()
+    end_cpu = psutil.cpu_percent()
+    end_memory = psutil.virtual_memory().percent
+    
+    print(f"⏱️ 执行时间: {end_time - start_time:.2f} 秒")
+    print(f"💻 CPU使用: {end_cpu - start_cpu:.1f}%")
+    print(f"🧠 内存使用: {end_memory - start_memory:.1f}%")
+```
+
+## 📝 配置文件模板
+
+### 1. 基础配置模板
+
+#### 标准配置（推荐）
+```python
+from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend, LaiYuLiquid
+
+# 创建标准配置
+config = LaiYuLiquidConfig(
+    # === 通信参数 ===
+    port="/dev/cu.usbserial-3130",    # 🔧 修改为实际串口
+    address=4,                         # 移液器地址（推荐）
+    baudrate=115200,                   # 通信波特率（推荐）
+    timeout=5.0,                       # 通信超时时间
+    
+    # === 工作台尺寸 ===
+    deck_width=340.0,                  # 工作台宽度 (mm)
+    deck_height=250.0,                 # 工作台高度 (mm)
+    deck_depth=160.0,                  # 工作台深度 (mm)
+    
+    # === 运动控制参数 ===
+    max_speed=100.0,                   # 最大移动速度 (mm/s)
+    acceleration=50.0,                 # 加速度 (mm/s²)
+    safe_height=50.0,                  # 安全移动高度 (mm)
+    
+    # === 移液参数 ===
+    max_volume=1000.0,                 # 最大移液体积 (μL)
+    min_volume=0.1,                    # 最小移液体积 (μL)
+    liquid_detection=True,             # 启用液面检测
+    
+    # === 枪头操作参数 ===
+    tip_pickup_speed=30,               # 取枪头速度 (rpm)
+    tip_pickup_acceleration=500,       # 取枪头加速度 (rpm/s)
+    tip_pickup_depth=10.0,             # 枪头插入深度 (mm)
+    tip_drop_height=10.0,              # 丢弃枪头高度 (mm)
+)
+
+# 创建设备实例
+backend = LaiYuLiquidBackend(config)
+device = LaiYuLiquid(backend)
+```
+
+### 2. 高级配置模板
+
+#### 多设备配置
+```python
+# 配置多个LaiYu设备
+configs = {
+    "device_1": LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3130",
+        address=4,
+        baudrate=115200,
+        deck_width=340.0,
+        deck_height=250.0,
+        deck_depth=160.0
+    ),
+    "device_2": LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3131",
+        address=4,
+        baudrate=115200,
+        deck_width=340.0,
+        deck_height=250.0,
+        deck_depth=160.0
+    )
+}
+
+# 创建设备实例
+devices = {}
+for name, config in configs.items():
+    backend = LaiYuLiquidBackend(config)
+    devices[name] = LaiYuLiquid(backend)
+```
+
+#### 自定义参数配置
+```python
+# 高精度移液配置
+precision_config = LaiYuLiquidConfig(
+    port="/dev/cu.usbserial-3130",
+    address=4,
+    baudrate=115200,
+    timeout=10.0,                      # 增加超时时间
+    
+    # 精密运动控制
+    max_speed=50.0,                    # 降低速度提高精度
+    acceleration=25.0,                 # 降低加速度
+    safe_height=30.0,                  # 降低安全高度
+    
+    # 精密移液参数
+    max_volume=200.0,                  # 小体积移液
+    min_volume=0.5,                    # 提高最小体积
+    liquid_detection=True,
+    
+    # 精密枪头操作
+    tip_pickup_speed=15,               # 降低取枪头速度
+    tip_pickup_acceleration=250,       # 降低加速度
+    tip_pickup_depth=8.0,              # 减少插入深度
+    tip_drop_height=5.0,               # 降低丢弃高度
+)
+```
+
+### 3. 实验协议配置
+
+#### JSON配置文件模板
+```json
+{
+    "experiment_name": "LaiYu液体处理实验",
+    "version": "1.0",
+    "devices": {
+        "laiyu_liquid": {
+            "type": "LaiYu_Liquid",
+            "config": {
+                "port": "/dev/cu.usbserial-3130",
+                "address": 4,
+                "baudrate": 115200,
+                "timeout": 5.0,
+                "deck_width": 340.0,
+                "deck_height": 250.0,
+                "deck_depth": 160.0,
+                "max_speed": 100.0,
+                "acceleration": 50.0,
+                "safe_height": 50.0,
+                "max_volume": 1000.0,
+                "min_volume": 0.1,
+                "liquid_detection": true
+            }
+        }
+    },
+    "deck_layout": {
+        "tip_rack": {
+            "type": "tip_rack_96",
+            "position": [10, 10, 0],
+            "tips": "1000μL"
+        },
+        "source_plate": {
+            "type": "plate_96",
+            "position": [100, 10, 0],
+            "contents": "样品"
+        },
+        "dest_plate": {
+            "type": "plate_96",
+            "position": [200, 10, 0],
+            "contents": "目标"
+        }
+    }
+}
+```
+
+### 4. 完整配置示例
+```json
+{
+    "laiyu_liquid_config": {
+        "communication": {
+            "xyz_controller": {
+                "port": "/dev/cu.usbserial-3130",
+                "baudrate": 115200,
+                "timeout": 5.0
+            },
+            "pipette_controller": {
+                "port": "/dev/cu.usbserial-3131", 
+                "baudrate": 115200,
+                "address": 4,
+                "timeout": 5.0
+            }
+        },
+        "mechanical": {
+            "deck_width": 340.0,
+            "deck_height": 250.0,
+            "deck_depth": 160.0,
+            "safe_height": 50.0
+        },
+        "motion": {
+            "max_speed": 100.0,
+            "acceleration": 50.0,
+            "tip_pickup_speed": 30,
+            "tip_pickup_acceleration": 500
+        },
+        "safety": {
+            "position_validation": true,
+            "emergency_stop_enabled": true,
+            "deck_width": 300.0,
+            "deck_height": 200.0,
+            "deck_depth": 100.0,
+            "safe_height": 50.0
+        }
+    }
+}
+```
+
+### 5. 完整使用示例
+
+#### 基础移液操作
+```python
+async def basic_pipetting_example():
+    """基础移液操作示例"""
+    
+    # 1. 设备初始化
+    config = LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3130",
+        address=4,
+        baudrate=115200
+    )
+    
+    backend = LaiYuLiquidBackend(config)
+    device = LaiYuLiquid(backend)
+    
+    try:
+        # 2. 设备设置
+        await device.setup()
+        print("✅ 设备初始化完成")
+        
+        # 3. 回到原点
+        await device.home_all_axes()
+        print("✅ 轴归零完成")
+        
+        # 4. 取枪头
+        tip_position = (50, 50, 10)  # 枪头架位置
+        await device.pick_up_tip(tip_position)
+        print("✅ 取枪头完成")
+        
+        # 5. 移液操作
+        source_pos = (100, 100, 15)  # 源位置
+        dest_pos = (200, 200, 15)    # 目标位置
+        volume = 100.0               # 移液体积 (μL)
+        
+        await device.aspirate(volume, source_pos)
+        print(f"✅ 吸取 {volume}μL 完成")
+        
+        await device.dispense(volume, dest_pos)
+        print(f"✅ 分配 {volume}μL 完成")
+        
+        # 6. 丢弃枪头
+        trash_position = (300, 300, 20)
+        await device.drop_tip(trash_position)
+        print("✅ 丢弃枪头完成")
+        
+    except Exception as e:
+        print(f"❌ 操作失败: {e}")
+        
+    finally:
+        # 7. 清理资源
+        await device.cleanup()
+        print("✅ 设备清理完成")
+
+# 运行示例
+import asyncio
+asyncio.run(basic_pipetting_example())
+```
+
+#### 批量处理示例
+```python
+async def batch_processing_example():
+    """批量处理示例"""
+    
+    config = LaiYuLiquidConfig(
+        port="/dev/cu.usbserial-3130",
+        address=4,
+        baudrate=115200
+    )
+    
+    backend = LaiYuLiquidBackend(config)
+    device = LaiYuLiquid(backend)
+    
+    try:
+        await device.setup()
+        await device.home_all_axes()
+        
+        # 定义位置
+        tip_rack = [(50 + i*9, 50, 10) for i in range(12)]  # 12个枪头位置
+        source_wells = [(100 + i*9, 100, 15) for i in range(12)]  # 12个源孔
+        dest_wells = [(200 + i*9, 200, 15) for i in range(12)]    # 12个目标孔
+        
+        # 批量移液
+        for i in range(12):
+            print(f"🔄 处理第 {i+1} 个样品...")
+            
+            # 取枪头
+            await device.pick_up_tip(tip_rack[i])
+            
+            # 移液
+            await device.aspirate(50.0, source_wells[i])
+            await device.dispense(50.0, dest_wells[i])
+            
+            # 丢弃枪头
+            await device.drop_tip((300, 300, 20))
+            
+            print(f"✅ 第 {i+1} 个样品处理完成")
+        
+        print("🎉 批量处理完成!")
+        
+    except Exception as e:
+        print(f"❌ 批量处理失败: {e}")
+        
+    finally:
+        await device.cleanup()
+
+# 运行批量处理
+asyncio.run(batch_processing_example())
+```
+
+## 🔧 调试与日志管理
+
+### 1. 调试模式配置
+
+#### 启用全局调试
+```python
+import logging
+from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend
+
+# 配置全局日志
+logging.basicConfig(
+    level=logging.DEBUG,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+    handlers=[
+        logging.FileHandler('laiyu_debug.log'),
+        logging.StreamHandler()
+    ]
+)
+
+# 创建调试配置
+debug_config = LaiYuLiquidConfig(
+    port="/dev/cu.usbserial-3130",
+    address=4,
+    baudrate=115200,
+    timeout=10.0,                    # 增加超时时间便于调试
+    debug_mode=True                  # 启用调试模式
+)
+```
+
+#### 分级日志配置
+```python
+def setup_logging(log_level="INFO"):
+    """设置分级日志"""
+    
+    # 日志级别映射
+    levels = {
+        "DEBUG": logging.DEBUG,
+        "INFO": logging.INFO,
+        "WARNING": logging.WARNING,
+        "ERROR": logging.ERROR
+    }
+    
+    # 创建日志记录器
+    logger = logging.getLogger('LaiYu_Liquid')
+    logger.setLevel(levels.get(log_level, logging.INFO))
+    
+    # 文件处理器
+    file_handler = logging.FileHandler('laiyu_operations.log')
+    file_formatter = logging.Formatter(
+        '%(asctime)s - %(name)s - %(levelname)s - %(funcName)s:%(lineno)d - %(message)s'
+    )
+    file_handler.setFormatter(file_formatter)
+    
+    # 控制台处理器
+    console_handler = logging.StreamHandler()
+    console_formatter = logging.Formatter('%(levelname)s - %(message)s')
+    console_handler.setFormatter(console_formatter)
+    
+    logger.addHandler(file_handler)
+    logger.addHandler(console_handler)
+    
+    return logger
+
+# 使用示例
+logger = setup_logging("DEBUG")
+logger.info("开始LaiYu设备操作")
+```
+
+### 2. 通信监控
+
+#### 串口通信日志
+```python
+def enable_serial_logging():
+    """启用串口通信日志"""
+    import serial
+    
+    # 创建串口日志记录器
+    serial_logger = logging.getLogger('serial.communication')
+    serial_logger.setLevel(logging.DEBUG)
+    
+    # 创建专用的串口日志文件
+    serial_handler = logging.FileHandler('laiyu_serial.log')
+    serial_formatter = logging.Formatter(
+        '%(asctime)s - SERIAL - %(message)s'
+    )
+    serial_handler.setFormatter(serial_formatter)
+    serial_logger.addHandler(serial_handler)
+    
+    print("📡 串口通信日志已启用: laiyu_serial.log")
+    return serial_logger
+```
+
+#### 实时通信监控
+```python
+class CommunicationMonitor:
+    """通信监控器"""
+    
+    def __init__(self):
+        self.sent_count = 0
+        self.received_count = 0
+        self.error_count = 0
+        self.start_time = time.time()
+    
+    def log_sent(self, data):
+        """记录发送数据"""
+        self.sent_count += 1
+        logging.debug(f"📤 发送 #{self.sent_count}: {data.hex()}")
+    
+    def log_received(self, data):
+        """记录接收数据"""
+        self.received_count += 1
+        logging.debug(f"📥 接收 #{self.received_count}: {data.hex()}")
+    
+    def log_error(self, error):
+        """记录错误"""
+        self.error_count += 1
+        logging.error(f"❌ 通信错误 #{self.error_count}: {error}")
+    
+    def get_statistics(self):
+        """获取统计信息"""
+        duration = time.time() - self.start_time
+        return {
+            "运行时间": f"{duration:.2f}秒",
+            "发送次数": self.sent_count,
+            "接收次数": self.received_count,
+            "错误次数": self.error_count,
+            "成功率": f"{((self.sent_count - self.error_count) / max(self.sent_count, 1) * 100):.1f}%"
+        }
+```
+
+### 3. 性能监控
+
+#### 操作性能分析
+```python
+import time
+import functools
+
+def performance_monitor(operation_name):
+    """性能监控装饰器"""
+    def decorator(func):
+        @functools.wraps(func)
+        async def wrapper(*args, **kwargs):
+            start_time = time.time()
+            start_memory = psutil.Process().memory_info().rss / 1024 / 1024  # MB
+            
+            try:
+                result = await func(*args, **kwargs)
+                
+                end_time = time.time()
+                end_memory = psutil.Process().memory_info().rss / 1024 / 1024  # MB
+                
+                duration = end_time - start_time
+                memory_delta = end_memory - start_memory
+                
+                logging.info(f"⏱️ {operation_name}: {duration:.3f}s, 内存变化: {memory_delta:+.1f}MB")
+                
+                return result
+                
+            except Exception as e:
+                end_time = time.time()
+                duration = end_time - start_time
+                logging.error(f"❌ {operation_name} 失败 ({duration:.3f}s): {e}")
+                raise
+                
+        return wrapper
+    return decorator
+
+# 使用示例
+@performance_monitor("移液操作")
+async def monitored_pipetting():
+    await device.aspirate(100.0, (100, 100, 15))
+    await device.dispense(100.0, (200, 200, 15))
+```
+
+#### 系统资源监控
+```python
+import psutil
+import threading
+import time
+
+class SystemMonitor:
+    """系统资源监控器"""
+    
+    def __init__(self, interval=1.0):
+        self.interval = interval
+        self.monitoring = False
+        self.data = []
+    
+    def start_monitoring(self):
+        """开始监控"""
+        self.monitoring = True
+        self.monitor_thread = threading.Thread(target=self._monitor_loop)
+        self.monitor_thread.daemon = True
+        self.monitor_thread.start()
+        print("📊 系统监控已启动")
+    
+    def stop_monitoring(self):
+        """停止监控"""
+        self.monitoring = False
+        if hasattr(self, 'monitor_thread'):
+            self.monitor_thread.join()
+        print("📊 系统监控已停止")
+    
+    def _monitor_loop(self):
+        """监控循环"""
+        while self.monitoring:
+            cpu_percent = psutil.cpu_percent()
+            memory = psutil.virtual_memory()
+            
+            self.data.append({
+                'timestamp': time.time(),
+                'cpu_percent': cpu_percent,
+                'memory_percent': memory.percent,
+                'memory_used_mb': memory.used / 1024 / 1024
+            })
+            
+            time.sleep(self.interval)
+    
+    def get_report(self):
+        """生成监控报告"""
+        if not self.data:
+            return "无监控数据"
+        
+        avg_cpu = sum(d['cpu_percent'] for d in self.data) / len(self.data)
+        avg_memory = sum(d['memory_percent'] for d in self.data) / len(self.data)
+        max_memory = max(d['memory_used_mb'] for d in self.data)
+        
+        return f"""
+📊 系统资源监控报告
+==================
+监控时长: {len(self.data) * self.interval:.1f}秒
+平均CPU使用率: {avg_cpu:.1f}%
+平均内存使用率: {avg_memory:.1f}%
+峰值内存使用: {max_memory:.1f}MB
+        """
+
+# 使用示例
+monitor = SystemMonitor()
+monitor.start_monitoring()
+
+# 执行设备操作
+# ... 你的代码 ...
+
+monitor.stop_monitoring()
+print(monitor.get_report())
+```
+
+### 4. 错误追踪
+
+#### 异常处理和记录
+```python
+import traceback
+
+class ErrorTracker:
+    """错误追踪器"""
+    
+    def __init__(self):
+        self.errors = []
+    
+    def log_error(self, operation, error, context=None):
+        """记录错误"""
+        error_info = {
+            'timestamp': time.time(),
+            'operation': operation,
+            'error_type': type(error).__name__,
+            'error_message': str(error),
+            'traceback': traceback.format_exc(),
+            'context': context or {}
+        }
+        
+        self.errors.append(error_info)
+        
+        # 记录到日志
+        logging.error(f"❌ {operation} 失败: {error}")
+        logging.debug(f"错误详情: {error_info}")
+    
+    def get_error_summary(self):
+        """获取错误摘要"""
+        if not self.errors:
+            return "✅ 无错误记录"
+        
+        error_types = {}
+        for error in self.errors:
+            error_type = error['error_type']
+            error_types[error_type] = error_types.get(error_type, 0) + 1
+        
+        summary = f"❌ 共记录 {len(self.errors)} 个错误:\n"
+        for error_type, count in error_types.items():
+            summary += f"  - {error_type}: {count} 次\n"
+        
+        return summary
+
+# 全局错误追踪器
+error_tracker = ErrorTracker()
+
+# 使用示例
+try:
+    await device.move_to(x=1000, y=1000, z=100)  # 可能超出范围
+except Exception as e:
+    error_tracker.log_error("移动操作", e, {"target": (1000, 1000, 100)})
+```
+
+---
+
+## 📚 总结
+
+本文档提供了LaiYu液体处理设备的完整硬件连接配置指南，涵盖了从基础设置到高级故障排除的所有方面。
+
+### 🎯 关键要点
+
+1. **标准配置**: 使用 `port="/dev/cu.usbserial-3130"`, `address=4`, `baudrate=115200`
+2. **设备架构**: XYZ轴控制器(地址1-3) + SOPA移液器(地址4)
+3. **连接验证**: 使用提供的测试脚本验证硬件连接
+4. **故障排除**: 参考故障排除指南解决常见问题
+5. **性能监控**: 启用日志和监控确保稳定运行
+
+### 🔗 相关文档
+
+- [LaiYu控制架构详解](./UniLab_LaiYu_控制架构详解.md)
+- [XYZ集成功能说明](./XYZ_集成功能说明.md)
+- [设备API文档](./readme.md)
+
+### 📞 技术支持
+
+如遇到问题，请：
+1. 检查硬件连接和配置
+2. 查看调试日志
+3. 参考故障排除指南
+4. 联系技术支持团队
+
+---
+
+*最后更新: 2024年1月*
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/docs/readme.md b/unilabos/devices/laiyu_liquid/docs/readme.md
new file mode 100644
index 00000000..4927138a
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/docs/readme.md
@@ -0,0 +1,269 @@
+# LaiYu_Liquid 液体处理工作站
+
+## 概述
+
+LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
+
+## 系统组成
+
+### 硬件组件
+- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
+- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
+- **通信接口**: RS485转USB模块，默认波特率115200
+- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
+
+### 软件架构
+- **驱动层**: 底层硬件通信驱动，支持RS485协议
+- **控制层**: 高级控制逻辑和坐标系管理
+- **抽象层**: 完全符合UniLabOS标准的液体处理接口
+- **资源层**: 标准化的实验器具和耗材管理
+
+## 🎯 生产就绪组件
+
+### ✅ 核心驱动程序 (`drivers/`)
+- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
+  - 支持液体吸取、分配、检测
+  - 完整的错误处理和状态管理
+  - 生产级别的通信协议实现
+  
+- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
+  - 精确的位置控制和运动规划
+  - 安全限位和错误检测
+  - 高性能运动控制算法
+
+### ✅ 高级控制器 (`controllers/`)
+- **`pipette_controller.py`** - 移液控制器
+  - 封装高级液体处理功能
+  - 支持多种液体类型和处理参数
+  - 智能错误恢复机制
+  
+- **`xyz_controller.py`** - XYZ运动控制器
+  - 坐标系管理和转换
+  - 运动路径优化
+  - 安全运动控制
+
+### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
+- **完整的液体处理抽象接口**
+- **标准化的资源管理系统**
+- **与PyLabRobot兼容的后端实现**
+- **生产级别的错误处理和日志记录**
+
+### ✅ 资源管理系统
+- **`laiyu_liquid_res.py`** - 标准化资源定义
+  - 96孔板、离心管架、枪头架等标准器具
+  - 自动化的资源创建和配置函数
+  - 与工作台布局的完美集成
+
+### ✅ 配置管理 (`config/`)
+- **`config/deck.json`** - 工作台布局配置
+  - 精确的空间定义和槽位管理
+  - 支持多种实验器具的标准化放置
+  - 可扩展的配置架构
+
+- **`__init__.py`** - 模块集成和导出
+  - 完整的API导出和版本管理
+  - 依赖检查和安装验证
+  - 专业的模块信息展示
+
+<!-- ### ✅ 可视化支持
+- **`rviz_backend.py`** - RViz可视化后端
+  - 实时运动状态可视化
+  - 液体处理过程监控
+  - 与ROS系统的无缝集成 -->
+
+## 🚀 核心功能特性
+
+### 液体处理能力
+- **精密体积控制**: 支持1-1000μL精确分配
+- **多种液体类型**: 水性、有机溶剂、粘稠液体等
+- **智能检测**: 液位检测、气泡检测、堵塞检测
+- **自动化流程**: 完整的吸取-转移-分配工作流
+
+### 运动控制系统
+- **三轴精密定位**: 微米级精度控制
+- **路径优化**: 智能运动规划和碰撞避免
+- **安全机制**: 限位保护、紧急停止、错误恢复
+- **坐标系管理**: 工作坐标与机械坐标的自动转换
+
+### 资源管理
+- **标准化器具**: 支持96孔板、离心管架、枪头架等
+- **状态跟踪**: 实时监控液体体积、枪头状态等
+- **自动配置**: 基于JSON的灵活配置系统
+- **扩展性**: 易于添加新的器具类型
+
+## 📁 目录结构
+
+```
+LaiYu_Liquid/
+├── __init__.py              # 模块初始化和API导出
+├── readme.md               # 本文档
+├── backend/                # 后端驱动模块
+│   ├── __init__.py
+│   └── laiyu_backend.py    # PyLabRobot兼容后端
+├── core/                   # 核心模块
+│   ├── core/
+│   │   └── LaiYu_Liquid.py    # 主设备类
+│   ├── abstract_protocol.py # 抽象协议
+│   └── laiyu_liquid_res.py # 设备资源定义
+├── config/                 # 配置文件目录
+│   └── deck.json          # 工作台布局配置
+├── controllers/           # 高级控制器
+│   ├── __init__.py
+│   ├── pipette_controller.py  # 移液控制器
+│   └── xyz_controller.py      # XYZ运动控制器
+├── docs/                  # 技术文档
+│   ├── SOPA气动式移液器RS485控制指令.md
+│   ├── 步进电机控制指令.md
+│   └── hardware/          # 硬件相关文档
+├── drivers/               # 底层驱动程序
+│   ├── __init__.py
+│   ├── sopa_pipette_driver.py  # SOPA移液器驱动
+│   └── xyz_stepper_driver.py   # XYZ步进电机驱动
+└── tests/                 # 测试文件
+```
+
+## 🔧 快速开始
+
+### 1. 安装和验证
+
+```python
+# 验证模块安装
+from unilabos.devices.laiyu_liquid import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    create_quick_setup,
+    print_module_info
+)
+
+# 查看模块信息
+print_module_info()
+
+# 快速创建默认资源
+resources = create_quick_setup()
+print(f"已创建 {len(resources)} 个资源")
+```
+
+### 2. 基本使用示例
+
+```python
+from unilabos.devices.LaiYu_Liquid import (
+    create_quick_setup, 
+    create_96_well_plate,
+    create_laiyu_backend
+)
+
+# 快速创建默认资源
+resources = create_quick_setup()
+print(f"创建了以下资源: {list(resources.keys())}")
+
+# 创建96孔板
+plate_96 = create_96_well_plate("test_plate")
+print(f"96孔板包含 {len(plate_96.children)} 个孔位")
+
+# 创建后端实例（用于PyLabRobot集成）
+backend = create_laiyu_backend("LaiYu_Device")
+print(f"后端设备: {backend.name}")
+```
+
+### 3. 后端驱动使用
+
+```python
+from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
+
+# 创建后端实例
+backend = create_laiyu_backend("LaiYu_Liquid_Station")
+
+# 连接设备
+await backend.connect()
+
+# 设备归位
+await backend.home_device()
+
+# 获取设备状态
+status = await backend.get_status()
+print(f"设备状态: {status}")
+
+# 断开连接
+await backend.disconnect()
+```
+
+### 4. 资源管理示例
+
+```python
+from unilabos.devices.LaiYu_Liquid import (
+    create_centrifuge_tube_rack,
+    create_tip_rack,
+    load_deck_config
+)
+
+# 加载工作台配置
+deck_config = load_deck_config()
+print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
+
+# 创建不同类型的资源
+tube_rack = create_centrifuge_tube_rack("sample_rack")
+tip_rack = create_tip_rack("tip_rack_200ul")
+
+print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
+print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
+```
+
+## 🔍 技术架构
+
+### 坐标系统
+- **机械坐标**: 基于步进电机的原始坐标系统
+- **工作坐标**: 用户友好的实验室坐标系统
+- **自动转换**: 透明的坐标系转换和校准
+
+### 通信协议
+- **RS485总线**: 高可靠性工业通信标准
+- **Modbus协议**: 标准化的设备通信协议
+- **错误检测**: 完整的通信错误检测和恢复
+
+### 安全机制
+- **限位保护**: 硬件和软件双重限位保护
+- **紧急停止**: 即时停止所有运动和操作
+- **状态监控**: 实时设备状态监控和报警
+
+## 🧪 验证和测试
+
+### 功能验证
+```python
+# 验证模块安装
+from unilabos.devices.laiyu_liquid import validate_installation
+validate_installation()
+
+# 查看模块信息
+from unilabos.devices.laiyu_liquid import print_module_info
+print_module_info()
+```
+
+### 硬件连接测试
+```python
+# 测试SOPA移液器连接
+from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
+
+config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
+pipette = SOPAPipette(config)
+success = pipette.connect()
+print(f"SOPA连接状态: {'成功' if success else '失败'}")
+```
+
+## 📚 维护和支持
+
+### 日志记录
+- **结构化日志**: 使用Python logging模块的专业日志记录
+- **错误追踪**: 详细的错误信息和堆栈跟踪
+- **性能监控**: 操作时间和性能指标记录
+
+### 配置管理
+- **JSON配置**: 灵活的JSON格式配置文件
+- **参数验证**: 自动配置参数验证和错误提示
+- **热重载**: 支持配置文件的动态重载
+
+### 扩展性
+- **模块化设计**: 易于扩展和定制的模块化架构
+- **插件接口**: 支持第三方插件和扩展
+- **API兼容**: 向后兼容的API设计
+
+
diff --git a/unilabos/devices/laiyu_liquid/drivers/__init__.py b/unilabos/devices/laiyu_liquid/drivers/__init__.py
new file mode 100644
index 00000000..cedd47a0
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/drivers/__init__.py
@@ -0,0 +1,30 @@
+"""
+LaiYu_Liquid 驱动程序模块
+
+该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
+- SOPA移液器驱动程序
+- XYZ步进电机驱动程序
+"""
+
+# SOPA移液器驱动程序导入
+from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
+
+# XYZ步进电机驱动程序导入  
+from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
+
+__all__ = [
+    # SOPA移液器
+    "SOPAPipette",
+    "SOPAConfig",
+    "SOPAStatusCode",
+    
+    # XYZ步进电机
+    "StepperMotorDriver", 
+    "XYZStepperController",
+    "MotorAxis",
+    "MotorStatus",
+]
+
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Driver Team"
+__description__ = "LaiYu_Liquid 硬件驱动程序集合"
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py b/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
new file mode 100644
index 00000000..3cfed55f
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
@@ -0,0 +1,1079 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+SOPA气动式移液器RS485控制驱动程序
+
+基于SOPA气动式移液器RS485控制指令合集编写的Python驱动程序，
+支持完整的移液器控制功能，包括移液、检测、配置等操作。
+
+仅支持SC-STxxx-00-13型号的RS485通信。
+"""
+
+import serial
+import time
+import logging
+import threading
+from typing import Optional, Union, Dict, Any, Tuple, List
+from enum import Enum, IntEnum
+from dataclasses import dataclass
+from contextlib import contextmanager
+
+# 配置日志
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+class SOPAError(Exception):
+    """SOPA移液器异常基类"""
+    pass
+
+
+class SOPACommunicationError(SOPAError):
+    """通信异常"""
+    pass
+
+
+class SOPADeviceError(SOPAError):
+    """设备异常"""
+    pass
+
+
+class SOPAStatusCode(IntEnum):
+    """状态码枚举"""
+    NO_ERROR = 0x00          # 无错误
+    ACTION_INCOMPLETE = 0x01  # 上次动作未完成
+    NOT_INITIALIZED = 0x02    # 设备未初始化
+    DEVICE_OVERLOAD = 0x03    # 设备过载
+    INVALID_COMMAND = 0x04    # 无效指令
+    LLD_FAULT = 0x05         # 液位探测故障
+    AIR_ASPIRATE = 0x0D      # 空吸
+    NEEDLE_BLOCK = 0x0E      # 堵针
+    FOAM_DETECT = 0x10       # 泡沫
+    EXCEED_TIP_VOLUME = 0x11 # 吸液超过吸头容量
+
+
+class CommunicationType(Enum):
+    """通信类型"""
+    TERMINAL_DEBUG = "/"     # 终端调试，头码为0x2F
+    OEM_COMMUNICATION = "["  # OEM通信，头码为0x5B
+
+
+class DetectionMode(IntEnum):
+    """液位检测模式"""
+    PRESSURE = 0  # 压力式检测(pLLD)
+    CAPACITIVE = 1  # 电容式检测(cLLD)
+
+
+@dataclass
+class SOPAConfig:
+    """SOPA移液器配置参数"""
+    # 通信参数
+    port: str = "/dev/ttyUSB0"
+    baudrate: int = 115200
+    address: int = 1
+    timeout: float = 5.0
+    comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG
+
+    # 运动参数 (单位: 0.1ul/秒)
+    max_speed: int = 2000       # 最高速度 200ul/秒
+    start_speed: int = 200      # 启动速度 20ul/秒
+    cutoff_speed: int = 200     # 断流速度 20ul/秒
+    acceleration: int = 30000   # 加速度
+
+    # 检测参数
+    empty_threshold: int = 4    # 空吸门限
+    foam_threshold: int = 20    # 泡沫门限
+    block_threshold: int = 350  # 堵塞门限
+
+    # 液位检测参数
+    lld_speed: int = 200        # 检测速度 (100~2000)
+    lld_sensitivity: int = 5    # 检测灵敏度 (3~40)
+    detection_mode: DetectionMode = DetectionMode.PRESSURE
+
+    # 吸头参数
+    tip_volume: int = 1000      # 吸头容量 (ul)
+    calibration_factor: float = 1.0  # 校准系数
+    compensation_offset: float = 0.0  # 补偿偏差
+
+    def __post_init__(self):
+        """初始化后验证参数"""
+        self._validate_address()
+
+    def _validate_address(self):
+        """
+        验证设备地址是否符合协议要求
+        
+        协议要求：
+        - 地址范围：1~254
+        - 禁用地址：47, 69, 91 (对应ASCII字符 '/', 'E', '[')
+        """
+        if not (1 <= self.address <= 254):
+            raise ValueError(f"设备地址必须在1-254范围内，当前地址: {self.address}")
+        
+        forbidden_addresses = [47, 69, 91]  # '/', 'E', '['
+        if self.address in forbidden_addresses:
+            forbidden_chars = {47: "'/' (0x2F)", 69: "'E' (0x45)", 91: "'[' (0x5B)"}
+            char_desc = forbidden_chars[self.address]
+            raise ValueError(
+                f"地址 {self.address} 不可用，因为它对应协议字符 {char_desc}。"
+                f"请选择其他地址（1-254，排除47、69、91）"
+            )
+
+
+class SOPAPipette:
+    """SOPA气动式移液器驱动类"""
+
+    def __init__(self, config: SOPAConfig):
+        """
+        初始化SOPA移液器
+
+        Args:
+            config: 移液器配置参数
+        """
+        self.config = config
+        self.serial_port: Optional[serial.Serial] = None
+        self.is_connected = False
+        self.is_initialized = False
+        self.lock = threading.Lock()
+
+        # 状态缓存
+        self._last_status = SOPAStatusCode.NOT_INITIALIZED
+        self._current_position = 0
+        self._tip_present = False
+
+    def connect(self) -> bool:
+        """
+        连接移液器
+
+        Returns:
+            bool: 连接是否成功
+        """
+        try:
+            self.serial_port = serial.Serial(
+                port=self.config.port,
+                baudrate=self.config.baudrate,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE,
+                timeout=self.config.timeout
+            )
+
+            if self.serial_port.is_open:
+                self.is_connected = True
+                logger.info(f"已连接到SOPA移液器，端口: {self.config.port}, 地址: {self.config.address}")
+
+                # 查询设备信息
+                version = self.get_firmware_version()
+                if version:
+                    logger.info(f"固件版本: {version}")
+
+                return True
+            else:
+                raise SOPACommunicationError("串口打开失败")
+
+        except Exception as e:
+            logger.error(f"连接失败: {str(e)}")
+            self.is_connected = False
+            return False
+
+    def disconnect(self):
+        """断开连接"""
+        if self.serial_port and self.serial_port.is_open:
+            self.serial_port.close()
+        self.is_connected = False
+        self.is_initialized = False
+        logger.info("已断开SOPA移液器连接")
+
+    def _calculate_checksum(self, data: bytes) -> int:
+        """计算校验和"""
+        return sum(data) & 0xFF
+
+    def _build_command(self, command: str) -> bytes:
+        """
+        构建完整命令字节串
+        
+        根据协议格式：头码 + 地址 + 命令/数据 + 尾码 + 校验和
+
+        Args:
+            command: 命令字符串
+
+        Returns:
+            bytes: 完整的命令字节串
+        """
+        header = self.config.comm_type.value  # '/' 或 '['
+        address = str(self.config.address)    # 设备地址
+        tail = "E"                           # 尾码固定为 'E'
+
+        # 构建基础命令字符串：头码 + 地址 + 命令 + 尾码
+        cmd_str = f"{header}{address}{command}{tail}"
+        
+        # 转换为字节串
+        cmd_bytes = cmd_str.encode('ascii')
+        
+        # 计算校验和（所有字节的累加值）
+        checksum = self._calculate_checksum(cmd_bytes)
+        
+        # 返回完整命令：基础命令字节 + 校验和字节
+        return cmd_bytes + bytes([checksum])
+
+    def _send_command(self, command: str) -> bool:
+        """
+        发送命令到移液器
+
+        Args:
+            command: 要发送的命令
+
+        Returns:
+            bool: 命令是否发送成功
+        """
+        if not self.is_connected or not self.serial_port:
+            raise SOPACommunicationError("设备未连接")
+
+        with self.lock:
+            try:
+                full_command_bytes = self._build_command(command)
+                # 转换为可读字符串用于日志显示
+                readable_cmd = ''.join(chr(b) if 32 <= b <= 126 else f'\\x{b:02X}' for b in full_command_bytes)
+                logger.debug(f"发送命令: {readable_cmd}")
+
+                self.serial_port.write(full_command_bytes)
+                self.serial_port.flush()
+
+                # 等待响应
+                time.sleep(0.1)
+                return True
+
+            except Exception as e:
+                logger.error(f"发送命令失败: {str(e)}")
+                raise SOPACommunicationError(f"发送命令失败: {str(e)}")
+
+    def _read_response(self, timeout: float = None) -> Optional[str]:
+        """
+        读取设备响应
+
+        Args:
+            timeout: 超时时间
+
+        Returns:
+            Optional[str]: 设备响应字符串
+        """
+        if not self.is_connected or not self.serial_port:
+            return None
+
+        timeout = timeout or self.config.timeout
+
+        try:
+            # 设置读取超时
+            self.serial_port.timeout = timeout
+
+            response = b''
+            start_time = time.time()
+
+            while time.time() - start_time < timeout:
+                if self.serial_port.in_waiting > 0:
+                    chunk = self.serial_port.read(self.serial_port.in_waiting)
+                    response += chunk
+
+                    # 检查是否收到完整响应（以'E'结尾）
+                    if response.endswith(b'E') or len(response) >= 20:
+                        break
+
+                time.sleep(0.01)
+
+            if response:
+                decoded_response = response.decode('ascii', errors='ignore')
+                logger.debug(f"收到响应: {decoded_response}")
+                return decoded_response
+
+        except Exception as e:
+            logger.error(f"读取响应失败: {str(e)}")
+
+        return None
+
+    def _send_query(self, query: str) -> Optional[str]:
+        """
+        发送查询命令并获取响应
+
+        Args:
+            query: 查询命令
+
+        Returns:
+            Optional[str]: 查询结果
+        """
+        try:
+            self._send_command(query)
+            return self._read_response()
+        except Exception as e:
+            logger.error(f"查询失败: {str(e)}")
+            return None
+
+    # ==================== 基础控制方法 ====================
+
+    def initialize(self) -> bool:
+        """
+        初始化移液器
+
+        Returns:
+            bool: 初始化是否成功
+        """
+        try:
+            logger.info("初始化SOPA移液器...")
+
+            # 发送初始化命令
+            self._send_command("HE")
+
+            # 等待初始化完成
+            time.sleep(2.0)
+
+            # 检查状态
+            status = self.get_status()
+            if status == SOPAStatusCode.NO_ERROR:
+                self.is_initialized = True
+                logger.info("移液器初始化成功")
+
+                # 应用配置参数
+                self._apply_configuration()
+                return True
+            else:
+                logger.error(f"初始化失败，状态码: {status}")
+                return False
+
+        except Exception as e:
+            logger.error(f"初始化异常: {str(e)}")
+            return False
+
+    def _apply_configuration(self):
+        """应用配置参数"""
+        try:
+            # 设置运动参数
+            self.set_acceleration(self.config.acceleration)
+            self.set_start_speed(self.config.start_speed)
+            self.set_cutoff_speed(self.config.cutoff_speed)
+            self.set_max_speed(self.config.max_speed)
+
+            # 设置检测参数
+            self.set_empty_threshold(self.config.empty_threshold)
+            self.set_foam_threshold(self.config.foam_threshold)
+            self.set_block_threshold(self.config.block_threshold)
+
+            # 设置吸头参数
+            self.set_tip_volume(self.config.tip_volume)
+            self.set_calibration_factor(self.config.calibration_factor)
+
+            # 设置液位检测参数
+            self.set_detection_mode(self.config.detection_mode)
+            self.set_lld_speed(self.config.lld_speed)
+
+            logger.info("配置参数应用完成")
+
+        except Exception as e:
+            logger.warning(f"应用配置参数失败: {str(e)}")
+
+    def eject_tip(self) -> bool:
+        """
+        顶出枪头
+
+        Returns:
+            bool: 操作是否成功
+        """
+        try:
+            logger.info("顶出枪头")
+            self._send_command("RE")
+            time.sleep(1.0)
+            return True
+        except Exception as e:
+            logger.error(f"顶出枪头失败: {str(e)}")
+            return False
+
+    def get_tip_status(self) -> bool:
+        """
+        获取枪头状态
+
+        Returns:
+            bool: True表示有枪头，False表示无枪头
+        """
+        try:
+            response = self._send_query("Q28")
+            if response and len(response) > 10:
+                # 解析响应中的枪头状态
+                status_char = response[10] if len(response) > 10 else '0'
+                self._tip_present = (status_char == '1')
+                return self._tip_present
+        except Exception as e:
+            logger.error(f"获取枪头状态失败: {str(e)}")
+
+        return False
+
+    # ==================== 移液控制方法 ====================
+
+    def move_absolute(self, position: float) -> bool:
+        """
+        绝对位置移动
+
+        Args:
+            position: 目标位置(微升)
+
+        Returns:
+            bool: 移动是否成功
+        """
+        try:
+            if not self.is_initialized:
+                raise SOPADeviceError("设备未初始化")
+
+            pos_int = int(position)
+            logger.debug(f"绝对移动到位置: {pos_int}ul")
+
+            self._send_command(f"A{pos_int}E")
+            time.sleep(0.5)
+
+            self._current_position = pos_int
+            return True
+
+        except Exception as e:
+            logger.error(f"绝对移动失败: {str(e)}")
+            return False
+
+    def aspirate(self, volume: float, detection: bool = False) -> bool:
+        """
+        抽吸液体
+
+        Args:
+            volume: 抽吸体积(微升)
+            detection: 是否开启液体检测
+
+        Returns:
+            bool: 抽吸是否成功
+        """
+        try:
+            if not self.is_initialized:
+                raise SOPADeviceError("设备未初始化")
+
+            vol_int = int(volume)
+            logger.info(f"抽吸液体: {vol_int}ul, 检测: {detection}")
+
+            # 构建命令
+            cmd_parts = []
+            cmd_parts.append(f"a{self.config.acceleration}")
+            cmd_parts.append(f"b{self.config.start_speed}")
+            cmd_parts.append(f"c{self.config.cutoff_speed}")
+            cmd_parts.append(f"s{self.config.max_speed}")
+
+            if detection:
+                cmd_parts.append("f1")  # 开启检测
+
+            cmd_parts.append(f"P{vol_int}")
+
+            if detection:
+                cmd_parts.append("f0")  # 关闭检测
+
+            cmd_parts.append("E")
+
+            command = "".join(cmd_parts)
+            self._send_command(command)
+
+            # 等待操作完成
+            time.sleep(max(1.0, vol_int / 100.0))
+
+            # 检查状态
+            status = self.get_status()
+            if status == SOPAStatusCode.NO_ERROR:
+                self._current_position += vol_int
+                logger.info(f"抽吸成功: {vol_int}ul")
+                return True
+            elif status == SOPAStatusCode.AIR_ASPIRATE:
+                logger.warning("检测到空吸")
+                return False
+            elif status == SOPAStatusCode.NEEDLE_BLOCK:
+                logger.error("检测到堵针")
+                return False
+            else:
+                logger.error(f"抽吸失败，状态码: {status}")
+                return False
+
+        except Exception as e:
+            logger.error(f"抽吸失败: {str(e)}")
+            return False
+
+    def dispense(self, volume: float, detection: bool = False) -> bool:
+        """
+        分配液体
+
+        Args:
+            volume: 分配体积(微升)
+            detection: 是否开启液体检测
+
+        Returns:
+            bool: 分配是否成功
+        """
+        try:
+            if not self.is_initialized:
+                raise SOPADeviceError("设备未初始化")
+
+            vol_int = int(volume)
+            logger.info(f"分配液体: {vol_int}ul, 检测: {detection}")
+
+            # 构建命令
+            cmd_parts = []
+            cmd_parts.append(f"a{self.config.acceleration}")
+            cmd_parts.append(f"b{self.config.start_speed}")
+            cmd_parts.append(f"c{self.config.cutoff_speed}")
+            cmd_parts.append(f"s{self.config.max_speed}")
+
+            if detection:
+                cmd_parts.append("f1")  # 开启检测
+
+            cmd_parts.append(f"D{vol_int}")
+
+            if detection:
+                cmd_parts.append("f0")  # 关闭检测
+
+            cmd_parts.append("E")
+
+            command = "".join(cmd_parts)
+            self._send_command(command)
+
+            # 等待操作完成
+            time.sleep(max(1.0, vol_int / 200.0))
+
+            # 检查状态
+            status = self.get_status()
+            if status == SOPAStatusCode.NO_ERROR:
+                self._current_position -= vol_int
+                logger.info(f"分配成功: {vol_int}ul")
+                return True
+            else:
+                logger.error(f"分配失败，状态码: {status}")
+                return False
+
+        except Exception as e:
+            logger.error(f"分配失败: {str(e)}")
+            return False
+
+    # ==================== 液位检测方法 ====================
+
+    def liquid_level_detection(self, sensitivity: int = None) -> bool:
+        """
+        执行液位检测
+
+        Args:
+            sensitivity: 检测灵敏度 (3~40)
+
+        Returns:
+            bool: 检测是否成功
+        """
+        try:
+            if not self.is_initialized:
+                raise SOPADeviceError("设备未初始化")
+
+            sens = sensitivity or self.config.lld_sensitivity
+
+            if self.config.detection_mode == DetectionMode.PRESSURE:
+                # 压力式液面检测
+                command = f"m0k{self.config.lld_speed}L{sens}E"
+            else:
+                # 电容式液面检测
+                command = f"m1L{sens}E"
+
+            logger.info(f"执行液位检测, 模式: {self.config.detection_mode.name}, 灵敏度: {sens}")
+
+            self._send_command(command)
+            time.sleep(2.0)
+
+            # 检查检测结果
+            status = self.get_status()
+            if status == SOPAStatusCode.NO_ERROR:
+                logger.info("液位检测成功")
+                return True
+            elif status == SOPAStatusCode.LLD_FAULT:
+                logger.error("液位检测故障")
+                return False
+            else:
+                logger.warning(f"液位检测异常，状态码: {status}")
+                return False
+
+        except Exception as e:
+            logger.error(f"液位检测失败: {str(e)}")
+            return False
+
+    # ==================== 参数设置方法 ====================
+
+    def set_max_speed(self, speed: int) -> bool:
+        """设置最高速度 (0.1ul/秒为单位)"""
+        try:
+            self._send_command(f"s{speed}E")
+            self.config.max_speed = speed
+            logger.debug(f"设置最高速度: {speed} (0.1ul/秒)")
+            return True
+        except Exception as e:
+            logger.error(f"设置最高速度失败: {str(e)}")
+            return False
+
+    def set_start_speed(self, speed: int) -> bool:
+        """设置启动速度 (0.1ul/秒为单位)"""
+        try:
+            self._send_command(f"b{speed}E")
+            self.config.start_speed = speed
+            logger.debug(f"设置启动速度: {speed} (0.1ul/秒)")
+            return True
+        except Exception as e:
+            logger.error(f"设置启动速度失败: {str(e)}")
+            return False
+
+    def set_cutoff_speed(self, speed: int) -> bool:
+        """设置断流速度 (0.1ul/秒为单位)"""
+        try:
+            self._send_command(f"c{speed}E")
+            self.config.cutoff_speed = speed
+            logger.debug(f"设置断流速度: {speed} (0.1ul/秒)")
+            return True
+        except Exception as e:
+            logger.error(f"设置断流速度失败: {str(e)}")
+            return False
+
+    def set_acceleration(self, accel: int) -> bool:
+        """设置加速度"""
+        try:
+            self._send_command(f"a{accel}E")
+            self.config.acceleration = accel
+            logger.debug(f"设置加速度: {accel}")
+            return True
+        except Exception as e:
+            logger.error(f"设置加速度失败: {str(e)}")
+            return False
+
+    def set_empty_threshold(self, threshold: int) -> bool:
+        """设置空吸门限"""
+        try:
+            self._send_command(f"${threshold}E")
+            self.config.empty_threshold = threshold
+            logger.debug(f"设置空吸门限: {threshold}")
+            return True
+        except Exception as e:
+            logger.error(f"设置空吸门限失败: {str(e)}")
+            return False
+
+    def set_foam_threshold(self, threshold: int) -> bool:
+        """设置泡沫门限"""
+        try:
+            self._send_command(f"!{threshold}E")
+            self.config.foam_threshold = threshold
+            logger.debug(f"设置泡沫门限: {threshold}")
+            return True
+        except Exception as e:
+            logger.error(f"设置泡沫门限失败: {str(e)}")
+            return False
+
+    def set_block_threshold(self, threshold: int) -> bool:
+        """设置堵塞门限"""
+        try:
+            self._send_command(f"%{threshold}E")
+            self.config.block_threshold = threshold
+            logger.debug(f"设置堵塞门限: {threshold}")
+            return True
+        except Exception as e:
+            logger.error(f"设置堵塞门限失败: {str(e)}")
+            return False
+
+    def set_tip_volume(self, volume: int) -> bool:
+        """设置吸头容量"""
+        try:
+            self._send_command(f"C{volume}E")
+            self.config.tip_volume = volume
+            logger.debug(f"设置吸头容量: {volume}ul")
+            return True
+        except Exception as e:
+            logger.error(f"设置吸头容量失败: {str(e)}")
+            return False
+
+    def set_calibration_factor(self, factor: float) -> bool:
+        """设置校准系数"""
+        try:
+            self._send_command(f"j{factor}E")
+            self.config.calibration_factor = factor
+            logger.debug(f"设置校准系数: {factor}")
+            return True
+        except Exception as e:
+            logger.error(f"设置校准系数失败: {str(e)}")
+            return False
+
+    def set_detection_mode(self, mode: DetectionMode) -> bool:
+        """设置液位检测模式"""
+        try:
+            self._send_command(f"m{mode.value}E")
+            self.config.detection_mode = mode
+            logger.debug(f"设置检测模式: {mode.name}")
+            return True
+        except Exception as e:
+            logger.error(f"设置检测模式失败: {str(e)}")
+            return False
+
+    def set_lld_speed(self, speed: int) -> bool:
+        """设置液位检测速度"""
+        try:
+            if 100 <= speed <= 2000:
+                self._send_command(f"k{speed}E")
+                self.config.lld_speed = speed
+                logger.debug(f"设置检测速度: {speed}")
+                return True
+            else:
+                logger.error("检测速度超出范围 (100~2000)")
+                return False
+        except Exception as e:
+            logger.error(f"设置检测速度失败: {str(e)}")
+            return False
+
+    # ==================== 状态查询方法 ====================
+
+    def get_status(self) -> SOPAStatusCode:
+        """
+        获取设备状态
+
+        Returns:
+            SOPAStatusCode: 当前状态码
+        """
+        try:
+            response = self._send_query("Q")
+            if response and len(response) > 8:
+                # 解析状态字节
+                status_char = response[8] if len(response) > 8 else '0'
+                try:
+                    status_code = int(status_char, 16) if status_char.isdigit() or status_char.lower() in 'abcdef' else 0
+                    self._last_status = SOPAStatusCode(status_code)
+                except ValueError:
+                    self._last_status = SOPAStatusCode.NO_ERROR
+
+                return self._last_status
+        except Exception as e:
+            logger.error(f"获取状态失败: {str(e)}")
+
+        return SOPAStatusCode.NO_ERROR
+
+    def get_firmware_version(self) -> Optional[str]:
+        """
+        获取固件版本信息
+        处理SOPA移液器的双响应帧格式
+
+        Returns:
+            Optional[str]: 固件版本字符串，获取失败返回None
+        """
+        try:
+            if not self.is_connected:
+                logger.debug("设备未连接，无法查询版本")
+                return "设备未连接"
+
+            # 清空串口缓冲区，避免残留数据干扰
+            if self.serial_port and self.serial_port.in_waiting > 0:
+                logger.debug(f"清空缓冲区中的 {self.serial_port.in_waiting} 字节数据")
+                self.serial_port.reset_input_buffer()
+
+            # 发送版本查询命令 - 使用VE命令
+            command = self._build_command("VE")
+            logger.debug(f"发送版本查询命令: {command}")
+            self.serial_port.write(command)
+            
+            # 等待响应
+            time.sleep(0.3)  # 增加等待时间
+            
+            # 读取所有可用数据
+            all_data = b''
+            timeout_count = 0
+            max_timeout = 15  # 增加最大等待时间到1.5秒
+            
+            while timeout_count < max_timeout:
+                if self.serial_port.in_waiting > 0:
+                    data = self.serial_port.read(self.serial_port.in_waiting)
+                    all_data += data
+                    logger.debug(f"接收到 {len(data)} 字节数据: {data.hex().upper()}")
+                    timeout_count = 0  # 重置超时计数
+                else:
+                    time.sleep(0.1)
+                    timeout_count += 1
+                    
+                # 检查是否收到完整的双响应帧
+                if len(all_data) >= 26:  # 两个13字节的响应帧
+                    logger.debug("收到完整的双响应帧")
+                    break
+                elif len(all_data) >= 13:  # 至少一个响应帧
+                    # 继续等待一段时间看是否有第二个帧
+                    if timeout_count > 5:  # 等待0.5秒后如果没有更多数据就停止
+                        logger.debug("只收到单响应帧")
+                        break
+            
+            logger.debug(f"总共接收到 {len(all_data)} 字节数据: {all_data.hex().upper()}")
+            
+            if len(all_data) < 13:
+                logger.warning("接收到的数据不足一个完整响应帧")
+                return "版本信息不可用"
+            
+            # 解析响应数据
+            version_info = self._parse_version_response(all_data)
+            logger.info(f"解析得到版本信息: {version_info}")
+            return version_info
+
+        except Exception as e:
+            logger.error(f"获取固件版本失败: {str(e)}")
+            return "版本信息不可用"
+
+    def _parse_version_response(self, data: bytes) -> str:
+        """
+        解析版本响应数据
+        
+        Args:
+            data: 原始响应数据
+            
+        Returns:
+            str: 解析后的版本信息
+        """
+        try:
+            # 将数据转换为十六进制字符串用于调试
+            hex_data = data.hex().upper()
+            logger.debug(f"收到版本响应数据: {hex_data}")
+            
+            # 查找响应帧的起始位置
+            responses = []
+            i = 0
+            while i < len(data) - 12:
+                # 查找帧头 0x2F (/)
+                if data[i] == 0x2F:
+                    # 检查是否是完整的13字节帧
+                    if i + 12 < len(data) and data[i + 11] == 0x45:  # 尾码 E
+                        frame = data[i:i+13]
+                        responses.append(frame)
+                        i += 13
+                    else:
+                        i += 1
+                else:
+                    i += 1
+            
+            if len(responses) < 2:
+                # 如果只有一个响应帧，尝试解析
+                if len(responses) == 1:
+                    return self._extract_version_from_frame(responses[0])
+                else:
+                    return f"响应格式异常: {hex_data}"
+            
+            # 解析第二个响应帧（通常包含版本信息）
+            version_frame = responses[1]
+            return self._extract_version_from_frame(version_frame)
+            
+        except Exception as e:
+            logger.error(f"解析版本响应失败: {str(e)}")
+            return f"解析失败: {data.hex().upper()}"
+
+    def _extract_version_from_frame(self, frame: bytes) -> str:
+        """
+        从响应帧中提取版本信息
+        
+        Args:
+            frame: 13字节的响应帧
+            
+        Returns:
+            str: 版本信息字符串
+        """
+        try:
+            # 帧格式: 头码(1) + 地址(1) + 数据(9) + 尾码(1) + 校验和(1)
+            if len(frame) != 13:
+                return f"帧长度错误: {frame.hex().upper()}"
+            
+            # 提取数据部分 (索引2-10，共9字节)
+            data_part = frame[2:11]
+            
+            # 尝试不同的解析方法
+            version_candidates = []
+            
+            # 方法1: 查找可打印的ASCII字符
+            ascii_chars = []
+            for byte in data_part:
+                if 32 <= byte <= 126:  # 可打印ASCII范围
+                    ascii_chars.append(chr(byte))
+            
+            if ascii_chars:
+                version_candidates.append(''.join(ascii_chars))
+            
+            # 方法2: 解析为版本号格式 (如果前几个字节是版本信息)
+            if len(data_part) >= 3:
+                # 检查是否是 V.x.y 格式
+                if data_part[0] == 0x56:  # 'V'
+                    version_str = f"V{data_part[1]}.{data_part[2]}"
+                    version_candidates.append(version_str)
+            
+            # 方法3: 十六进制表示
+            hex_version = ' '.join(f'{b:02X}' for b in data_part)
+            version_candidates.append(f"HEX: {hex_version}")
+            
+            # 返回最合理的版本信息
+            for candidate in version_candidates:
+                if candidate and len(candidate.strip()) > 1:
+                    return candidate.strip()
+            
+            return f"原始数据: {frame.hex().upper()}"
+            
+        except Exception as e:
+            logger.error(f"提取版本信息失败: {str(e)}")
+            return f"提取失败: {frame.hex().upper()}"
+
+    def get_current_position(self) -> float:
+        """
+        获取当前位置
+
+        Returns:
+            float: 当前位置 (微升)
+        """
+        try:
+            response = self._send_query("Q18")
+            if response and len(response) > 10:
+                # 解析位置信息
+                pos_str = response[8:14].strip()
+                try:
+                    self._current_position = int(pos_str)
+                except ValueError:
+                    pass
+        except Exception as e:
+            logger.error(f"获取位置失败: {str(e)}")
+
+        return self._current_position
+
+    def get_device_info(self) -> Dict[str, Any]:
+        """
+        获取设备完整信息
+
+        Returns:
+            Dict[str, Any]: 设备信息字典
+        """
+        info = {
+            'firmware_version': self.get_firmware_version(),
+            'current_position': self.get_current_position(),
+            'tip_present': self.get_tip_status(),
+            'status': self.get_status(),
+            'is_connected': self.is_connected,
+            'is_initialized': self.is_initialized,
+            'config': {
+                'address': self.config.address,
+                'baudrate': self.config.baudrate,
+                'max_speed': self.config.max_speed,
+                'tip_volume': self.config.tip_volume,
+                'detection_mode': self.config.detection_mode.name
+            }
+        }
+
+        return info
+
+    # ==================== 高级操作方法 ====================
+
+    def transfer_liquid(self, source_volume: float, dispense_volume: float = None,
+                       with_detection: bool = True, pre_wet: bool = False) -> bool:
+        """
+        完整的液体转移操作
+
+        Args:
+            source_volume: 从源容器抽吸的体积
+            dispense_volume: 分配到目标容器的体积（默认等于抽吸体积）
+            with_detection: 是否使用液体检测
+            pre_wet: 是否进行预润湿
+
+        Returns:
+            bool: 操作是否成功
+        """
+        try:
+            if not self.is_initialized:
+                raise SOPADeviceError("设备未初始化")
+
+            dispense_volume = dispense_volume or source_volume
+
+            logger.info(f"开始液体转移: 抽吸{source_volume}ul -> 分配{dispense_volume}ul")
+
+            # 预润湿（如果需要）
+            if pre_wet:
+                logger.info("执行预润湿操作")
+                if not self.aspirate(source_volume * 0.1, with_detection):
+                    return False
+                if not self.dispense(source_volume * 0.1):
+                    return False
+
+            # 执行液位检测（如果启用）
+            if with_detection:
+                if not self.liquid_level_detection():
+                    logger.warning("液位检测失败，继续执行")
+
+            # 抽吸液体
+            if not self.aspirate(source_volume, with_detection):
+                logger.error("抽吸失败")
+                return False
+
+            # 可选的延时
+            time.sleep(0.5)
+
+            # 分配液体
+            if not self.dispense(dispense_volume, with_detection):
+                logger.error("分配失败")
+                return False
+
+            logger.info("液体转移完成")
+            return True
+
+        except Exception as e:
+            logger.error(f"液体转移失败: {str(e)}")
+            return False
+
+    @contextmanager
+    def batch_operation(self):
+        """批量操作上下文管理器"""
+        logger.info("开始批量操作")
+        try:
+            yield self
+        finally:
+            logger.info("批量操作完成")
+
+    def reset_to_home(self) -> bool:
+        """回到初始位置"""
+        return self.move_absolute(0)
+
+    def emergency_stop(self):
+        """紧急停止"""
+        try:
+            if self.serial_port and self.serial_port.is_open:
+                # 发送停止命令（如果协议支持）
+                self.serial_port.write(b'\x03')  # Ctrl+C
+                logger.warning("执行紧急停止")
+        except Exception as e:
+            logger.error(f"紧急停止失败: {str(e)}")
+
+    def __enter__(self):
+        """上下文管理器入口"""
+        if not self.is_connected:
+            self.connect()
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """上下文管理器出口"""
+        self.disconnect()
+
+    def __del__(self):
+        """析构函数"""
+        self.disconnect()
+
+
+# ==================== 工厂函数和便利方法 ====================
+
+def create_sopa_pipette(port: str = "/dev/ttyUSB0", address: int = 1,
+                       baudrate: int = 115200, **kwargs) -> SOPAPipette:
+    """
+    创建SOPA移液器实例的便利函数
+
+    Args:
+        port: 串口端口
+        address: RS485地址
+        baudrate: 波特率
+        **kwargs: 其他配置参数
+
+    Returns:
+        SOPAPipette: 移液器实例
+    """
+    config = SOPAConfig(
+        port=port,
+        address=address,
+        baudrate=baudrate,
+        **kwargs
+    )
+
+    return SOPAPipette(config)
diff --git a/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
new file mode 100644
index 00000000..146cbb4e
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
@@ -0,0 +1,663 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+XYZ三轴步进电机B系列驱动程序
+支持RS485通信，Modbus协议
+"""
+
+import serial
+import struct
+import time
+import logging
+from typing import Optional, Tuple, Dict, Any
+from enum import Enum
+from dataclasses import dataclass
+
+# 配置日志
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+class MotorAxis(Enum):
+    """电机轴枚举"""
+    X = 1
+    Y = 2
+    Z = 3
+
+
+class MotorStatus(Enum):
+    """电机状态枚举"""
+    STANDBY = 0x0000  # 待机/到位
+    RUNNING = 0x0001  # 运行中
+    COLLISION_STOP = 0x0002  # 碰撞停
+    FORWARD_LIMIT_STOP = 0x0003  # 正光电停
+    REVERSE_LIMIT_STOP = 0x0004  # 反光电停
+
+
+class ModbusFunction(Enum):
+    """Modbus功能码"""
+    READ_HOLDING_REGISTERS = 0x03
+    WRITE_SINGLE_REGISTER = 0x06
+    WRITE_MULTIPLE_REGISTERS = 0x10
+
+
+@dataclass
+class MotorPosition:
+    """电机位置信息"""
+    steps: int
+    speed: int
+    current: int
+    status: MotorStatus
+
+
+class ModbusException(Exception):
+    """Modbus通信异常"""
+    pass
+
+
+class StepperMotorDriver:
+    """步进电机驱动器基类"""
+    
+    # 寄存器地址常量
+    REG_STATUS = 0x00
+    REG_POSITION_HIGH = 0x01
+    REG_POSITION_LOW = 0x02
+    REG_ACTUAL_SPEED = 0x03
+    REG_EMERGENCY_STOP = 0x04
+    REG_CURRENT = 0x05
+    REG_ENABLE = 0x06
+    REG_PWM_OUTPUT = 0x07
+    REG_ZERO_SINGLE = 0x0E
+    REG_ZERO_COMMAND = 0x0F
+    
+    # 位置模式寄存器
+    REG_TARGET_POSITION_HIGH = 0x10
+    REG_TARGET_POSITION_LOW = 0x11
+    REG_POSITION_SPEED = 0x13
+    REG_POSITION_ACCELERATION = 0x14
+    REG_POSITION_PRECISION = 0x15
+    
+    # 速度模式寄存器
+    REG_SPEED_MODE_SPEED = 0x61
+    REG_SPEED_MODE_ACCELERATION = 0x62
+    
+    # 设备参数寄存器
+    REG_DEVICE_ADDRESS = 0xE0
+    REG_DEFAULT_SPEED = 0xE7
+    REG_DEFAULT_ACCELERATION = 0xE8
+    
+    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
+        """
+        初始化步进电机驱动器
+        
+        Args:
+            port: 串口端口名
+            baudrate: 波特率
+            timeout: 通信超时时间
+        """
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.serial_conn: Optional[serial.Serial] = None
+        
+    def connect(self) -> bool:
+        """
+        建立串口连接
+        
+        Returns:
+            连接是否成功
+        """
+        try:
+            self.serial_conn = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE,
+                timeout=self.timeout
+            )
+            logger.info(f"已连接到串口: {self.port}")
+            return True
+        except Exception as e:
+            logger.error(f"串口连接失败: {e}")
+            return False
+    
+    def disconnect(self) -> None:
+        """关闭串口连接"""
+        if self.serial_conn and self.serial_conn.is_open:
+            self.serial_conn.close()
+            logger.info("串口连接已关闭")
+    
+    def __enter__(self):
+        """上下文管理器入口"""
+        if self.connect():
+            return self
+        raise ModbusException("无法建立串口连接")
+    
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """上下文管理器出口"""
+        self.disconnect()
+    
+    @staticmethod
+    def calculate_crc(data: bytes) -> bytes:
+        """
+        计算Modbus CRC校验码
+        
+        Args:
+            data: 待校验的数据
+            
+        Returns:
+            CRC校验码 (2字节)
+        """
+        crc = 0xFFFF
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x0001:
+                    crc >>= 1
+                    crc ^= 0xA001
+                else:
+                    crc >>= 1
+        return struct.pack('<H', crc)
+    
+    def _send_command(self, slave_addr: int, data: bytes) -> bytes:
+        """
+        发送Modbus命令并接收响应
+        
+        Args:
+            slave_addr: 从站地址
+            data: 命令数据
+            
+        Returns:
+            响应数据
+            
+        Raises:
+            ModbusException: 通信异常
+        """
+        if not self.serial_conn or not self.serial_conn.is_open:
+            raise ModbusException("串口未连接")
+        
+        # 构建完整命令
+        command = bytes([slave_addr]) + data
+        crc = self.calculate_crc(command)
+        full_command = command + crc
+        
+        # 清空接收缓冲区
+        self.serial_conn.reset_input_buffer()
+        
+        # 发送命令
+        self.serial_conn.write(full_command)
+        logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
+        
+        # 等待响应
+        time.sleep(0.01)  # 短暂延时
+        
+        # 读取响应
+        response = self.serial_conn.read(256)  # 最大读取256字节
+        if not response:
+            raise ModbusException("未收到响应")
+        
+        logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
+        
+        # 验证CRC
+        if len(response) < 3:
+            raise ModbusException("响应数据长度不足")
+        
+        data_part = response[:-2]
+        received_crc = response[-2:]
+        calculated_crc = self.calculate_crc(data_part)
+        
+        if received_crc != calculated_crc:
+            raise ModbusException("CRC校验失败")
+        
+        return response
+    
+    def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
+        """
+        读取保持寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            start_addr: 起始地址
+            count: 寄存器数量
+            
+        Returns:
+            寄存器值列表
+        """
+        data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
+        response = self._send_command(slave_addr, data)
+        
+        if len(response) < 5:
+            raise ModbusException("响应长度不足")
+        
+        if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
+            raise ModbusException(f"功能码错误: {response[1]:02X}")
+        
+        byte_count = response[2]
+        values = []
+        for i in range(0, byte_count, 2):
+            value = struct.unpack('>H', response[3+i:5+i])[0]
+            values.append(value)
+        
+        return values
+    
+    def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
+        """
+        写入单个寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            addr: 寄存器地址
+            value: 寄存器值
+            
+        Returns:
+            写入是否成功
+        """
+        data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
+        response = self._send_command(slave_addr, data)
+        
+        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
+    
+    def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
+        """
+        写入多个寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            start_addr: 起始地址
+            values: 寄存器值列表
+            
+        Returns:
+            写入是否成功
+        """
+        byte_count = len(values) * 2
+        data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, 
+                          start_addr, len(values), byte_count)
+        
+        for value in values:
+            data += struct.pack('>H', value)
+        
+        response = self._send_command(slave_addr, data)
+        
+        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
+
+
+class XYZStepperController(StepperMotorDriver):
+    """XYZ三轴步进电机控制器"""
+    
+    # 电机配置常量
+    STEPS_PER_REVOLUTION = 16384  # 每圈步数
+    
+    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
+        """
+        初始化XYZ三轴步进电机控制器
+        
+        Args:
+            port: 串口端口名
+            baudrate: 波特率
+            timeout: 通信超时时间
+        """
+        super().__init__(port, baudrate, timeout)
+        self.axis_addresses = {
+            MotorAxis.X: 1,
+            MotorAxis.Y: 2,
+            MotorAxis.Z: 3
+        }
+    
+    def degrees_to_steps(self, degrees: float) -> int:
+        """
+        将角度转换为步数
+        
+        Args:
+            degrees: 角度值
+            
+        Returns:
+            对应的步数
+        """
+        return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
+    
+    def steps_to_degrees(self, steps: int) -> float:
+        """
+        将步数转换为角度
+        
+        Args:
+            steps: 步数
+            
+        Returns:
+            对应的角度值
+        """
+        return steps * 360.0 / self.STEPS_PER_REVOLUTION
+    
+    def revolutions_to_steps(self, revolutions: float) -> int:
+        """
+        将圈数转换为步数
+        
+        Args:
+            revolutions: 圈数
+            
+        Returns:
+            对应的步数
+        """
+        return int(revolutions * self.STEPS_PER_REVOLUTION)
+    
+    def steps_to_revolutions(self, steps: int) -> float:
+        """
+        将步数转换为圈数
+        
+        Args:
+            steps: 步数
+            
+        Returns:
+            对应的圈数
+        """
+        return steps / self.STEPS_PER_REVOLUTION
+    
+    def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
+        """
+        获取电机状态信息
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            电机位置信息
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 读取状态、位置、速度、电流
+        values = self.read_registers(addr, self.REG_STATUS, 6)
+        
+        status = MotorStatus(values[0])
+        position_high = values[1]
+        position_low = values[2]
+        speed = values[3]
+        current = values[5]
+        
+        # 合并32位位置
+        position = (position_high << 16) | position_low
+        # 处理有符号数
+        if position > 0x7FFFFFFF:
+            position -= 0x100000000
+        
+        return MotorPosition(position, speed, current, status)
+    
+    def emergency_stop(self, axis: MotorAxis) -> bool:
+        """
+        紧急停止电机
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
+    
+    def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
+        """
+        使能/失能电机
+        
+        Args:
+            axis: 电机轴
+            enable: True为使能，False为失能
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        value = 0x0001 if enable else 0x0000
+        return self.write_single_register(addr, self.REG_ENABLE, value)
+    
+    def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000, 
+                        acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        移动到指定位置
+        
+        Args:
+            axis: 电机轴
+            position: 目标位置(步数)
+            speed: 运行速度(rpm)
+            acceleration: 加速度(rpm/s)
+            precision: 到位精度
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 处理32位位置
+        if position < 0:
+            position += 0x100000000
+        
+        position_high = (position >> 16) & 0xFFFF
+        position_low = position & 0xFFFF
+        
+        values = [
+            position_high,     # 目标位置高位
+            position_low,      # 目标位置低位
+            0x0000,           # 保留
+            speed,            # 速度
+            acceleration,     # 加速度
+            precision         # 精度
+        ]
+        
+        return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
+    
+    def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
+        """
+        设置速度模式运行
+        
+        Args:
+            axis: 电机轴
+            speed: 运行速度(rpm)，正值正转，负值反转
+            acceleration: 加速度(rpm/s)
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 处理负数
+        if speed < 0:
+            speed = 0x10000 + speed  # 补码表示
+        
+        values = [0x0000, speed, acceleration, 0x0000]
+        
+        return self.write_multiple_registers(addr, 0x60, values)
+    
+    def home_axis(self, axis: MotorAxis) -> bool:
+        """
+        轴归零操作
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
+    
+    def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
+        """
+        等待电机运动完成
+        
+        Args:
+            axis: 电机轴
+            timeout: 超时时间(秒)
+            
+        Returns:
+            是否在超时前完成
+        """
+        start_time = time.time()
+        
+        while time.time() - start_time < timeout:
+            status = self.get_motor_status(axis)
+            if status.status == MotorStatus.STANDBY:
+                return True
+            time.sleep(0.1)
+        
+        logger.warning(f"{axis.name}轴运动超时")
+        return False
+    
+    def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
+                speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        同时控制XYZ轴移动
+        
+        Args:
+            x: X轴目标位置
+            y: Y轴目标位置
+            z: Z轴目标位置
+            speed: 运行速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴操作结果字典
+        """
+        results = {}
+        
+        if x is not None:
+            results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
+        
+        if y is not None:
+            results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
+        
+        if z is not None:
+            results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
+        
+        return results
+    
+    def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None, 
+                        z_deg: Optional[float] = None, speed: int = 5000, 
+                        acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        使用角度值同时移动多个轴到指定位置
+        
+        Args:
+            x_deg: X轴目标角度（度）
+            y_deg: Y轴目标角度（度）
+            z_deg: Z轴目标角度（度）
+            speed: 移动速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴移动操作结果
+        """
+        # 将角度转换为步数
+        x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
+        y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
+        z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
+        
+        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
+    
+    def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None, 
+                           z_rev: Optional[float] = None, speed: int = 5000, 
+                           acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        使用圈数值同时移动多个轴到指定位置
+        
+        Args:
+            x_rev: X轴目标圈数
+            y_rev: Y轴目标圈数
+            z_rev: Z轴目标圈数
+            speed: 移动速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴移动操作结果
+        """
+        # 将圈数转换为步数
+        x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
+        y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
+        z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
+        
+        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
+    
+    def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000, 
+                               acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        使用角度值移动单个轴到指定位置
+        
+        Args:
+            axis: 电机轴
+            degrees: 目标角度（度）
+            speed: 移动速度
+            acceleration: 加速度
+            precision: 精度
+            
+        Returns:
+            移动操作是否成功
+        """
+        steps = self.degrees_to_steps(degrees)
+        return self.move_to_position(axis, steps, speed, acceleration, precision)
+    
+    def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000, 
+                                   acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        使用圈数值移动单个轴到指定位置
+        
+        Args:
+            axis: 电机轴
+            revolutions: 目标圈数
+            speed: 移动速度
+            acceleration: 加速度
+            precision: 精度
+            
+        Returns:
+            移动操作是否成功
+        """
+        steps = self.revolutions_to_steps(revolutions)
+        return self.move_to_position(axis, steps, speed, acceleration, precision)
+    
+    def stop_all_axes(self) -> Dict[MotorAxis, bool]:
+        """
+        紧急停止所有轴
+        
+        Returns:
+            各轴停止结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.emergency_stop(axis)
+        return results
+    
+    def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
+        """
+        使能/失能所有轴
+        
+        Args:
+            enable: True为使能，False为失能
+            
+        Returns:
+            各轴操作结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.enable_motor(axis, enable)
+        return results
+    
+    def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
+        """
+        获取所有轴的位置信息
+        
+        Returns:
+            各轴位置信息字典
+        """
+        positions = {}
+        for axis in MotorAxis:
+            positions[axis] = self.get_motor_status(axis)
+        return positions
+    
+    def home_all_axes(self) -> Dict[MotorAxis, bool]:
+        """
+        所有轴归零
+        
+        Returns:
+            各轴归零结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.home_axis(axis)
+        return results
diff --git a/unilabos/devices/laiyu_liquid/tests/__init__.py b/unilabos/devices/laiyu_liquid/tests/__init__.py
new file mode 100644
index 00000000..7ff58fe2
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/tests/__init__.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LaiYu液体处理设备测试模块
+
+该模块包含LaiYu液体处理设备的测试用例：
+- test_deck_config.py: 工作台配置测试
+
+作者: UniLab团队
+版本: 2.0.0
+"""
+
+__all__ = []
\ No newline at end of file
diff --git a/unilabos/devices/laiyu_liquid/tests/test_deck_config.py b/unilabos/devices/laiyu_liquid/tests/test_deck_config.py
new file mode 100644
index 00000000..04688302
--- /dev/null
+++ b/unilabos/devices/laiyu_liquid/tests/test_deck_config.py
@@ -0,0 +1,315 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+测试脚本：验证更新后的deck配置是否正常工作
+"""
+
+import sys
+import os
+import json
+
+# 添加项目根目录到Python路径
+project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+sys.path.insert(0, project_root)
+
+def test_config_loading():
+    """测试配置文件加载功能"""
+    print("=" * 50)
+    print("测试配置文件加载功能")
+    print("=" * 50)
+    
+    try:
+        # 直接测试配置文件加载
+        config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
+        fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
+        
+        config = None
+        config_source = ""
+        
+        if os.path.exists(config_path):
+            with open(config_path, 'r', encoding='utf-8') as f:
+                config = json.load(f)
+            config_source = "config/deckconfig.json"
+        elif os.path.exists(fallback_path):
+            with open(fallback_path, 'r', encoding='utf-8') as f:
+                config = json.load(f)
+            config_source = "config/deck.json"
+        else:
+            print("❌ 配置文件不存在")
+            return False
+        
+        print(f"✅ 配置文件加载成功: {config_source}")
+        print(f"   - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
+        print(f"   - 子模块数量: {len(config.get('children', []))}")
+        
+        # 检查各个模块是否存在
+        modules = config.get('children', [])
+        module_types = [module.get('type') for module in modules]
+        module_names = [module.get('name') for module in modules]
+        
+        print(f"   - 模块类型: {', '.join(set(filter(None, module_types)))}")
+        print(f"   - 模块名称: {', '.join(filter(None, module_names))}")
+        
+        return config
+    except Exception as e:
+        print(f"❌ 配置文件加载失败: {e}")
+        return None
+
+def test_module_coordinates(config):
+    """测试各模块的坐标信息"""
+    print("\n" + "=" * 50)
+    print("测试模块坐标信息")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    modules = config.get('children', [])
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        module_type = module.get('type', '未知类型')
+        position = module.get('position', {})
+        size = module.get('size', {})
+        
+        print(f"\n模块: {module_name} ({module_type})")
+        print(f"   - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
+        print(f"   - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
+        
+        # 检查孔位信息
+        wells = module.get('wells', [])
+        if wells:
+            print(f"   - 孔位数量: {len(wells)}")
+            
+            # 显示前几个和后几个孔位的坐标
+            sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
+            for well in sample_wells:
+                well_id = well.get('id', '未知')
+                well_pos = well.get('position', {})
+                print(f"     {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
+        else:
+            print(f"   - 无孔位信息")
+    
+    return True
+
+def test_coordinate_ranges(config):
+    """测试坐标范围的合理性"""
+    print("\n" + "=" * 50)
+    print("测试坐标范围合理性")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    deck_size = {
+        'x': config.get('size_x', 340),
+        'y': config.get('size_y', 250),
+        'z': config.get('size_z', 160)
+    }
+    
+    print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
+    
+    modules = config.get('children', [])
+    all_coordinates = []
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        wells = module.get('wells', [])
+        
+        for well in wells:
+            well_pos = well.get('position', {})
+            x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
+            all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
+    
+    if not all_coordinates:
+        print("❌ 没有找到任何坐标信息")
+        return False
+    
+    # 计算坐标范围
+    x_coords = [coord[0] for coord in all_coordinates]
+    y_coords = [coord[1] for coord in all_coordinates]
+    z_coords = [coord[2] for coord in all_coordinates]
+    
+    x_range = (min(x_coords), max(x_coords))
+    y_range = (min(y_coords), max(y_coords))
+    z_range = (min(z_coords), max(z_coords))
+    
+    print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
+    print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
+    print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
+    
+    # 检查是否超出甲板范围
+    issues = []
+    if x_range[1] > deck_size['x']:
+        issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
+    if y_range[1] > deck_size['y']:
+        issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
+    if z_range[1] > deck_size['z']:
+        issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
+    
+    if x_range[0] < 0:
+        issues.append(f"X坐标为负值: {x_range[0]}")
+    if y_range[0] < 0:
+        issues.append(f"Y坐标为负值: {y_range[0]}")
+    if z_range[0] < 0:
+        issues.append(f"Z坐标为负值: {z_range[0]}")
+    
+    if issues:
+        print("⚠️  发现坐标问题:")
+        for issue in issues:
+            print(f"   - {issue}")
+        return False
+    else:
+        print("✅ 所有坐标都在合理范围内")
+        return True
+
+def test_well_spacing(config):
+    """测试孔位间距的一致性"""
+    print("\n" + "=" * 50)
+    print("测试孔位间距一致性")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    modules = config.get('children', [])
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        module_type = module.get('type', '未知类型')
+        wells = module.get('wells', [])
+        
+        if len(wells) < 2:
+            continue
+        
+        print(f"\n模块: {module_name} ({module_type})")
+        
+        # 计算相邻孔位的间距
+        spacings_x = []
+        spacings_y = []
+        
+        # 按行列排序孔位
+        wells_by_row = {}
+        for well in wells:
+            well_id = well.get('id', '')
+            if len(well_id) >= 3:  # 如A01格式
+                row = well_id[0]
+                col = int(well_id[1:])
+                if row not in wells_by_row:
+                    wells_by_row[row] = {}
+                wells_by_row[row][col] = well
+        
+        # 计算同行相邻孔位的X间距
+        for row, cols in wells_by_row.items():
+            sorted_cols = sorted(cols.keys())
+            for i in range(len(sorted_cols) - 1):
+                col1, col2 = sorted_cols[i], sorted_cols[i + 1]
+                if col2 == col1 + 1:  # 相邻列
+                    pos1 = cols[col1].get('position', {})
+                    pos2 = cols[col2].get('position', {})
+                    spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
+                    spacings_x.append(spacing)
+        
+        # 计算同列相邻孔位的Y间距
+        cols_by_row = {}
+        for well in wells:
+            well_id = well.get('id', '')
+            if len(well_id) >= 3:
+                row = ord(well_id[0]) - ord('A')
+                col = int(well_id[1:])
+                if col not in cols_by_row:
+                    cols_by_row[col] = {}
+                cols_by_row[col][row] = well
+        
+        for col, rows in cols_by_row.items():
+            sorted_rows = sorted(rows.keys())
+            for i in range(len(sorted_rows) - 1):
+                row1, row2 = sorted_rows[i], sorted_rows[i + 1]
+                if row2 == row1 + 1:  # 相邻行
+                    pos1 = rows[row1].get('position', {})
+                    pos2 = rows[row2].get('position', {})
+                    spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
+                    spacings_y.append(spacing)
+        
+        # 检查间距一致性
+        if spacings_x:
+            avg_x = sum(spacings_x) / len(spacings_x)
+            max_diff_x = max(abs(s - avg_x) for s in spacings_x)
+            print(f"   - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
+            
+        if spacings_y:
+            avg_y = sum(spacings_y) / len(spacings_y)
+            max_diff_y = max(abs(s - avg_y) for s in spacings_y)
+            print(f"   - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
+    
+    return True
+
+def main():
+    """主测试函数"""
+    print("LaiYu液体处理设备配置测试")
+    print("测试时间:", os.popen('date').read().strip())
+    
+    # 运行所有测试
+    tests = [
+        ("配置文件加载", test_config_loading),
+    ]
+    
+    config = None
+    results = []
+    
+    for test_name, test_func in tests:
+        try:
+            if test_name == "配置文件加载":
+                result = test_func()
+                config = result if result else None
+                results.append((test_name, bool(result)))
+            else:
+                result = test_func(config)
+                results.append((test_name, result))
+        except Exception as e:
+            print(f"❌ 测试 {test_name} 执行失败: {e}")
+            results.append((test_name, False))
+    
+    # 如果配置加载成功，运行其他测试
+    if config:
+        additional_tests = [
+            ("模块坐标信息", test_module_coordinates),
+            ("坐标范围合理性", test_coordinate_ranges),
+            ("孔位间距一致性", test_well_spacing)
+        ]
+        
+        for test_name, test_func in additional_tests:
+            try:
+                result = test_func(config)
+                results.append((test_name, result))
+            except Exception as e:
+                print(f"❌ 测试 {test_name} 执行失败: {e}")
+                results.append((test_name, False))
+    
+    # 输出测试总结
+    print("\n" + "=" * 50)
+    print("测试总结")
+    print("=" * 50)
+    
+    passed = sum(1 for _, result in results if result)
+    total = len(results)
+    
+    for test_name, result in results:
+        status = "✅ 通过" if result else "❌ 失败"
+        print(f"   {test_name}: {status}")
+    
+    print(f"\n总计: {passed}/{total} 个测试通过")
+    
+    if passed == total:
+        print("🎉 所有测试通过！配置更新成功。")
+        return True
+    else:
+        print("⚠️  部分测试失败，需要进一步检查。")
+        return False
+
+if __name__ == "__main__":
+    success = main()
+    sys.exit(0 if success else 1)
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
index 8513053a..69b757b5 100644
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -1,11 +1,11 @@
 from __future__ import annotations
-
+import re
 import traceback
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set
-
+from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
+from collections import Counter
 import asyncio
 import time
-
+import pprint as pp
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
@@ -29,6 +29,7 @@ from pylabrobot.resources import (
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
         self._simulator = simulator
+        self.channel_num = channel_num
         if simulator:
             self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
@@ -104,8 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        print('222'*200)
-        print(tip_spots)
+
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
@@ -545,6 +545,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
           deck: Deck to use.
         """
         self._simulator = simulator
+        self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
     @classmethod
@@ -556,6 +557,77 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
 
+    def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
+        if self.channel_num == 8 and len(wells) != 8:
+            raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
+        self.group_info[group_name] = wells
+        self.set_liquid(wells, [group_name] * len(wells), volumes)
+
+    async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
+
+        source_wells = self.group_info.get(source_group_name, [])
+        target_wells = self.group_info.get(target_group_name, [])
+        
+        rack_info = dict()
+        for child in self.deck.children:
+            if issubclass(child.__class__, TipRack):
+                rack: TipRack = cast(TipRack, child)
+                if "plate" not in rack.name.lower():
+                    for tip in rack.get_all_tips():
+                        if unit_volume > tip.maximal_volume:
+                            break
+                        else:
+                            rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
+        
+        if len(rack_info) == 0:
+            raise ValueError(f"No tip rack can support volume {unit_volume}.")
+        
+        rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
+        for child in self.deck.children:
+            if child.name == rack_info[0][0]:
+                target_rack = child
+        target_rack = cast(TipRack, target_rack)
+        available_tips = {}
+        for (idx, tipSpot) in enumerate(target_rack.get_all_items()):
+            if tipSpot.has_tip():
+                available_tips[idx] = tipSpot
+                continue
+        # 一般移动液体有两种方式，一对多和多对多
+        print("channel_num", self.channel_num)
+        if self.channel_num == 8:
+
+            tip_prefix = list(available_tips.values())[0].name.split('_')[0]
+            colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()]
+            available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
+            available_cols.sort() 
+            available_tips_dict = {tip.name: tip for tip in available_tips.values()}
+            tips_to_use = [available_tips_dict[f"{tip_prefix}_{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
+            print("tips_to_use", tips_to_use)
+            await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
+            print("source_wells", source_wells)
+            await self.aspirate(source_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
+            print("target_wells", target_wells)
+            await self.dispense(target_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
+            await self.discard_tips(use_channels=list(range(0, 8)))
+
+        elif self.channel_num == 1: 
+            
+            for num_well in range(len(target_wells)):
+                tip_to_use = available_tips[list(available_tips.keys())[num_well]] 
+                print("tip_to_use", tip_to_use)
+                await self.pick_up_tips([tip_to_use], use_channels=[0])
+                print("source_wells", source_wells)
+                print("target_wells", target_wells)
+                if len(source_wells) == 1:
+                    await self.aspirate([source_wells[0]], [unit_volume], use_channels=[0]) 
+                else:
+                    await self.aspirate([source_wells[num_well]], [unit_volume], use_channels=[0])
+                await self.dispense([target_wells[num_well]], [unit_volume], use_channels=[0])
+                await self.discard_tips(use_channels=[0])
+
+        else:
+            raise ValueError(f"Unsupported channel number {self.channel_num}.")
+
     async def create_protocol(
         self,
         protocol_name: str,
@@ -569,6 +641,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """Create a new protocol with the given metadata."""
         pass
 
+
     async def remove_liquid(
         self,
         vols: List[float],
@@ -850,7 +923,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         spread: Literal["wide", "tight", "custom"] = "wide",
         is_96_well: bool = False,
         mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
-        mix_times: Optional[List[int]] = None,
+        mix_times: Optional[int] = None,
         mix_vol: Optional[int] = None,
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
@@ -987,8 +1060,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     if delays is not None:
                         await self.custom_delay(seconds=delays[1])
                     await self.touch_tip(current_targets)
-                    await self.discard_tips()
-                    
+                    await self.discard_tips([0,1,2,3,4,5,6,7])
+
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e
diff --git a/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py b/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
new file mode 100644
index 00000000..b09d1b94
--- /dev/null
+++ b/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
@@ -0,0 +1,621 @@
+import asyncio
+import collections
+import contextlib
+import json
+import socket
+import time
+from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
+import pprint as pp
+from pylabrobot.liquid_handling import (
+    LiquidHandlerBackend,
+    Pickup,
+    SingleChannelAspiration,
+    Drop,
+    SingleChannelDispense,
+    PickupTipRack,
+    DropTipRack,
+    MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
+)
+from pylabrobot.liquid_handling.standard import (
+    MultiHeadAspirationContainer,
+    MultiHeadDispenseContainer,
+    MultiHeadDispensePlate,
+    ResourcePickup,
+    ResourceMove,
+    ResourceDrop,
+)
+from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
+from traitlets import Int
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+
+
+class MaterialResource:
+    """统一的液体/反应器资源，支持多孔（wells）场景：
+    - wells: 列表，每个元素代表一个物料孔（unit）；
+    - units: 与 wells 对齐的列表，每个元素是 {liquid_id: volume}；
+    - 若传入 liquid_id + volume 或 composition，总量将**等分**到各 unit；
+    """
+    def __init__(
+        self,
+        resource_name: str,
+        slot: int,
+        well: List[int],
+        composition: Optional[Dict[str, float]] = None,
+        liquid_id: Optional[str] = None,
+        volume: Union[float, int] = 0.0,
+        is_supply: Optional[bool] = None,
+    ):
+        self.resource_name = resource_name
+        self.slot = int(slot)
+        self.well = list(well or [])
+        self.is_supply = bool(is_supply) if is_supply is not None else (bool(composition) or (liquid_id is not None))
+
+        # 规范化：至少有 1 个 unit
+        n = max(1, len(self.well))
+        self.units: List[Dict[str, float]] = [dict() for _ in range(n)]
+
+        # 初始化内容：等分到各 unit
+        if composition:
+            for k, v in composition.items():
+                share = float(v) / n
+                for u in self.units:
+                    if share > 0:
+                        u[k] = u.get(k, 0.0) + share
+        elif liquid_id is not None and float(volume) > 0:
+            share = float(volume) / n
+            for u in self.units:
+                u[liquid_id] = u.get(liquid_id, 0.0) + share
+
+    # 位置描述
+    def location(self) -> Dict[str, Any]:
+        return {"slot": self.slot, "well": self.well}
+
+    def unit_count(self) -> int:
+        return len(self.units)
+
+    def unit_volume(self, idx: int) -> float:
+        return float(sum(self.units[idx].values()))
+
+    def total_volume(self) -> float:
+        return float(sum(self.unit_volume(i) for i in range(self.unit_count())))
+
+    def add_to_unit(self, idx: int, liquid_id: str, vol: Union[float, int]):
+        v = float(vol)
+        if v < 0:
+            return
+        u = self.units[idx]
+        if liquid_id not in u:
+           u[liquid_id] = 0.0
+        if v > 0:
+           u[liquid_id] += v
+
+    def remove_from_unit(self, idx: int, total: Union[float, int]) -> Dict[str, float]:
+        take = float(total)
+        if take <= 0: return {}
+        u = self.units[idx]
+        avail = sum(u.values())
+        if avail <= 0: return {}
+        take = min(take, avail)
+        ratio = take / avail
+        removed: Dict[str, float] = {}
+        for k, v in list(u.items()):
+            dv = v * ratio
+            nv = v - dv
+            if nv < 1e-9: nv = 0.0
+            u[k] = nv
+            removed[k] = dv
+
+        self.units[idx] = {k: v for k, v in u.items() if v > 0}
+        return removed
+
+    def transfer_unit_to(self, src_idx: int, other: "MaterialResource", dst_idx: int, total: Union[float, int]):
+        moved = self.remove_from_unit(src_idx, total)
+        for k, v in moved.items():
+            other.add_to_unit(dst_idx, k, v)
+
+    def get_resource(self) -> Dict[str, Any]:
+        return {
+            "resource_name": self.resource_name,
+            "slot": self.slot,
+            "well": self.well,
+            "units": [dict(u) for u in self.units],
+            "total_volume": self.total_volume(),
+            "is_supply": self.is_supply,
+        }
+
+def transfer_liquid(
+    sources: MaterialResource,
+    targets: MaterialResource,
+    unit_volume: Optional[Union[float, int]] = None,
+    tip: Optional[str] = None, #这里应该是指定种类的
+) -> Dict[str, Any]:
+    try:
+        vol_each = float(unit_volume)
+    except (TypeError, ValueError):
+        return {"action": "transfer_liquid", "error": "invalid unit_volume"}
+    if vol_each <= 0:
+        return {"action": "transfer_liquid", "error": "non-positive volume"}
+
+    ns, nt = sources.unit_count(), targets.unit_count()
+    # one-to-many: 从单个 source unit(0) 扇出到目标各 unit
+    if ns == 1 and nt >= 1:
+        for j in range(nt):
+            sources.transfer_unit_to(0, targets, j, vol_each)
+    # many-to-many: 数量相同，逐一对应
+    elif ns == nt and ns > 0:
+        for i in range(ns):
+            sources.transfer_unit_to(i, targets, i, vol_each)
+    else:
+        raise ValueError(f"Unsupported mapping: sources={ns} units, targets={nt} units. Only 1->N or N->N are allowed.")
+
+    return {
+        "action": "transfer_liquid",
+        "sources": sources.get_resource(),
+        "targets": targets.get_resource(),
+        "unit_volume": unit_volume,
+        "tip": tip, 
+    }
+
+def plan_transfer(pm: "ProtocolManager", **kwargs) -> Dict[str, Any]:
+    """Shorthand to add a non-committing transfer to a ProtocolManager.
+    Accepts the same kwargs as ProtocolManager.add_transfer.
+    """
+    return pm.add_transfer(**kwargs)
+
+class ProtocolManager:
+    """Plan/track transfers and back‑solve minimum initial volumes.
+
+    Use add_transfer(...) to register steps (no mutation).
+    Use compute_min_initials(...) to infer the minimal starting volume of each liquid
+    per resource required to execute the plan in order.
+    """
+
+    # ---------- lifecycle ----------
+    def __init__(self):
+        # queued logical steps (keep live refs to MaterialResource)
+        self.steps: List[Dict[str, Any]] = []
+
+        # simple tip catalog; choose the smallest that meets min_aspirate and capacity*safety
+        self.tip_catalog = [
+            {"name": "TIP_10uL",   "capacity": 10.0,   "min_aspirate": 0.5},
+            {"name": "TIP_20uL",   "capacity": 20.0,   "min_aspirate": 1.0},
+            {"name": "TIP_50uL",   "capacity": 50.0,   "min_aspirate": 2.0},
+            {"name": "TIP_200uL",  "capacity": 200.0,  "min_aspirate": 5.0},
+            {"name": "TIP_300uL",  "capacity": 300.0,  "min_aspirate": 10.0},
+            {"name": "TIP_1000uL", "capacity": 1000.0, "min_aspirate": 20.0},
+        ]
+
+        # stable labels for unknown liquids per resource (A, B, C, ..., AA, AB, ...)
+        self._unknown_labels: Dict[MaterialResource, str] = {}
+        self._unknown_label_counter: int = 0
+
+    # ---------- public API ----------
+    def recommend_tip(self, unit_volume: float, safety: float = 1.10) -> str:
+        v = float(unit_volume)
+        # prefer: meets min_aspirate and capacity with safety margin; else fallback to capacity-only; else max capacity
+        eligible = [t for t in self.tip_catalog if t["min_aspirate"] <= v and t["capacity"] >= v * safety]
+        if not eligible:
+            eligible = [t for t in self.tip_catalog if t["capacity"] >= v]
+        return min(eligible or self.tip_catalog, key=lambda t: t["capacity"]) ["name"]
+
+    def get_tip_capacity(self, tip_name: str) -> Optional[float]:
+        for t in self.tip_catalog:
+            if t["name"] == tip_name:
+                return t["capacity"]
+        return None
+
+    def add_transfer(
+        self,
+        sources: MaterialResource,
+        targets: MaterialResource,
+        unit_volume: Union[float, int],
+        tip: Optional[str] = None,
+    ) -> Dict[str, Any]:
+        step = {
+            "action": "transfer_liquid",
+            "sources": sources,
+            "targets": targets,
+            "unit_volume": float(unit_volume),
+            "tip": tip or self.recommend_tip(unit_volume),
+        }
+        self.steps.append(step)
+        # return a serializable shadow (no mutation)
+        return {
+            "action": "transfer_liquid",
+            "sources": sources.get_resource(),
+            "targets": targets.get_resource(),
+            "unit_volume": step["unit_volume"],
+            "tip": step["tip"],
+        }
+
+    @staticmethod
+    def _liquid_keys_of(resource: MaterialResource) -> List[str]:
+        keys: set[str] = set()
+        for u in resource.units:
+            keys.update(u.keys())
+        return sorted(keys)
+
+    @staticmethod
+    def _fanout_multiplier(ns: int, nt: int) -> Optional[int]:
+        """Return the number of liquid movements for a mapping shape.
+        1->N: N moves; N->N: N moves; otherwise unsupported (None).
+        """
+        if ns == 1 and nt >= 1:
+            return nt
+        if ns == nt and ns > 0:
+            return ns
+        return None
+
+    # ---------- planning core ----------
+    def compute_min_initials(
+        self,
+        use_initial: bool = False,
+        external_only: bool = True,
+    ) -> Dict[str, Dict[str, float]]:
+        """Simulate the plan (non‑mutating) and return minimal starting volumes per resource/liquid."""
+        ledger: Dict[MaterialResource, Dict[str, float]] = {}
+        min_seen: Dict[MaterialResource, Dict[str, float]] = {}
+
+        def _ensure(res: MaterialResource) -> None:
+            if res in ledger:
+                return
+            declared = self._liquid_keys_of(res)
+            if use_initial:
+                # sum actual held amounts across units
+                totals = {k: 0.0 for k in declared}
+                for u in res.units:
+                    for k, v in u.items():
+                        totals[k] = totals.get(k, 0.0) + float(v)
+                ledger[res] = totals
+            else:
+                ledger[res] = {k: 0.0 for k in declared}
+            min_seen[res] = {k: ledger[res].get(k, 0.0) for k in ledger[res]}
+
+        def _proportions(src: MaterialResource, src_bal: Dict[str, float]) -> tuple[List[str], Dict[str, float]]:
+            keys = list(src_bal.keys())
+            total_pos = sum(x for x in src_bal.values() if x > 0)
+
+            # if ledger has no keys yet, seed from declared types on the resource
+            if not keys:
+                keys = self._liquid_keys_of(src)
+                for k in keys:
+                    src_bal.setdefault(k, 0.0)
+                    min_seen[src].setdefault(k, 0.0)
+
+            if total_pos > 0:
+                # proportional to current positive balances
+                props = {k: (src_bal.get(k, 0.0) / total_pos) for k in keys}
+                return keys, props
+
+            # no material currently: evenly from known keys, or assign an unknown label
+            if keys:
+                eq = 1.0 / len(keys)
+                return keys, {k: eq for k in keys}
+
+            unk = self._label_for_unknown(src)
+            keys = [unk]
+            src_bal.setdefault(unk, 0.0)
+            min_seen[src].setdefault(unk, 0.0)
+            return keys, {unk: 1.0}
+
+        for step in self.steps:
+            if step.get("action") != "transfer_liquid":
+                continue
+
+            src: MaterialResource = step["sources"]
+            dst: MaterialResource = step["targets"]
+            vol = float(step["unit_volume"])
+            if vol <= 0:
+                continue
+
+            _ensure(src)
+            _ensure(dst)
+
+            mult = self._fanout_multiplier(src.unit_count(), dst.unit_count())
+            if not mult:
+                continue  # unsupported mapping shape for this planner
+
+            eff_vol = vol * mult
+            src_bal = ledger[src]
+            keys, props = _proportions(src, src_bal)
+
+            # subtract from src; track minima; accumulate to dst
+            moved: Dict[str, float] = {}
+            for k in keys:
+                dv = eff_vol * props[k]
+                src_bal[k] = src_bal.get(k, 0.0) - dv
+                moved[k] = dv
+                prev_min = min_seen[src].get(k, 0.0)
+                if src_bal[k] < prev_min:
+                    min_seen[src][k] = src_bal[k]
+
+            dst_bal = ledger[dst]
+            for k, dv in moved.items():
+                dst_bal[k] = dst_bal.get(k, 0.0) + dv
+                min_seen[dst].setdefault(k, dst_bal[k])
+
+        # convert minima (negative) to required initials
+        result: Dict[str, Dict[str, float]] = {}
+        for res, mins in min_seen.items():
+            if external_only and not getattr(res, "is_supply", False):
+                continue
+            need = {liq: max(0.0, -mn) for liq, mn in mins.items() if mn < 0.0}
+            if need:
+                result[res.resource_name] = need
+        return result
+
+    def compute_tip_consumption(self) -> Dict[str, Any]:
+        """Compute how many tips are consumed at each transfer step, and aggregate by tip type.
+        Rule: each liquid movement (source unit -> target unit) consumes one tip.
+        For supported shapes: 1->N uses N tips; N->N uses N tips.
+        """
+        per_step: List[Dict[str, Any]] = []
+        totals_by_tip: Dict[str, int] = {}
+
+        for i, s in enumerate(self.steps):
+            if s.get("action") != "transfer_liquid":
+                continue
+            ns = s["sources"].unit_count()
+            nt = s["targets"].unit_count()
+            moves = self._fanout_multiplier(ns, nt) or 0
+            tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"])  # per-step tip may vary
+            per_step.append({
+                "idx": i,
+                "tip": tip_name,
+                "tips_used": moves,
+                "moves": moves,
+            })
+            totals_by_tip[tip_name] = totals_by_tip.get(tip_name, 0) + int(moves)
+
+        return {"per_step": per_step, "totals_by_tip": totals_by_tip}
+
+    def compute_min_initials_with_tips(
+        self,
+        use_initial: bool = False,
+        external_only: bool = True,
+    ) -> Dict[str, Any]:
+        needs = self.compute_min_initials(use_initial=use_initial, external_only=external_only)
+        step_tips: List[Dict[str, Any]] = []
+        totals_by_tip: Dict[str, int] = {}
+
+        for i, s in enumerate(self.steps):
+            if s.get("action") != "transfer_liquid":
+                continue
+            ns = s["sources"].unit_count()
+            nt = s["targets"].unit_count()
+            moves = self._fanout_multiplier(ns, nt) or 0
+            tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"])  # step-specific tip
+            totals_by_tip[self.get_tip_capacity(tip_name)] = totals_by_tip.get(tip_name, 0) + int(moves)
+
+            step_tips.append({
+                "idx": i,
+                "tip": tip_name,
+                "tip_capacity": self.get_tip_capacity(tip_name),
+                "unit_volume": s["unit_volume"],
+                "tips_used": moves,
+            })
+        return {"liquid_setup": needs, "step_tips": step_tips, "totals_by_tip": totals_by_tip}
+
+    # ---------- unknown labels ----------
+    def _index_to_letters(self, idx: int) -> str:
+        """0->A, 1->B, ... 25->Z, 26->AA, 27->AB ... (Excel-like)"""
+        s: List[str] = []
+        idx = int(idx)
+        while True:
+            idx, r = divmod(idx, 26)
+            s.append(chr(ord('A') + r))
+            if idx == 0:
+                break
+            idx -= 1  # Excel-style carry
+        return "".join(reversed(s))
+
+    def _label_for_unknown(self, res: MaterialResource) -> str:
+        """Assign a stable unknown-liquid label (A/B/C/...) per resource."""
+        if res not in self._unknown_labels:
+            lab = self._index_to_letters(self._unknown_label_counter)
+            self._unknown_label_counter += 1
+            self._unknown_labels[res] = lab
+        return self._unknown_labels[res]
+
+
+# 在这一步传输目前有的物料
+class LabResource:
+    def __init__(self):
+        self.tipracks = []
+        self.plates = []
+        self.trash = []
+
+    def add_tipracks(self, tiprack: List[TipRack]):
+        self.tipracks.extend(tiprack)
+    def add_plates(self, plate: List[Plate]):
+        self.plates.extend(plate)
+    def add_trash(self, trash: List[Plate]):
+        self.trash.extend(trash)
+    def get_resources_info(self) -> Dict[str, Any]:
+        tipracks = [{"name": tr.name, "max_volume": tr.children[0].tracker._tip.maximal_volume, "count": len(tr.children)} for tr in self.tipracks]
+        plates = [{"name": pl.name, "max_volume": pl.children[0].max_volume, "count": len(pl.children)} for pl in self.plates]
+        trash = [{"name": t.name, "max_volume": t.children[0].max_volume, "count": len(t.children)} for t in self.trash]
+        return {
+            "tipracks": tipracks,
+            "plates": plates,
+            "trash": trash
+        }
+
+from typing import Dict, Any
+
+import time
+class DefaultLayout:
+
+    def __init__(self, product_name: str = "PRCXI9300"):
+        self.labresource = {}
+        if product_name not in ["PRCXI9300", "PRCXI9320"]:
+            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+
+        if product_name == "PRCXI9300":
+            self.rows = 2
+            self.columns = 3
+            self.layout = [1, 2, 3, 4, 5, 6]
+            self.trash_slot = 3
+            self.waste_liquid_slot = 6
+
+        elif product_name == "PRCXI9320":
+            self.rows = 3
+            self.columns = 4
+            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
+            self.trash_slot = 16
+            self.waste_liquid_slot = 12
+            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
+            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
+  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
+]
+}
+
+    def get_layout(self) -> Dict[str, Any]:
+        return {
+            "rows": self.rows,
+            "columns": self.columns,
+            "layout": self.layout,
+            "trash_slot": self.trash_slot,
+            "waste_liquid_slot": self.waste_liquid_slot
+        }
+
+    def get_trash_slot(self) -> int:
+        return self.trash_slot
+    
+    def get_waste_liquid_slot(self) -> int:
+        return self.waste_liquid_slot
+
+    def add_lab_resource(self, material_info):
+        self.labresource = material_info
+
+    def recommend_layout(self, needs: Dict[str, int]) -> Dict[str, Any]:
+        """根据 needs 推荐布局"""
+        for k, v in needs.items():
+            if k not in self.labresource:
+                raise ValueError(f"Material {k} not found in lab resources.")
+        
+        # 预留位置12和16不动
+        reserved_positions = {12, 16}
+        available_positions = [i for i in range(1, 17) if i not in reserved_positions]
+        
+        # 计算总需求
+        total_needed = sum(needs.values())
+        if total_needed > len(available_positions):
+            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+        
+        # 依次分配位置
+        current_pos = 0
+        for material_name, count in needs.items():
+            material_uuid = self.labresource[material_name]['uuid']
+            material_enum = self.labresource[material_name]['materialEnum']
+            
+            for _ in range(count):
+                if current_pos >= len(available_positions):
+                    raise ValueError("位置不足，无法分配更多物料")
+                
+                position = available_positions[current_pos]
+                # 找到对应的tablet并更新
+                for tablet in self.default_layout['WorkTablets']:
+                    if tablet['Number'] == position:
+                        tablet['Material']['uuid'] = material_uuid
+                        tablet['Material']['materialEnum'] = material_enum
+                        break
+                
+                current_pos += 1
+        
+        return self.default_layout
+
+
+if __name__ == "__main__":
+    with open("prcxi_material.json", "r") as f:
+        material_info = json.load(f)
+    
+    layout = DefaultLayout("PRCXI9320")
+    layout.add_lab_resource(material_info)
+    plan = layout.recommend_layout({
+        "10μL加长 Tip头": 2,
+        "300μL Tip头": 2, 
+        "96深孔板": 2,
+    })
+    
+
+
+
+# if __name__ == "__main__":
+#     # ---- 资源：SUP 供液（X），中间板 R1（4 孔空），目标板 R2（4 孔空）----
+# #     sup = MaterialResource("SUP", slot=5, well=[1], liquid_id="X", volume=10000)      
+# #     r1  = MaterialResource("R1",  slot=6, well=[1,2,3,4,5,6,7,8])
+# #     r2  = MaterialResource("R2",  slot=7, well=[1,2,3,4,5,6,7,8])
+
+# #     pm = ProtocolManager()
+# #     # 步骤1：SUP -> R1，1->N 扇出，每孔 50 uL（总 200 uL）
+# #     pm.add_transfer(sup, r1, unit_volume=10.0)
+# #     # 步骤2：R1 -> R2，N->N 对应，每对 25 uL（总 100 uL；来自 R1 中已存在的混合物 X）
+# #     pm.add_transfer(r1, r2, unit_volume=120.0)
+
+# #     out = pm.compute_min_initials_with_tips()
+# #     # layout_planer = DefaultLayout('PRCXI9320')
+# #     # print(layout_planer.get_layout())
+# #     # print("回推最小需求：", out["liquid_setup"])     # {'SUP': {'X': 200.0}}
+# #     # print("步骤枪头建议：", out["step_tips"]) # [{'idx':0,'tip':'TIP_200uL','unit_volume':50.0}, {'idx':1,'tip':'TIP_50uL','unit_volume':25.0}]
+
+# # #     # 实际执行（可选）
+# # #     transfer_liquid(sup, r1, unit_volume=50.0)
+# # #     transfer_liquid(r1, r2, unit_volume=25.0)
+# # #     print("执行后 SUP：", sup.get_resource())  # 总体积 -200
+# # #     print("执行后 R1：",  r1.get_resource())   # 每孔 25 uL（50 进 -25 出）
+# # #     print("执行后 R2：",  r2.get_resource())   # 每孔 25 uL
+
+
+# #     from pylabrobot.resources.opentrons.tube_racks import *
+# #     from pylabrobot.resources.opentrons.plates import *
+# #     from pylabrobot.resources.opentrons.tip_racks import *
+# #     from pylabrobot.resources.opentrons.reservoirs import *
+
+# #     plate = [locals()['nest_96_wellplate_2ml_deep'](name="thermoscientificnunc_96_wellplate_2000ul"), locals()['corning_96_wellplate_360ul_flat'](name="corning_96_wellplate_360ul_flat")]
+# #     tiprack = [locals()['opentrons_96_tiprack_300ul'](name="opentrons_96_tiprack_300ul"), locals()['opentrons_96_tiprack_1000ul'](name="opentrons_96_tiprack_1000ul")]
+# #     trash = [locals()['axygen_1_reservoir_90ml'](name="axygen_1_reservoir_90ml")]
+
+# #     from pprint import pprint
+
+# #     lab_resource = LabResource()
+# #     lab_resource.add_tipracks(tiprack)
+# #     lab_resource.add_plates(plate)
+# #     lab_resource.add_trash(trash)
+
+# #     layout_planer = DefaultLayout('PRCXI9300')
+# #     layout_planer.add_lab_resource(lab_resource)
+# #     layout_planer.recommend_layout(out)
+
+#     with open("prcxi_material.json", "r") as f:
+#         material_info = json.load(f)
+#     # print("当前实验物料信息：", material_info)
+
+#     layout = DefaultLayout("PRCXI9320")
+#     layout.add_lab_resource(material_info)
+#     print(layout.default_layout['WorkTablets'])
+#     # plan = layout.recommend_layout({
+#     #     "10μL加长 Tip头": 2,
+#     #     "300μL Tip头": 2,
+#     #     "96深孔板": 2,
+#     # })
+
+
+
diff --git a/unilabos/devices/liquid_handling/prcxi/deck.json b/unilabos/devices/liquid_handling/prcxi/deck.json
index 7a979613..a892941b 100644
--- a/unilabos/devices/liquid_handling/prcxi/deck.json
+++ b/unilabos/devices/liquid_handling/prcxi/deck.json
@@ -4,21 +4,24 @@
         "name": "PRCXI_Deck",
         "sample_id": null,
         "children": [
-            "HPLCPlateT1",
-            "container_for_nothing1",
-            "container_for_nothing2",
-            "trash",
-            "container_for_nothing3",
-            "container_for_nothing",
-            "container_for_nothing4",
-            "RackT8",
-            "container_for_nothing5",
-            "container_for_nothing6",
-            "PlateT11",
+            "RackT1",
+            "PlateT2",
+            "container_for_nothin3",
+            "PlateT4",
+            "RackT5",
+            "PlateT6",
             "container_for_nothing7",
-            "container_for_nothing8"
+            "container_for_nothing8",
+            "PlateT9",
+            "PlateT10",
+            "container_for_nothing11",
+            "container_for_nothing12",
+            "PlateT13",
+            "PlateT14",
+            "PlateT15",
+            "trash"
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-        "parent": "lh_PRCXI_Deck",
+        "parent": null,
         "type": "deck",
         "class": "",
         "position": {
@@ -43,4276 +46,106 @@
         "data": {}
     },
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-        "id": "HPLCPlateT1",
-        "name": "HPLCPlateT1",
+        "id": "RackT1",
+        "name": "RackT1",
         "sample_id": null,
         "children": [
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-            "HPLCPlateT1_B1",
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-            "HPLCPlateT1_E1",
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-            "HPLCPlateT1_A2",
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-            "HPLCPlateT1_C2",
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-            "HPLCPlateT1_E2",
-            "HPLCPlateT1_F2",
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-            "HPLCPlateT1_H2",
-            "HPLCPlateT1_A3",
-            "HPLCPlateT1_B3",
-            "HPLCPlateT1_C3",
-            "HPLCPlateT1_D3",
-            "HPLCPlateT1_E3",
-            "HPLCPlateT1_F3",
-            "HPLCPlateT1_G3",
-            "HPLCPlateT1_H3",
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-            "HPLCPlateT1_G7",
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-            "HPLCPlateT1_B8",
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-            "HPLCPlateT1_F9",
-            "HPLCPlateT1_G9",
-            "HPLCPlateT1_H9",
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-            "HPLCPlateT1_C10",
-            "HPLCPlateT1_D10",
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-            "HPLCPlateT1_G10",
-            "HPLCPlateT1_H10",
-            "HPLCPlateT1_A11",
-            "HPLCPlateT1_B11",
-            "HPLCPlateT1_C11",
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-            "HPLCPlateT1_E11",
-            "HPLCPlateT1_F11",
-            "HPLCPlateT1_G11",
-            "HPLCPlateT1_H11",
-            "HPLCPlateT1_A12",
-            "HPLCPlateT1_B12",
-            "HPLCPlateT1_C12",
-            "HPLCPlateT1_D12",
-            "HPLCPlateT1_E12",
-            "HPLCPlateT1_F12",
-            "HPLCPlateT1_G12",
-            "HPLCPlateT1_H12"
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-        "children": [],
-        "parent": "PRCXI_Deck",
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-        "data": {}
-    },
-    {
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-        "parent": "PRCXI_Deck",
-        "type": "plate",
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-        "data": {}
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-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "container",
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-            "compute_height_from_volume": null
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-            "Material": {
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-        }
-    },
-    {
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-        "name": "container_for_nothing3",
-        "sample_id": null,
-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "plate",
-        "class": "",
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-            "z": 0
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-            "size_y": 50,
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-            "category": "plate",
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-            "barcode": null,
-            "ordering": {}
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-        "data": {}
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-    {
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-        "name": "container_for_nothing",
-        "sample_id": null,
-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "plate",
-        "class": "",
-        "position": {
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-            "z": 0
-        },
-        "config": {
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-            "size_x": 50,
-            "size_y": 50,
-            "size_z": 10,
-            "rotation": {
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-                "y": 0,
-                "z": 0,
-                "type": "Rotation"
-            },
-            "category": "plate",
-            "model": null,
-            "barcode": null,
-            "ordering": {}
-        },
-        "data": {}
-    },
-    {
-        "id": "container_for_nothing4",
-        "name": "container_for_nothing4",
-        "sample_id": null,
-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "plate",
-        "class": "",
-        "position": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-        },
-        "config": {
-            "type": "PRCXI9300Container",
-            "size_x": 50,
-            "size_y": 50,
-            "size_z": 10,
-            "rotation": {
-                "x": 0,
-                "y": 0,
-                "z": 0,
-                "type": "Rotation"
-            },
-            "category": "plate",
-            "model": null,
-            "barcode": null,
-            "ordering": {}
-        },
-        "data": {}
-    },
-    {
-        "id": "RackT8",
-        "name": "RackT8",
-        "sample_id": null,
-        "children": [
-            "name_A1",
-            "name_B1",
-            "name_C1",
-            "name_D1",
-            "name_E1",
-            "name_F1",
-            "name_G1",
-            "name_H1",
-            "name_A2",
-            "name_B2",
-            "name_C2",
-            "name_D2",
-            "name_E2",
-            "name_F2",
-            "name_G2",
-            "name_H2",
-            "name_A3",
-            "name_B3",
-            "name_C3",
-            "name_D3",
-            "name_E3",
-            "name_F3",
-            "name_G3",
-            "name_H3",
-            "name_A4",
-            "name_B4",
-            "name_C4",
-            "name_D4",
-            "name_E4",
-            "name_F4",
-            "name_G4",
-            "name_H4",
-            "name_A5",
-            "name_B5",
-            "name_C5",
-            "name_D5",
-            "name_E5",
-            "name_F5",
-            "name_G5",
-            "name_H5",
-            "name_A6",
-            "name_B6",
-            "name_C6",
-            "name_D6",
-            "name_E6",
-            "name_F6",
-            "name_G6",
-            "name_H6",
-            "name_A7",
-            "name_B7",
-            "name_C7",
-            "name_D7",
-            "name_E7",
-            "name_F7",
-            "name_G7",
-            "name_H7",
-            "name_A8",
-            "name_B8",
-            "name_C8",
-            "name_D8",
-            "name_E8",
-            "name_F8",
-            "name_G8",
-            "name_H8",
-            "name_A9",
-            "name_B9",
-            "name_C9",
-            "name_D9",
-            "name_E9",
-            "name_F9",
-            "name_G9",
-            "name_H9",
-            "name_A10",
-            "name_B10",
-            "name_C10",
-            "name_D10",
-            "name_E10",
-            "name_F10",
-            "name_G10",
-            "name_H10",
-            "name_A11",
-            "name_B11",
-            "name_C11",
-            "name_D11",
-            "name_E11",
-            "name_F11",
-            "name_G11",
-            "name_H11",
-            "name_A12",
-            "name_B12",
-            "name_C12",
-            "name_D12",
-            "name_E12",
-            "name_F12",
-            "name_G12",
-            "name_H12"
+            "RackT1_A1",
+            "RackT1_B1",
+            "RackT1_C1",
+            "RackT1_D1",
+            "RackT1_E1",
+            "RackT1_F1",
+            "RackT1_G1",
+            "RackT1_H1",
+            "RackT1_A2",
+            "RackT1_B2",
+            "RackT1_C2",
+            "RackT1_D2",
+            "RackT1_E2",
+            "RackT1_F2",
+            "RackT1_G2",
+            "RackT1_H2",
+            "RackT1_A3",
+            "RackT1_B3",
+            "RackT1_C3",
+            "RackT1_D3",
+            "RackT1_E3",
+            "RackT1_F3",
+            "RackT1_G3",
+            "RackT1_H3",
+            "RackT1_A4",
+            "RackT1_B4",
+            "RackT1_C4",
+            "RackT1_D4",
+            "RackT1_E4",
+            "RackT1_F4",
+            "RackT1_G4",
+            "RackT1_H4",
+            "RackT1_A5",
+            "RackT1_B5",
+            "RackT1_C5",
+            "RackT1_D5",
+            "RackT1_E5",
+            "RackT1_F5",
+            "RackT1_G5",
+            "RackT1_H5",
+            "RackT1_A6",
+            "RackT1_B6",
+            "RackT1_C6",
+            "RackT1_D6",
+            "RackT1_E6",
+            "RackT1_F6",
+            "RackT1_G6",
+            "RackT1_H6",
+            "RackT1_A7",
+            "RackT1_B7",
+            "RackT1_C7",
+            "RackT1_D7",
+            "RackT1_E7",
+            "RackT1_F7",
+            "RackT1_G7",
+            "RackT1_H7",
+            "RackT1_A8",
+            "RackT1_B8",
+            "RackT1_C8",
+            "RackT1_D8",
+            "RackT1_E8",
+            "RackT1_F8",
+            "RackT1_G8",
+            "RackT1_H8",
+            "RackT1_A9",
+            "RackT1_B9",
+            "RackT1_C9",
+            "RackT1_D9",
+            "RackT1_E9",
+            "RackT1_F9",
+            "RackT1_G9",
+            "RackT1_H9",
+            "RackT1_A10",
+            "RackT1_B10",
+            "RackT1_C10",
+            "RackT1_D10",
+            "RackT1_E10",
+            "RackT1_F10",
+            "RackT1_G10",
+            "RackT1_H10",
+            "RackT1_A11",
+            "RackT1_B11",
+            "RackT1_C11",
+            "RackT1_D11",
+            "RackT1_E11",
+            "RackT1_F11",
+            "RackT1_G11",
+            "RackT1_H11",
+            "RackT1_A12",
+            "RackT1_B12",
+            "RackT1_C12",
+            "RackT1_D12",
+            "RackT1_E12",
+            "RackT1_F12",
+            "RackT1_G12",
+            "RackT1_H12"
         ],
         "parent": "PRCXI_Deck",
         "type": "container",
@@ -4336,7 +169,104 @@
             "category": "tip_rack",
             "model": null,
             "barcode": null,
-            "ordering": {}
+            "ordering": {
+                "A1": "tip_A1",
+                "B1": "tip_B1",
+                "C1": "tip_C1",
+                "D1": "tip_D1",
+                "E1": "tip_E1",
+                "F1": "tip_F1",
+                "G1": "tip_G1",
+                "H1": "tip_H1",
+                "A2": "tip_A2",
+                "B2": "tip_B2",
+                "C2": "tip_C2",
+                "D2": "tip_D2",
+                "E2": "tip_E2",
+                "F2": "tip_F2",
+                "G2": "tip_G2",
+                "H2": "tip_H2",
+                "A3": "tip_A3",
+                "B3": "tip_B3",
+                "C3": "tip_C3",
+                "D3": "tip_D3",
+                "E3": "tip_E3",
+                "F3": "tip_F3",
+                "G3": "tip_G3",
+                "H3": "tip_H3",
+                "A4": "tip_A4",
+                "B4": "tip_B4",
+                "C4": "tip_C4",
+                "D4": "tip_D4",
+                "E4": "tip_E4",
+                "F4": "tip_F4",
+                "G4": "tip_G4",
+                "H4": "tip_H4",
+                "A5": "tip_A5",
+                "B5": "tip_B5",
+                "C5": "tip_C5",
+                "D5": "tip_D5",
+                "E5": "tip_E5",
+                "F5": "tip_F5",
+                "G5": "tip_G5",
+                "H5": "tip_H5",
+                "A6": "tip_A6",
+                "B6": "tip_B6",
+                "C6": "tip_C6",
+                "D6": "tip_D6",
+                "E6": "tip_E6",
+                "F6": "tip_F6",
+                "G6": "tip_G6",
+                "H6": "tip_H6",
+                "A7": "tip_A7",
+                "B7": "tip_B7",
+                "C7": "tip_C7",
+                "D7": "tip_D7",
+                "E7": "tip_E7",
+                "F7": "tip_F7",
+                "G7": "tip_G7",
+                "H7": "tip_H7",
+                "A8": "tip_A8",
+                "B8": "tip_B8",
+                "C8": "tip_C8",
+                "D8": "tip_D8",
+                "E8": "tip_E8",
+                "F8": "tip_F8",
+                "G8": "tip_G8",
+                "H8": "tip_H8",
+                "A9": "tip_A9",
+                "B9": "tip_B9",
+                "C9": "tip_C9",
+                "D9": "tip_D9",
+                "E9": "tip_E9",
+                "F9": "tip_F9",
+                "G9": "tip_G9",
+                "H9": "tip_H9",
+                "A10": "tip_A10",
+                "B10": "tip_B10",
+                "C10": "tip_C10",
+                "D10": "tip_D10",
+                "E10": "tip_E10",
+                "F10": "tip_F10",
+                "G10": "tip_G10",
+                "H10": "tip_H10",
+                "A11": "tip_A11",
+                "B11": "tip_B11",
+                "C11": "tip_C11",
+                "D11": "tip_D11",
+                "E11": "tip_E11",
+                "F11": "tip_F11",
+                "G11": "tip_G11",
+                "H11": "tip_H11",
+                "A12": "tip_A12",
+                "B12": "tip_B12",
+                "C12": "tip_C12",
+                "D12": "tip_D12",
+                "E12": "tip_E12",
+                "F12": "tip_F12",
+                "G12": "tip_G12",
+                "H12": "tip_H12"
+            }
         },
         "data": {
             "Material": {
@@ -4347,11 +277,11 @@
         }
     },
     {
-        "id": "name_A1",
-        "name": "name_A1",
+        "id": "RackT1_A1",
+        "name": "RackT1_A1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4388,11 +318,11 @@
         }
     },
     {
-        "id": "name_B1",
-        "name": "name_B1",
+        "id": "RackT1_B1",
+        "name": "RackT1_B1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4429,11 +359,11 @@
         }
     },
     {
-        "id": "name_C1",
-        "name": "name_C1",
+        "id": "RackT1_C1",
+        "name": "RackT1_C1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4470,11 +400,11 @@
         }
     },
     {
-        "id": "name_D1",
-        "name": "name_D1",
+        "id": "RackT1_D1",
+        "name": "RackT1_D1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4511,11 +441,11 @@
         }
     },
     {
-        "id": "name_E1",
-        "name": "name_E1",
+        "id": "RackT1_E1",
+        "name": "RackT1_E1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4552,11 +482,11 @@
         }
     },
     {
-        "id": "name_F1",
-        "name": "name_F1",
+        "id": "RackT1_F1",
+        "name": "RackT1_F1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4593,11 +523,11 @@
         }
     },
     {
-        "id": "name_G1",
-        "name": "name_G1",
+        "id": "RackT1_G1",
+        "name": "RackT1_G1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4634,11 +564,11 @@
         }
     },
     {
-        "id": "name_H1",
-        "name": "name_H1",
+        "id": "RackT1_H1",
+        "name": "RackT1_H1",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4675,11 +605,11 @@
         }
     },
     {
-        "id": "name_A2",
-        "name": "name_A2",
+        "id": "RackT1_A2",
+        "name": "RackT1_A2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4716,11 +646,11 @@
         }
     },
     {
-        "id": "name_B2",
-        "name": "name_B2",
+        "id": "RackT1_B2",
+        "name": "RackT1_B2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4757,11 +687,11 @@
         }
     },
     {
-        "id": "name_C2",
-        "name": "name_C2",
+        "id": "RackT1_C2",
+        "name": "RackT1_C2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4798,11 +728,11 @@
         }
     },
     {
-        "id": "name_D2",
-        "name": "name_D2",
+        "id": "RackT1_D2",
+        "name": "RackT1_D2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4839,11 +769,11 @@
         }
     },
     {
-        "id": "name_E2",
-        "name": "name_E2",
+        "id": "RackT1_E2",
+        "name": "RackT1_E2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -4880,11 +810,11 @@
         }
     },
     {
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-        "name": "name_F2",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -4921,11 +851,11 @@
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     },
     {
-        "id": "name_G2",
-        "name": "name_G2",
+        "id": "RackT1_G2",
+        "name": "RackT1_G2",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -4962,11 +892,11 @@
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     },
     {
-        "id": "name_H2",
-        "name": "name_H2",
+        "id": "RackT1_H2",
+        "name": "RackT1_H2",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5003,11 +933,11 @@
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     },
     {
-        "id": "name_A3",
-        "name": "name_A3",
+        "id": "RackT1_A3",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5044,11 +974,11 @@
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     },
     {
-        "id": "name_B3",
-        "name": "name_B3",
+        "id": "RackT1_B3",
+        "name": "RackT1_B3",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5085,11 +1015,11 @@
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     },
     {
-        "id": "name_C3",
-        "name": "name_C3",
+        "id": "RackT1_C3",
+        "name": "RackT1_C3",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5126,11 +1056,11 @@
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     },
     {
-        "id": "name_D3",
-        "name": "name_D3",
+        "id": "RackT1_D3",
+        "name": "RackT1_D3",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5167,11 +1097,11 @@
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     },
     {
-        "id": "name_E3",
-        "name": "name_E3",
+        "id": "RackT1_E3",
+        "name": "RackT1_E3",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5208,11 +1138,11 @@
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     },
     {
-        "id": "name_F3",
-        "name": "name_F3",
+        "id": "RackT1_F3",
+        "name": "RackT1_F3",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5249,11 +1179,11 @@
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     },
     {
-        "id": "name_G3",
-        "name": "name_G3",
+        "id": "RackT1_G3",
+        "name": "RackT1_G3",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5290,11 +1220,11 @@
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     },
     {
-        "id": "name_H3",
-        "name": "name_H3",
+        "id": "RackT1_H3",
+        "name": "RackT1_H3",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5331,11 +1261,11 @@
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     {
-        "id": "name_A4",
-        "name": "name_A4",
+        "id": "RackT1_A4",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5372,11 +1302,11 @@
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     },
     {
-        "id": "name_B4",
-        "name": "name_B4",
+        "id": "RackT1_B4",
+        "name": "RackT1_B4",
         "sample_id": null,
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5413,11 +1343,11 @@
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     },
     {
-        "id": "name_C4",
-        "name": "name_C4",
+        "id": "RackT1_C4",
+        "name": "RackT1_C4",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5454,11 +1384,11 @@
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     },
     {
-        "id": "name_D4",
-        "name": "name_D4",
+        "id": "RackT1_D4",
+        "name": "RackT1_D4",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5495,11 +1425,11 @@
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     },
     {
-        "id": "name_E4",
-        "name": "name_E4",
+        "id": "RackT1_E4",
+        "name": "RackT1_E4",
         "sample_id": null,
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5536,11 +1466,11 @@
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     },
     {
-        "id": "name_F4",
-        "name": "name_F4",
+        "id": "RackT1_F4",
+        "name": "RackT1_F4",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5577,11 +1507,11 @@
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     },
     {
-        "id": "name_G4",
-        "name": "name_G4",
+        "id": "RackT1_G4",
+        "name": "RackT1_G4",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5618,11 +1548,11 @@
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     {
-        "id": "name_H4",
-        "name": "name_H4",
+        "id": "RackT1_H4",
+        "name": "RackT1_H4",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5659,11 +1589,11 @@
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-        "name": "name_A5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5700,11 +1630,11 @@
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     {
-        "id": "name_B5",
-        "name": "name_B5",
+        "id": "RackT1_B5",
+        "name": "RackT1_B5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5741,11 +1671,11 @@
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     {
-        "id": "name_C5",
-        "name": "name_C5",
+        "id": "RackT1_C5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5782,11 +1712,11 @@
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     {
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-        "name": "name_D5",
+        "id": "RackT1_D5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5823,11 +1753,11 @@
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     {
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-        "name": "name_E5",
+        "id": "RackT1_E5",
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+        "parent": "RackT1",
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@@ -5864,11 +1794,11 @@
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     {
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-        "name": "name_F5",
+        "id": "RackT1_F5",
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-        "parent": "RackT8",
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@@ -5905,11 +1835,11 @@
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     {
-        "id": "name_G5",
-        "name": "name_G5",
+        "id": "RackT1_G5",
+        "name": "RackT1_G5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5946,11 +1876,11 @@
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     {
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-        "name": "name_H5",
+        "id": "RackT1_H5",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -5987,11 +1917,11 @@
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-        "name": "name_A6",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6028,11 +1958,11 @@
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     {
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-        "name": "name_B6",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6069,11 +1999,11 @@
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     {
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-        "name": "name_C6",
+        "id": "RackT1_C6",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6110,11 +2040,11 @@
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     {
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-        "name": "name_D6",
+        "id": "RackT1_D6",
+        "name": "RackT1_D6",
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         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6151,11 +2081,11 @@
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     {
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-        "name": "name_E6",
+        "id": "RackT1_E6",
+        "name": "RackT1_E6",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6192,11 +2122,11 @@
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     {
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-        "name": "name_F6",
+        "id": "RackT1_F6",
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+        "parent": "RackT1",
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@@ -6233,11 +2163,11 @@
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     {
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-        "name": "name_G6",
+        "id": "RackT1_G6",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6274,11 +2204,11 @@
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-        "name": "name_H6",
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+        "parent": "RackT1",
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@@ -6315,11 +2245,11 @@
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     {
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-        "name": "name_A7",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6356,11 +2286,11 @@
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     {
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-        "name": "name_B7",
+        "id": "RackT1_B7",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6397,11 +2327,11 @@
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     {
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-        "name": "name_C7",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6438,11 +2368,11 @@
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     {
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-        "name": "name_D7",
+        "id": "RackT1_D7",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6479,11 +2409,11 @@
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     {
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-        "name": "name_E7",
+        "id": "RackT1_E7",
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-        "parent": "RackT8",
+        "parent": "RackT1",
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@@ -6520,11 +2450,11 @@
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-        "name": "name_F7",
+        "id": "RackT1_F7",
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+        "parent": "RackT1",
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@@ -6561,11 +2491,11 @@
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-        "name": "name_G7",
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+        "parent": "RackT1",
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@@ -6602,11 +2532,11 @@
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-        "name": "name_H7",
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+        "parent": "RackT1",
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@@ -6643,11 +2573,11 @@
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-        "name": "name_A8",
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@@ -6684,11 +2614,11 @@
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-        "name": "name_B8",
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+        "parent": "RackT1",
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@@ -6725,11 +2655,11 @@
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-        "name": "name_C8",
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@@ -6766,11 +2696,11 @@
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-        "name": "name_D8",
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@@ -6807,11 +2737,11 @@
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-        "name": "name_E8",
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@@ -6848,11 +2778,11 @@
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-        "name": "name_F8",
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@@ -6889,11 +2819,11 @@
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-        "name": "name_G8",
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@@ -6930,11 +2860,11 @@
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-        "name": "name_H8",
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+        "parent": "RackT1",
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@@ -6971,11 +2901,11 @@
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-        "name": "name_A9",
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@@ -7012,11 +2942,11 @@
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-        "name": "name_B9",
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@@ -7053,11 +2983,11 @@
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-        "name": "name_C9",
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@@ -7094,11 +3024,11 @@
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-        "name": "name_D9",
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         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7135,11 +3065,11 @@
         }
     },
     {
-        "id": "name_E9",
-        "name": "name_E9",
+        "id": "RackT1_E9",
+        "name": "RackT1_E9",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7176,11 +3106,11 @@
         }
     },
     {
-        "id": "name_F9",
-        "name": "name_F9",
+        "id": "RackT1_F9",
+        "name": "RackT1_F9",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7217,11 +3147,11 @@
         }
     },
     {
-        "id": "name_G9",
-        "name": "name_G9",
+        "id": "RackT1_G9",
+        "name": "RackT1_G9",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7258,11 +3188,11 @@
         }
     },
     {
-        "id": "name_H9",
-        "name": "name_H9",
+        "id": "RackT1_H9",
+        "name": "RackT1_H9",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7299,11 +3229,11 @@
         }
     },
     {
-        "id": "name_A10",
-        "name": "name_A10",
+        "id": "RackT1_A10",
+        "name": "RackT1_A10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7340,11 +3270,11 @@
         }
     },
     {
-        "id": "name_B10",
-        "name": "name_B10",
+        "id": "RackT1_B10",
+        "name": "RackT1_B10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7381,11 +3311,11 @@
         }
     },
     {
-        "id": "name_C10",
-        "name": "name_C10",
+        "id": "RackT1_C10",
+        "name": "RackT1_C10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7422,11 +3352,11 @@
         }
     },
     {
-        "id": "name_D10",
-        "name": "name_D10",
+        "id": "RackT1_D10",
+        "name": "RackT1_D10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7463,11 +3393,11 @@
         }
     },
     {
-        "id": "name_E10",
-        "name": "name_E10",
+        "id": "RackT1_E10",
+        "name": "RackT1_E10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7504,11 +3434,11 @@
         }
     },
     {
-        "id": "name_F10",
-        "name": "name_F10",
+        "id": "RackT1_F10",
+        "name": "RackT1_F10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7545,11 +3475,11 @@
         }
     },
     {
-        "id": "name_G10",
-        "name": "name_G10",
+        "id": "RackT1_G10",
+        "name": "RackT1_G10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7586,11 +3516,11 @@
         }
     },
     {
-        "id": "name_H10",
-        "name": "name_H10",
+        "id": "RackT1_H10",
+        "name": "RackT1_H10",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7627,11 +3557,11 @@
         }
     },
     {
-        "id": "name_A11",
-        "name": "name_A11",
+        "id": "RackT1_A11",
+        "name": "RackT1_A11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7668,11 +3598,11 @@
         }
     },
     {
-        "id": "name_B11",
-        "name": "name_B11",
+        "id": "RackT1_B11",
+        "name": "RackT1_B11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7709,11 +3639,11 @@
         }
     },
     {
-        "id": "name_C11",
-        "name": "name_C11",
+        "id": "RackT1_C11",
+        "name": "RackT1_C11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7750,11 +3680,11 @@
         }
     },
     {
-        "id": "name_D11",
-        "name": "name_D11",
+        "id": "RackT1_D11",
+        "name": "RackT1_D11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7791,11 +3721,11 @@
         }
     },
     {
-        "id": "name_E11",
-        "name": "name_E11",
+        "id": "RackT1_E11",
+        "name": "RackT1_E11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7832,11 +3762,11 @@
         }
     },
     {
-        "id": "name_F11",
-        "name": "name_F11",
+        "id": "RackT1_F11",
+        "name": "RackT1_F11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7873,11 +3803,11 @@
         }
     },
     {
-        "id": "name_G11",
-        "name": "name_G11",
+        "id": "RackT1_G11",
+        "name": "RackT1_G11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7914,11 +3844,11 @@
         }
     },
     {
-        "id": "name_H11",
-        "name": "name_H11",
+        "id": "RackT1_H11",
+        "name": "RackT1_H11",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7955,11 +3885,11 @@
         }
     },
     {
-        "id": "name_A12",
-        "name": "name_A12",
+        "id": "RackT1_A12",
+        "name": "RackT1_A12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -7996,11 +3926,11 @@
         }
     },
     {
-        "id": "name_B12",
-        "name": "name_B12",
+        "id": "RackT1_B12",
+        "name": "RackT1_B12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8037,11 +3967,11 @@
         }
     },
     {
-        "id": "name_C12",
-        "name": "name_C12",
+        "id": "RackT1_C12",
+        "name": "RackT1_C12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8078,11 +4008,11 @@
         }
     },
     {
-        "id": "name_D12",
-        "name": "name_D12",
+        "id": "RackT1_D12",
+        "name": "RackT1_D12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8119,11 +4049,11 @@
         }
     },
     {
-        "id": "name_E12",
-        "name": "name_E12",
+        "id": "RackT1_E12",
+        "name": "RackT1_E12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8160,11 +4090,11 @@
         }
     },
     {
-        "id": "name_F12",
-        "name": "name_F12",
+        "id": "RackT1_F12",
+        "name": "RackT1_F12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8201,11 +4131,11 @@
         }
     },
     {
-        "id": "name_G12",
-        "name": "name_G12",
+        "id": "RackT1_G12",
+        "name": "RackT1_G12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8242,11 +4172,11 @@
         }
     },
     {
-        "id": "name_H12",
-        "name": "name_H12",
+        "id": "RackT1_H12",
+        "name": "RackT1_H12",
         "sample_id": null,
         "children": [],
-        "parent": "RackT8",
+        "parent": "RackT1",
         "type": "container",
         "class": "",
         "position": {
@@ -8283,168 +4213,106 @@
         }
     },
     {
-        "id": "container_for_nothing5",
-        "name": "container_for_nothing5",
-        "sample_id": null,
-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "plate",
-        "class": "",
-        "position": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-        },
-        "config": {
-            "type": "PRCXI9300Container",
-            "size_x": 50,
-            "size_y": 50,
-            "size_z": 10,
-            "rotation": {
-                "x": 0,
-                "y": 0,
-                "z": 0,
-                "type": "Rotation"
-            },
-            "category": "plate",
-            "model": null,
-            "barcode": null,
-            "ordering": {}
-        },
-        "data": {}
-    },
-    {
-        "id": "container_for_nothing6",
-        "name": "container_for_nothing6",
-        "sample_id": null,
-        "children": [],
-        "parent": "PRCXI_Deck",
-        "type": "plate",
-        "class": "",
-        "position": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-        },
-        "config": {
-            "type": "PRCXI9300Container",
-            "size_x": 50,
-            "size_y": 50,
-            "size_z": 10,
-            "rotation": {
-                "x": 0,
-                "y": 0,
-                "z": 0,
-                "type": "Rotation"
-            },
-            "category": "plate",
-            "model": null,
-            "barcode": null,
-            "ordering": {}
-        },
-        "data": {}
-    },
-    {
-        "id": "PlateT11",
-        "name": "PlateT11",
+        "id": "PlateT2",
+        "name": "PlateT2",
         "sample_id": null,
         "children": [
-            "PlateT11_A1",
-            "PlateT11_B1",
-            "PlateT11_C1",
-            "PlateT11_D1",
-            "PlateT11_E1",
-            "PlateT11_F1",
-            "PlateT11_G1",
-            "PlateT11_H1",
-            "PlateT11_A2",
-            "PlateT11_B2",
-            "PlateT11_C2",
-            "PlateT11_D2",
-            "PlateT11_E2",
-            "PlateT11_F2",
-            "PlateT11_G2",
-            "PlateT11_H2",
-            "PlateT11_A3",
-            "PlateT11_B3",
-            "PlateT11_C3",
-            "PlateT11_D3",
-            "PlateT11_E3",
-            "PlateT11_F3",
-            "PlateT11_G3",
-            "PlateT11_H3",
-            "PlateT11_A4",
-            "PlateT11_B4",
-            "PlateT11_C4",
-            "PlateT11_D4",
-            "PlateT11_E4",
-            "PlateT11_F4",
-            "PlateT11_G4",
-            "PlateT11_H4",
-            "PlateT11_A5",
-            "PlateT11_B5",
-            "PlateT11_C5",
-            "PlateT11_D5",
-            "PlateT11_E5",
-            "PlateT11_F5",
-            "PlateT11_G5",
-            "PlateT11_H5",
-            "PlateT11_A6",
-            "PlateT11_B6",
-            "PlateT11_C6",
-            "PlateT11_D6",
-            "PlateT11_E6",
-            "PlateT11_F6",
-            "PlateT11_G6",
-            "PlateT11_H6",
-            "PlateT11_A7",
-            "PlateT11_B7",
-            "PlateT11_C7",
-            "PlateT11_D7",
-            "PlateT11_E7",
-            "PlateT11_F7",
-            "PlateT11_G7",
-            "PlateT11_H7",
-            "PlateT11_A8",
-            "PlateT11_B8",
-            "PlateT11_C8",
-            "PlateT11_D8",
-            "PlateT11_E8",
-            "PlateT11_F8",
-            "PlateT11_G8",
-            "PlateT11_H8",
-            "PlateT11_A9",
-            "PlateT11_B9",
-            "PlateT11_C9",
-            "PlateT11_D9",
-            "PlateT11_E9",
-            "PlateT11_F9",
-            "PlateT11_G9",
-            "PlateT11_H9",
-            "PlateT11_A10",
-            "PlateT11_B10",
-            "PlateT11_C10",
-            "PlateT11_D10",
-            "PlateT11_E10",
-            "PlateT11_F10",
-            "PlateT11_G10",
-            "PlateT11_H10",
-            "PlateT11_A11",
-            "PlateT11_B11",
-            "PlateT11_C11",
-            "PlateT11_D11",
-            "PlateT11_E11",
-            "PlateT11_F11",
-            "PlateT11_G11",
-            "PlateT11_H11",
-            "PlateT11_A12",
-            "PlateT11_B12",
-            "PlateT11_C12",
-            "PlateT11_D12",
-            "PlateT11_E12",
-            "PlateT11_F12",
-            "PlateT11_G12",
-            "PlateT11_H12"
+            "PlateT2_A1",
+            "PlateT2_B1",
+            "PlateT2_C1",
+            "PlateT2_D1",
+            "PlateT2_E1",
+            "PlateT2_F1",
+            "PlateT2_G1",
+            "PlateT2_H1",
+            "PlateT2_A2",
+            "PlateT2_B2",
+            "PlateT2_C2",
+            "PlateT2_D2",
+            "PlateT2_E2",
+            "PlateT2_F2",
+            "PlateT2_G2",
+            "PlateT2_H2",
+            "PlateT2_A3",
+            "PlateT2_B3",
+            "PlateT2_C3",
+            "PlateT2_D3",
+            "PlateT2_E3",
+            "PlateT2_F3",
+            "PlateT2_G3",
+            "PlateT2_H3",
+            "PlateT2_A4",
+            "PlateT2_B4",
+            "PlateT2_C4",
+            "PlateT2_D4",
+            "PlateT2_E4",
+            "PlateT2_F4",
+            "PlateT2_G4",
+            "PlateT2_H4",
+            "PlateT2_A5",
+            "PlateT2_B5",
+            "PlateT2_C5",
+            "PlateT2_D5",
+            "PlateT2_E5",
+            "PlateT2_F5",
+            "PlateT2_G5",
+            "PlateT2_H5",
+            "PlateT2_A6",
+            "PlateT2_B6",
+            "PlateT2_C6",
+            "PlateT2_D6",
+            "PlateT2_E6",
+            "PlateT2_F6",
+            "PlateT2_G6",
+            "PlateT2_H6",
+            "PlateT2_A7",
+            "PlateT2_B7",
+            "PlateT2_C7",
+            "PlateT2_D7",
+            "PlateT2_E7",
+            "PlateT2_F7",
+            "PlateT2_G7",
+            "PlateT2_H7",
+            "PlateT2_A8",
+            "PlateT2_B8",
+            "PlateT2_C8",
+            "PlateT2_D8",
+            "PlateT2_E8",
+            "PlateT2_F8",
+            "PlateT2_G8",
+            "PlateT2_H8",
+            "PlateT2_A9",
+            "PlateT2_B9",
+            "PlateT2_C9",
+            "PlateT2_D9",
+            "PlateT2_E9",
+            "PlateT2_F9",
+            "PlateT2_G9",
+            "PlateT2_H9",
+            "PlateT2_A10",
+            "PlateT2_B10",
+            "PlateT2_C10",
+            "PlateT2_D10",
+            "PlateT2_E10",
+            "PlateT2_F10",
+            "PlateT2_G10",
+            "PlateT2_H10",
+            "PlateT2_A11",
+            "PlateT2_B11",
+            "PlateT2_C11",
+            "PlateT2_D11",
+            "PlateT2_E11",
+            "PlateT2_F11",
+            "PlateT2_G11",
+            "PlateT2_H11",
+            "PlateT2_A12",
+            "PlateT2_B12",
+            "PlateT2_C12",
+            "PlateT2_D12",
+            "PlateT2_E12",
+            "PlateT2_F12",
+            "PlateT2_G12",
+            "PlateT2_H12"
         ],
         "parent": "PRCXI_Deck",
         "type": "plate",
@@ -8468,20 +4336,119 @@
             "category": "plate",
             "model": null,
             "barcode": null,
-            "ordering": {}
+            "ordering": {
+                "A1": "PlateT2_A1",
+                "B1": "PlateT2_B1",
+                "C1": "PlateT2_C1",
+                "D1": "PlateT2_D1",
+                "E1": "PlateT2_E1",
+                "F1": "PlateT2_F1",
+                "G1": "PlateT2_G1",
+                "H1": "PlateT2_H1",
+                "A2": "PlateT2_A2",
+                "B2": "PlateT2_B2",
+                "C2": "PlateT2_C2",
+                "D2": "PlateT2_D2",
+                "E2": "PlateT2_E2",
+                "F2": "PlateT2_F2",
+                "G2": "PlateT2_G2",
+                "H2": "PlateT2_H2",
+                "A3": "PlateT2_A3",
+                "B3": "PlateT2_B3",
+                "C3": "PlateT2_C3",
+                "D3": "PlateT2_D3",
+                "E3": "PlateT2_E3",
+                "F3": "PlateT2_F3",
+                "G3": "PlateT2_G3",
+                "H3": "PlateT2_H3",
+                "A4": "PlateT2_A4",
+                "B4": "PlateT2_B4",
+                "C4": "PlateT2_C4",
+                "D4": "PlateT2_D4",
+                "E4": "PlateT2_E4",
+                "F4": "PlateT2_F4",
+                "G4": "PlateT2_G4",
+                "H4": "PlateT2_H4",
+                "A5": "PlateT2_A5",
+                "B5": "PlateT2_B5",
+                "C5": "PlateT2_C5",
+                "D5": "PlateT2_D5",
+                "E5": "PlateT2_E5",
+                "F5": "PlateT2_F5",
+                "G5": "PlateT2_G5",
+                "H5": "PlateT2_H5",
+                "A6": "PlateT2_A6",
+                "B6": "PlateT2_B6",
+                "C6": "PlateT2_C6",
+                "D6": "PlateT2_D6",
+                "E6": "PlateT2_E6",
+                "F6": "PlateT2_F6",
+                "G6": "PlateT2_G6",
+                "H6": "PlateT2_H6",
+                "A7": "PlateT2_A7",
+                "B7": "PlateT2_B7",
+                "C7": "PlateT2_C7",
+                "D7": "PlateT2_D7",
+                "E7": "PlateT2_E7",
+                "F7": "PlateT2_F7",
+                "G7": "PlateT2_G7",
+                "H7": "PlateT2_H7",
+                "A8": "PlateT2_A8",
+                "B8": "PlateT2_B8",
+                "C8": "PlateT2_C8",
+                "D8": "PlateT2_D8",
+                "E8": "PlateT2_E8",
+                "F8": "PlateT2_F8",
+                "G8": "PlateT2_G8",
+                "H8": "PlateT2_H8",
+                "A9": "PlateT2_A9",
+                "B9": "PlateT2_B9",
+                "C9": "PlateT2_C9",
+                "D9": "PlateT2_D9",
+                "E9": "PlateT2_E9",
+                "F9": "PlateT2_F9",
+                "G9": "PlateT2_G9",
+                "H9": "PlateT2_H9",
+                "A10": "PlateT2_A10",
+                "B10": "PlateT2_B10",
+                "C10": "PlateT2_C10",
+                "D10": "PlateT2_D10",
+                "E10": "PlateT2_E10",
+                "F10": "PlateT2_F10",
+                "G10": "PlateT2_G10",
+                "H10": "PlateT2_H10",
+                "A11": "PlateT2_A11",
+                "B11": "PlateT2_B11",
+                "C11": "PlateT2_C11",
+                "D11": "PlateT2_D11",
+                "E11": "PlateT2_E11",
+                "F11": "PlateT2_F11",
+                "G11": "PlateT2_G11",
+                "H11": "PlateT2_H11",
+                "A12": "PlateT2_A12",
+                "B12": "PlateT2_B12",
+                "C12": "PlateT2_C12",
+                "D12": "PlateT2_D12",
+                "E12": "PlateT2_E12",
+                "F12": "PlateT2_F12",
+                "G12": "PlateT2_G12",
+                "H12": "PlateT2_H12"
+            }
         },
         "data": {
             "Material": {
-                "uuid": "57b1e4711e9e4a32b529f3132fc5931f"
+                "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
+                "Code": "ZX-78-096",
+                "Name": "细菌培养皿"
             }
         }
     },
     {
-        "id": "PlateT11_A1",
-        "name": "PlateT11_A1",
+        "id": "PlateT2_A1",
+        "name": "PlateT2_A1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8511,29 +4478,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "liquid_history": [
-                "Water"
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B1",
-        "name": "PlateT11_B1",
+        "id": "PlateT2_B1",
+        "name": "PlateT2_B1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8563,29 +4518,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C1",
-        "name": "PlateT11_C1",
+        "id": "PlateT2_C1",
+        "name": "PlateT2_C1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8615,29 +4558,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D1",
-        "name": "PlateT11_D1",
+        "id": "PlateT2_D1",
+        "name": "PlateT2_D1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8667,29 +4598,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E1",
-        "name": "PlateT11_E1",
+        "id": "PlateT2_E1",
+        "name": "PlateT2_E1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8719,29 +4638,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F1",
-        "name": "PlateT11_F1",
+        "id": "PlateT2_F1",
+        "name": "PlateT2_F1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8771,29 +4678,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G1",
-        "name": "PlateT11_G1",
+        "id": "PlateT2_G1",
+        "name": "PlateT2_G1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8823,29 +4718,17 @@
             "cross_section_type": "circle"
         },
         "data": {
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-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H1",
-        "name": "PlateT11_H1",
+        "id": "PlateT2_H1",
+        "name": "PlateT2_H1",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8875,29 +4758,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
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-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A2",
-        "name": "PlateT11_A2",
+        "id": "PlateT2_A2",
+        "name": "PlateT2_A2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8927,29 +4798,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "liquid_history": [
-                "Water"
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B2",
-        "name": "PlateT11_B2",
+        "id": "PlateT2_B2",
+        "name": "PlateT2_B2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -8979,29 +4838,17 @@
             "cross_section_type": "circle"
         },
         "data": {
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-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C2",
-        "name": "PlateT11_C2",
+        "id": "PlateT2_C2",
+        "name": "PlateT2_C2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9031,29 +4878,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D2",
-        "name": "PlateT11_D2",
+        "id": "PlateT2_D2",
+        "name": "PlateT2_D2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9083,29 +4918,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E2",
-        "name": "PlateT11_E2",
+        "id": "PlateT2_E2",
+        "name": "PlateT2_E2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9135,29 +4958,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F2",
-        "name": "PlateT11_F2",
+        "id": "PlateT2_F2",
+        "name": "PlateT2_F2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9187,29 +4998,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G2",
-        "name": "PlateT11_G2",
+        "id": "PlateT2_G2",
+        "name": "PlateT2_G2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9239,29 +5038,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H2",
-        "name": "PlateT11_H2",
+        "id": "PlateT2_H2",
+        "name": "PlateT2_H2",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9291,29 +5078,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A3",
-        "name": "PlateT11_A3",
+        "id": "PlateT2_A3",
+        "name": "PlateT2_A3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9343,29 +5118,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "liquid_history": [
-                "Water"
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B3",
-        "name": "PlateT11_B3",
+        "id": "PlateT2_B3",
+        "name": "PlateT2_B3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9395,29 +5158,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C3",
-        "name": "PlateT11_C3",
+        "id": "PlateT2_C3",
+        "name": "PlateT2_C3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9447,29 +5198,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D3",
-        "name": "PlateT11_D3",
+        "id": "PlateT2_D3",
+        "name": "PlateT2_D3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9499,29 +5238,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E3",
-        "name": "PlateT11_E3",
+        "id": "PlateT2_E3",
+        "name": "PlateT2_E3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9551,29 +5278,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
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-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F3",
-        "name": "PlateT11_F3",
+        "id": "PlateT2_F3",
+        "name": "PlateT2_F3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9603,29 +5318,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G3",
-        "name": "PlateT11_G3",
+        "id": "PlateT2_G3",
+        "name": "PlateT2_G3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -9655,29 +5358,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H3",
-        "name": "PlateT11_H3",
+        "id": "PlateT2_H3",
+        "name": "PlateT2_H3",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
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@@ -9707,29 +5398,17 @@
             "cross_section_type": "circle"
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-        "name": "PlateT11_A4",
+        "id": "PlateT2_A4",
+        "name": "PlateT2_A4",
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         "children": [],
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@@ -9759,29 +5438,17 @@
             "cross_section_type": "circle"
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     {
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-        "name": "PlateT11_B4",
+        "id": "PlateT2_B4",
+        "name": "PlateT2_B4",
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         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -9811,29 +5478,17 @@
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-        "id": "PlateT11_C4",
-        "name": "PlateT11_C4",
+        "id": "PlateT2_C4",
+        "name": "PlateT2_C4",
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         "children": [],
-        "parent": "PlateT11",
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@@ -9863,29 +5518,17 @@
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-        "name": "PlateT11_D4",
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+        "name": "PlateT2_D4",
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         "children": [],
-        "parent": "PlateT11",
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@@ -9915,29 +5558,17 @@
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     {
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-        "name": "PlateT11_E4",
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+        "name": "PlateT2_E4",
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         "children": [],
-        "parent": "PlateT11",
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@@ -9967,29 +5598,17 @@
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     {
-        "id": "PlateT11_F4",
-        "name": "PlateT11_F4",
+        "id": "PlateT2_F4",
+        "name": "PlateT2_F4",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10019,29 +5638,17 @@
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     },
     {
-        "id": "PlateT11_G4",
-        "name": "PlateT11_G4",
+        "id": "PlateT2_G4",
+        "name": "PlateT2_G4",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10071,29 +5678,17 @@
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         }
     },
     {
-        "id": "PlateT11_H4",
-        "name": "PlateT11_H4",
+        "id": "PlateT2_H4",
+        "name": "PlateT2_H4",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10123,29 +5718,17 @@
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         }
     },
     {
-        "id": "PlateT11_A5",
-        "name": "PlateT11_A5",
+        "id": "PlateT2_A5",
+        "name": "PlateT2_A5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10175,29 +5758,17 @@
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-                    "Water",
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B5",
-        "name": "PlateT11_B5",
+        "id": "PlateT2_B5",
+        "name": "PlateT2_B5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
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@@ -10227,29 +5798,17 @@
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     },
     {
-        "id": "PlateT11_C5",
-        "name": "PlateT11_C5",
+        "id": "PlateT2_C5",
+        "name": "PlateT2_C5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10279,29 +5838,17 @@
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         }
     },
     {
-        "id": "PlateT11_D5",
-        "name": "PlateT11_D5",
+        "id": "PlateT2_D5",
+        "name": "PlateT2_D5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10331,29 +5878,17 @@
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     },
     {
-        "id": "PlateT11_E5",
-        "name": "PlateT11_E5",
+        "id": "PlateT2_E5",
+        "name": "PlateT2_E5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10383,29 +5918,17 @@
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         }
     },
     {
-        "id": "PlateT11_F5",
-        "name": "PlateT11_F5",
+        "id": "PlateT2_F5",
+        "name": "PlateT2_F5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10435,29 +5958,17 @@
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         }
     },
     {
-        "id": "PlateT11_G5",
-        "name": "PlateT11_G5",
+        "id": "PlateT2_G5",
+        "name": "PlateT2_G5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10487,29 +5998,17 @@
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H5",
-        "name": "PlateT11_H5",
+        "id": "PlateT2_H5",
+        "name": "PlateT2_H5",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10539,29 +6038,17 @@
             "cross_section_type": "circle"
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A6",
-        "name": "PlateT11_A6",
+        "id": "PlateT2_A6",
+        "name": "PlateT2_A6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10591,29 +6078,17 @@
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-                [
-                    "Water",
-                    100
-                ]
-            ],
-            "liquid_history": [
-                "Water"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B6",
-        "name": "PlateT11_B6",
+        "id": "PlateT2_B6",
+        "name": "PlateT2_B6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10643,29 +6118,17 @@
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C6",
-        "name": "PlateT11_C6",
+        "id": "PlateT2_C6",
+        "name": "PlateT2_C6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10695,29 +6158,17 @@
             "cross_section_type": "circle"
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D6",
-        "name": "PlateT11_D6",
+        "id": "PlateT2_D6",
+        "name": "PlateT2_D6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10747,29 +6198,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E6",
-        "name": "PlateT11_E6",
+        "id": "PlateT2_E6",
+        "name": "PlateT2_E6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -10799,29 +6238,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F6",
-        "name": "PlateT11_F6",
+        "id": "PlateT2_F6",
+        "name": "PlateT2_F6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10851,29 +6278,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G6",
-        "name": "PlateT11_G6",
+        "id": "PlateT2_G6",
+        "name": "PlateT2_G6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10903,29 +6318,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H6",
-        "name": "PlateT11_H6",
+        "id": "PlateT2_H6",
+        "name": "PlateT2_H6",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -10955,29 +6358,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A7",
-        "name": "PlateT11_A7",
+        "id": "PlateT2_A7",
+        "name": "PlateT2_A7",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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@@ -11007,29 +6398,17 @@
             "cross_section_type": "circle"
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B7",
-        "name": "PlateT11_B7",
+        "id": "PlateT2_B7",
+        "name": "PlateT2_B7",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
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         "position": {
@@ -11059,29 +6438,17 @@
             "cross_section_type": "circle"
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-                    100
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+            "liquids": [],
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+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C7",
-        "name": "PlateT11_C7",
+        "id": "PlateT2_C7",
+        "name": "PlateT2_C7",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
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@@ -11111,29 +6478,17 @@
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-        "name": "PlateT11_D7",
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@@ -11163,29 +6518,17 @@
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-        "name": "PlateT11_E7",
+        "id": "PlateT2_E7",
+        "name": "PlateT2_E7",
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@@ -11215,29 +6558,17 @@
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-        "name": "PlateT11_F7",
+        "id": "PlateT2_F7",
+        "name": "PlateT2_F7",
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@@ -11267,29 +6598,17 @@
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-        "name": "PlateT11_G7",
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+        "name": "PlateT2_G7",
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@@ -11319,29 +6638,17 @@
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-        "name": "PlateT11_H7",
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+        "name": "PlateT2_H7",
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@@ -11371,29 +6678,17 @@
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-        "name": "PlateT11_A8",
+        "id": "PlateT2_A8",
+        "name": "PlateT2_A8",
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@@ -11423,29 +6718,17 @@
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-        "name": "PlateT11_B8",
+        "id": "PlateT2_B8",
+        "name": "PlateT2_B8",
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-        "parent": "PlateT11",
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@@ -11475,29 +6758,17 @@
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     {
-        "id": "PlateT11_C8",
-        "name": "PlateT11_C8",
+        "id": "PlateT2_C8",
+        "name": "PlateT2_C8",
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         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11527,29 +6798,17 @@
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     {
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-        "name": "PlateT11_D8",
+        "id": "PlateT2_D8",
+        "name": "PlateT2_D8",
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         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11579,29 +6838,17 @@
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-        "name": "PlateT11_E8",
+        "id": "PlateT2_E8",
+        "name": "PlateT2_E8",
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-        "parent": "PlateT11",
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@@ -11631,29 +6878,17 @@
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-        "name": "PlateT11_F8",
+        "id": "PlateT2_F8",
+        "name": "PlateT2_F8",
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-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11683,29 +6918,17 @@
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-        "name": "PlateT11_G8",
+        "id": "PlateT2_G8",
+        "name": "PlateT2_G8",
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         "children": [],
-        "parent": "PlateT11",
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@@ -11735,29 +6958,17 @@
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     {
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-        "name": "PlateT11_H8",
+        "id": "PlateT2_H8",
+        "name": "PlateT2_H8",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11787,29 +6998,17 @@
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     {
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-        "name": "PlateT11_A9",
+        "id": "PlateT2_A9",
+        "name": "PlateT2_A9",
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         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11839,29 +7038,17 @@
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     },
     {
-        "id": "PlateT11_B9",
-        "name": "PlateT11_B9",
+        "id": "PlateT2_B9",
+        "name": "PlateT2_B9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11891,29 +7078,17 @@
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     },
     {
-        "id": "PlateT11_C9",
-        "name": "PlateT11_C9",
+        "id": "PlateT2_C9",
+        "name": "PlateT2_C9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11943,29 +7118,17 @@
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+            "liquid_history": []
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     },
     {
-        "id": "PlateT11_D9",
-        "name": "PlateT11_D9",
+        "id": "PlateT2_D9",
+        "name": "PlateT2_D9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -11995,29 +7158,17 @@
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     },
     {
-        "id": "PlateT11_E9",
-        "name": "PlateT11_E9",
+        "id": "PlateT2_E9",
+        "name": "PlateT2_E9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12047,29 +7198,17 @@
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+            "liquid_history": []
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     },
     {
-        "id": "PlateT11_F9",
-        "name": "PlateT11_F9",
+        "id": "PlateT2_F9",
+        "name": "PlateT2_F9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12099,29 +7238,17 @@
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     },
     {
-        "id": "PlateT11_G9",
-        "name": "PlateT11_G9",
+        "id": "PlateT2_G9",
+        "name": "PlateT2_G9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12151,29 +7278,17 @@
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     },
     {
-        "id": "PlateT11_H9",
-        "name": "PlateT11_H9",
+        "id": "PlateT2_H9",
+        "name": "PlateT2_H9",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12203,29 +7318,17 @@
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     {
-        "id": "PlateT11_A10",
-        "name": "PlateT11_A10",
+        "id": "PlateT2_A10",
+        "name": "PlateT2_A10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12255,29 +7358,17 @@
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     },
     {
-        "id": "PlateT11_B10",
-        "name": "PlateT11_B10",
+        "id": "PlateT2_B10",
+        "name": "PlateT2_B10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12307,29 +7398,17 @@
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     },
     {
-        "id": "PlateT11_C10",
-        "name": "PlateT11_C10",
+        "id": "PlateT2_C10",
+        "name": "PlateT2_C10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12359,29 +7438,17 @@
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     },
     {
-        "id": "PlateT11_D10",
-        "name": "PlateT11_D10",
+        "id": "PlateT2_D10",
+        "name": "PlateT2_D10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12411,29 +7478,17 @@
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     {
-        "id": "PlateT11_E10",
-        "name": "PlateT11_E10",
+        "id": "PlateT2_E10",
+        "name": "PlateT2_E10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
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@@ -12463,29 +7518,17 @@
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     {
-        "id": "PlateT11_F10",
-        "name": "PlateT11_F10",
+        "id": "PlateT2_F10",
+        "name": "PlateT2_F10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12515,29 +7558,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G10",
-        "name": "PlateT11_G10",
+        "id": "PlateT2_G10",
+        "name": "PlateT2_G10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12567,29 +7598,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H10",
-        "name": "PlateT11_H10",
+        "id": "PlateT2_H10",
+        "name": "PlateT2_H10",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12619,29 +7638,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A11",
-        "name": "PlateT11_A11",
+        "id": "PlateT2_A11",
+        "name": "PlateT2_A11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12671,29 +7678,17 @@
             "cross_section_type": "circle"
         },
         "data": {
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-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B11",
-        "name": "PlateT11_B11",
+        "id": "PlateT2_B11",
+        "name": "PlateT2_B11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12723,29 +7718,17 @@
             "cross_section_type": "circle"
         },
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-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C11",
-        "name": "PlateT11_C11",
+        "id": "PlateT2_C11",
+        "name": "PlateT2_C11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12775,29 +7758,17 @@
             "cross_section_type": "circle"
         },
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-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D11",
-        "name": "PlateT11_D11",
+        "id": "PlateT2_D11",
+        "name": "PlateT2_D11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12827,29 +7798,17 @@
             "cross_section_type": "circle"
         },
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-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E11",
-        "name": "PlateT11_E11",
+        "id": "PlateT2_E11",
+        "name": "PlateT2_E11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12879,29 +7838,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F11",
-        "name": "PlateT11_F11",
+        "id": "PlateT2_F11",
+        "name": "PlateT2_F11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12931,29 +7878,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G11",
-        "name": "PlateT11_G11",
+        "id": "PlateT2_G11",
+        "name": "PlateT2_G11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -12983,29 +7918,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H11",
-        "name": "PlateT11_H11",
+        "id": "PlateT2_H11",
+        "name": "PlateT2_H11",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13035,29 +7958,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
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-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_A12",
-        "name": "PlateT11_A12",
+        "id": "PlateT2_A12",
+        "name": "PlateT2_A12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13087,29 +7998,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_B12",
-        "name": "PlateT11_B12",
+        "id": "PlateT2_B12",
+        "name": "PlateT2_B12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13139,29 +8038,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_C12",
-        "name": "PlateT11_C12",
+        "id": "PlateT2_C12",
+        "name": "PlateT2_C12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13191,29 +8078,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_D12",
-        "name": "PlateT11_D12",
+        "id": "PlateT2_D12",
+        "name": "PlateT2_D12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13243,29 +8118,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_E12",
-        "name": "PlateT11_E12",
+        "id": "PlateT2_E12",
+        "name": "PlateT2_E12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13295,29 +8158,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_F12",
-        "name": "PlateT11_F12",
+        "id": "PlateT2_F12",
+        "name": "PlateT2_F12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13347,29 +8198,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_G12",
-        "name": "PlateT11_G12",
+        "id": "PlateT2_G12",
+        "name": "PlateT2_G12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13399,29 +8238,17 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
-        "id": "PlateT11_H12",
-        "name": "PlateT11_H12",
+        "id": "PlateT2_H12",
+        "name": "PlateT2_H12",
         "sample_id": null,
         "children": [],
-        "parent": "PlateT11",
+        "parent": "PlateT2",
         "type": "well",
         "class": "",
         "position": {
@@ -13451,21 +8278,12352 @@
             "cross_section_type": "circle"
         },
         "data": {
-            "liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "pending_liquids": [
-                [
-                    null,
-                    100
-                ]
-            ],
-            "liquid_history": [
-                null
-            ]
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "container_for_nothin3",
+        "name": "container_for_nothin3",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "PlateT4",
+        "name": "PlateT4",
+        "sample_id": null,
+        "children": [
+            "PlateT4_A1",
+            "PlateT4_B1",
+            "PlateT4_C1",
+            "PlateT4_D1",
+            "PlateT4_E1",
+            "PlateT4_F1",
+            "PlateT4_G1",
+            "PlateT4_H1",
+            "PlateT4_A2",
+            "PlateT4_B2",
+            "PlateT4_C2",
+            "PlateT4_D2",
+            "PlateT4_E2",
+            "PlateT4_F2",
+            "PlateT4_G2",
+            "PlateT4_H2",
+            "PlateT4_A3",
+            "PlateT4_B3",
+            "PlateT4_C3",
+            "PlateT4_D3",
+            "PlateT4_E3",
+            "PlateT4_F3",
+            "PlateT4_G3",
+            "PlateT4_H3",
+            "PlateT4_A4",
+            "PlateT4_B4",
+            "PlateT4_C4",
+            "PlateT4_D4",
+            "PlateT4_E4",
+            "PlateT4_F4",
+            "PlateT4_G4",
+            "PlateT4_H4",
+            "PlateT4_A5",
+            "PlateT4_B5",
+            "PlateT4_C5",
+            "PlateT4_D5",
+            "PlateT4_E5",
+            "PlateT4_F5",
+            "PlateT4_G5",
+            "PlateT4_H5",
+            "PlateT4_A6",
+            "PlateT4_B6",
+            "PlateT4_C6",
+            "PlateT4_D6",
+            "PlateT4_E6",
+            "PlateT4_F6",
+            "PlateT4_G6",
+            "PlateT4_H6",
+            "PlateT4_A7",
+            "PlateT4_B7",
+            "PlateT4_C7",
+            "PlateT4_D7",
+            "PlateT4_E7",
+            "PlateT4_F7",
+            "PlateT4_G7",
+            "PlateT4_H7",
+            "PlateT4_A8",
+            "PlateT4_B8",
+            "PlateT4_C8",
+            "PlateT4_D8",
+            "PlateT4_E8",
+            "PlateT4_F8",
+            "PlateT4_G8",
+            "PlateT4_H8",
+            "PlateT4_A9",
+            "PlateT4_B9",
+            "PlateT4_C9",
+            "PlateT4_D9",
+            "PlateT4_E9",
+            "PlateT4_F9",
+            "PlateT4_G9",
+            "PlateT4_H9",
+            "PlateT4_A10",
+            "PlateT4_B10",
+            "PlateT4_C10",
+            "PlateT4_D10",
+            "PlateT4_E10",
+            "PlateT4_F10",
+            "PlateT4_G10",
+            "PlateT4_H10",
+            "PlateT4_A11",
+            "PlateT4_B11",
+            "PlateT4_C11",
+            "PlateT4_D11",
+            "PlateT4_E11",
+            "PlateT4_F11",
+            "PlateT4_G11",
+            "PlateT4_H11",
+            "PlateT4_A12",
+            "PlateT4_B12",
+            "PlateT4_C12",
+            "PlateT4_D12",
+            "PlateT4_E12",
+            "PlateT4_F12",
+            "PlateT4_G12",
+            "PlateT4_H12"
+        ],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {
+                "A1": "PlateT4_A1",
+                "B1": "PlateT4_B1",
+                "C1": "PlateT4_C1",
+                "D1": "PlateT4_D1",
+                "E1": "PlateT4_E1",
+                "F1": "PlateT4_F1",
+                "G1": "PlateT4_G1",
+                "H1": "PlateT4_H1",
+                "A2": "PlateT4_A2",
+                "B2": "PlateT4_B2",
+                "C2": "PlateT4_C2",
+                "D2": "PlateT4_D2",
+                "E2": "PlateT4_E2",
+                "F2": "PlateT4_F2",
+                "G2": "PlateT4_G2",
+                "H2": "PlateT4_H2",
+                "A3": "PlateT4_A3",
+                "B3": "PlateT4_B3",
+                "C3": "PlateT4_C3",
+                "D3": "PlateT4_D3",
+                "E3": "PlateT4_E3",
+                "F3": "PlateT4_F3",
+                "G3": "PlateT4_G3",
+                "H3": "PlateT4_H3",
+                "A4": "PlateT4_A4",
+                "B4": "PlateT4_B4",
+                "C4": "PlateT4_C4",
+                "D4": "PlateT4_D4",
+                "E4": "PlateT4_E4",
+                "F4": "PlateT4_F4",
+                "G4": "PlateT4_G4",
+                "H4": "PlateT4_H4",
+                "A5": "PlateT4_A5",
+                "B5": "PlateT4_B5",
+                "C5": "PlateT4_C5",
+                "D5": "PlateT4_D5",
+                "E5": "PlateT4_E5",
+                "F5": "PlateT4_F5",
+                "G5": "PlateT4_G5",
+                "H5": "PlateT4_H5",
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+            "rotation": {
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+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
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+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT6_H12",
+        "name": "PlateT6_H12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT6",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 8.8145,
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+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
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+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
         }
     },
     {
@@ -13529,5 +20687,20469 @@
             "ordering": {}
         },
         "data": {}
+    },
+    {
+        "id": "PlateT9",
+        "name": "PlateT9",
+        "sample_id": null,
+        "children": [
+            "PlateT9_A1",
+            "PlateT9_B1",
+            "PlateT9_C1",
+            "PlateT9_D1",
+            "PlateT9_E1",
+            "PlateT9_F1",
+            "PlateT9_G1",
+            "PlateT9_H1",
+            "PlateT9_A2",
+            "PlateT9_B2",
+            "PlateT9_C2",
+            "PlateT9_D2",
+            "PlateT9_E2",
+            "PlateT9_F2",
+            "PlateT9_G2",
+            "PlateT9_H2",
+            "PlateT9_A3",
+            "PlateT9_B3",
+            "PlateT9_C3",
+            "PlateT9_D3",
+            "PlateT9_E3",
+            "PlateT9_F3",
+            "PlateT9_G3",
+            "PlateT9_H3",
+            "PlateT9_A4",
+            "PlateT9_B4",
+            "PlateT9_C4",
+            "PlateT9_D4",
+            "PlateT9_E4",
+            "PlateT9_F4",
+            "PlateT9_G4",
+            "PlateT9_H4",
+            "PlateT9_A5",
+            "PlateT9_B5",
+            "PlateT9_C5",
+            "PlateT9_D5",
+            "PlateT9_E5",
+            "PlateT9_F5",
+            "PlateT9_G5",
+            "PlateT9_H5",
+            "PlateT9_A6",
+            "PlateT9_B6",
+            "PlateT9_C6",
+            "PlateT9_D6",
+            "PlateT9_E6",
+            "PlateT9_F6",
+            "PlateT9_G6",
+            "PlateT9_H6",
+            "PlateT9_A7",
+            "PlateT9_B7",
+            "PlateT9_C7",
+            "PlateT9_D7",
+            "PlateT9_E7",
+            "PlateT9_F7",
+            "PlateT9_G7",
+            "PlateT9_H7",
+            "PlateT9_A8",
+            "PlateT9_B8",
+            "PlateT9_C8",
+            "PlateT9_D8",
+            "PlateT9_E8",
+            "PlateT9_F8",
+            "PlateT9_G8",
+            "PlateT9_H8",
+            "PlateT9_A9",
+            "PlateT9_B9",
+            "PlateT9_C9",
+            "PlateT9_D9",
+            "PlateT9_E9",
+            "PlateT9_F9",
+            "PlateT9_G9",
+            "PlateT9_H9",
+            "PlateT9_A10",
+            "PlateT9_B10",
+            "PlateT9_C10",
+            "PlateT9_D10",
+            "PlateT9_E10",
+            "PlateT9_F10",
+            "PlateT9_G10",
+            "PlateT9_H10",
+            "PlateT9_A11",
+            "PlateT9_B11",
+            "PlateT9_C11",
+            "PlateT9_D11",
+            "PlateT9_E11",
+            "PlateT9_F11",
+            "PlateT9_G11",
+            "PlateT9_H11",
+            "PlateT9_A12",
+            "PlateT9_B12",
+            "PlateT9_C12",
+            "PlateT9_D12",
+            "PlateT9_E12",
+            "PlateT9_F12",
+            "PlateT9_G12",
+            "PlateT9_H12"
+        ],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
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+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
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+            "size_y": 50,
+            "size_z": 10,
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+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {
+                "A1": "PlateT9_A1",
+                "B1": "PlateT9_B1",
+                "C1": "PlateT9_C1",
+                "D1": "PlateT9_D1",
+                "E1": "PlateT9_E1",
+                "F1": "PlateT9_F1",
+                "G1": "PlateT9_G1",
+                "H1": "PlateT9_H1",
+                "A2": "PlateT9_A2",
+                "B2": "PlateT9_B2",
+                "C2": "PlateT9_C2",
+                "D2": "PlateT9_D2",
+                "E2": "PlateT9_E2",
+                "F2": "PlateT9_F2",
+                "G2": "PlateT9_G2",
+                "H2": "PlateT9_H2",
+                "A3": "PlateT9_A3",
+                "B3": "PlateT9_B3",
+                "C3": "PlateT9_C3",
+                "D3": "PlateT9_D3",
+                "E3": "PlateT9_E3",
+                "F3": "PlateT9_F3",
+                "G3": "PlateT9_G3",
+                "H3": "PlateT9_H3",
+                "A4": "PlateT9_A4",
+                "B4": "PlateT9_B4",
+                "C4": "PlateT9_C4",
+                "D4": "PlateT9_D4",
+                "E4": "PlateT9_E4",
+                "F4": "PlateT9_F4",
+                "G4": "PlateT9_G4",
+                "H4": "PlateT9_H4",
+                "A5": "PlateT9_A5",
+                "B5": "PlateT9_B5",
+                "C5": "PlateT9_C5",
+                "D5": "PlateT9_D5",
+                "E5": "PlateT9_E5",
+                "F5": "PlateT9_F5",
+                "G5": "PlateT9_G5",
+                "H5": "PlateT9_H5",
+                "A6": "PlateT9_A6",
+                "B6": "PlateT9_B6",
+                "C6": "PlateT9_C6",
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+                "E6": "PlateT9_E6",
+                "F6": "PlateT9_F6",
+                "G6": "PlateT9_G6",
+                "H6": "PlateT9_H6",
+                "A7": "PlateT9_A7",
+                "B7": "PlateT9_B7",
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+                "D7": "PlateT9_D7",
+                "E7": "PlateT9_E7",
+                "F7": "PlateT9_F7",
+                "G7": "PlateT9_G7",
+                "H7": "PlateT9_H7",
+                "A8": "PlateT9_A8",
+                "B8": "PlateT9_B8",
+                "C8": "PlateT9_C8",
+                "D8": "PlateT9_D8",
+                "E8": "PlateT9_E8",
+                "F8": "PlateT9_F8",
+                "G8": "PlateT9_G8",
+                "H8": "PlateT9_H8",
+                "A9": "PlateT9_A9",
+                "B9": "PlateT9_B9",
+                "C9": "PlateT9_C9",
+                "D9": "PlateT9_D9",
+                "E9": "PlateT9_E9",
+                "F9": "PlateT9_F9",
+                "G9": "PlateT9_G9",
+                "H9": "PlateT9_H9",
+                "A10": "PlateT9_A10",
+                "B10": "PlateT9_B10",
+                "C10": "PlateT9_C10",
+                "D10": "PlateT9_D10",
+                "E10": "PlateT9_E10",
+                "F10": "PlateT9_F10",
+                "G10": "PlateT9_G10",
+                "H10": "PlateT9_H10",
+                "A11": "PlateT9_A11",
+                "B11": "PlateT9_B11",
+                "C11": "PlateT9_C11",
+                "D11": "PlateT9_D11",
+                "E11": "PlateT9_E11",
+                "F11": "PlateT9_F11",
+                "G11": "PlateT9_G11",
+                "H11": "PlateT9_H11",
+                "A12": "PlateT9_A12",
+                "B12": "PlateT9_B12",
+                "C12": "PlateT9_C12",
+                "D12": "PlateT9_D12",
+                "E12": "PlateT9_E12",
+                "F12": "PlateT9_F12",
+                "G12": "PlateT9_G12",
+                "H12": "PlateT9_H12"
+            }
+        },
+        "data": {
+            "Material": {
+                "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+                "Code": "ZX-58-0001",
+                "SupplyType": 2,
+                "Name": "全裙边 PCR适配器",
+                "SummaryName": "全裙边 PCR适配器"
+            }
+        }
+    },
+    {
+        "id": "PlateT9_A1",
+        "name": "PlateT9_A1",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT9",
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+        }
+    },
+    {
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+        "name": "PlateT9_B1",
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+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT9_C1",
+        "name": "PlateT9_C1",
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+        "children": [],
+        "parent": "PlateT9",
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+        }
+    },
+    {
+        "id": "PlateT9_D1",
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+    },
+    {
+        "id": "PlateT9_E1",
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+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_G10",
+        "name": "PlateT15_G10",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 92.9545,
+            "y": 17.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_H10",
+        "name": "PlateT15_H10",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 92.9545,
+            "y": 8.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_A11",
+        "name": "PlateT15_A11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 71.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_B11",
+        "name": "PlateT15_B11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 62.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_C11",
+        "name": "PlateT15_C11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 53.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_D11",
+        "name": "PlateT15_D11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 44.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_E11",
+        "name": "PlateT15_E11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 35.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_F11",
+        "name": "PlateT15_F11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 26.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_G11",
+        "name": "PlateT15_G11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 17.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_H11",
+        "name": "PlateT15_H11",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 101.9545,
+            "y": 8.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_A12",
+        "name": "PlateT15_A12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 71.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_B12",
+        "name": "PlateT15_B12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 62.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_C12",
+        "name": "PlateT15_C12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 53.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_D12",
+        "name": "PlateT15_D12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 44.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_E12",
+        "name": "PlateT15_E12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 35.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_F12",
+        "name": "PlateT15_F12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 26.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_G12",
+        "name": "PlateT15_G12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 17.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "PlateT15_H12",
+        "name": "PlateT15_H12",
+        "sample_id": null,
+        "children": [],
+        "parent": "PlateT15",
+        "type": "well",
+        "class": "",
+        "position": {
+            "x": 110.9545,
+            "y": 8.8145,
+            "z": 3.55
+        },
+        "config": {
+            "type": "Well",
+            "size_x": 4.851,
+            "size_y": 4.851,
+            "size_z": 10.67,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "well",
+            "model": null,
+            "barcode": null,
+            "max_volume": 360,
+            "material_z_thickness": null,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null,
+            "bottom_type": "unknown",
+            "cross_section_type": "circle"
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": []
+        }
+    },
+    {
+        "id": "trash",
+        "name": "trash",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "container",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Trash",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "trash",
+            "model": null,
+            "barcode": null,
+            "max_volume": "Infinity",
+            "material_z_thickness": 0,
+            "compute_volume_from_height": null,
+            "compute_height_from_volume": null
+        },
+        "data": {
+            "liquids": [],
+            "pending_liquids": [],
+            "liquid_history": [],
+            "Material": {
+                "uuid": "730067cf07ae43849ddf4034299030e9"
+            }
+        }
     }
 ]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
index 94a831d3..d9c04331 100644
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -2,9 +2,10 @@ import asyncio
 import collections
 import contextlib
 import json
+import os
 import socket
 import time
-from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
+from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
 
 from pylabrobot.liquid_handling import (
     LiquidHandlerBackend,
@@ -14,7 +15,9 @@ from pylabrobot.liquid_handling import (
     SingleChannelDispense,
     PickupTipRack,
     DropTipRack,
-    MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
+    MultiHeadAspirationPlate,
+    ChatterBoxBackend,
+    LiquidHandlerChatterboxBackend,
 )
 from pylabrobot.liquid_handling.standard import (
     MultiHeadAspirationContainer,
@@ -72,7 +75,16 @@ class PRCXI9300Container(Plate, TipRack):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str,
+        ordering: collections.OrderedDict,
+        model: Optional[str] = None,
+    ):
         super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
 
@@ -102,14 +114,15 @@ class PRCXI9300Trash(Trash):
 
     def load_state(self, state: Dict[str, Any]) -> None:
         """从给定的状态加载工作台信息。"""
-        #super().load_state(state)
+        # super().load_state(state)
         self._unilabos_state = state
 
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         data = super().serialize_state()
         data.update(self._unilabos_state)
         return data
-    
+
+
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
 
@@ -120,7 +133,20 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             return True
         return self._unilabos_backend.is_reset_ok
 
-    def __init__(self, deck: Deck, host: str, port: int, timeout: float, channel_num=8, axis="Left", setup=True, debug=False, simulator=False, matrix_id=""):
+    def __init__(
+        self,
+        deck: Deck,
+        host: str,
+        port: int,
+        timeout: float,
+        channel_num=8,
+        axis="Left",
+        setup=True,
+        debug=False,
+        simulator=False,
+        matrix_id="",
+        is_9320=False,
+    ):
         tablets_info = []
         count = 0
         for child in deck.children:
@@ -129,12 +155,22 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 tablets_info.append(
                     WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
                 )
-        self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id)
+        if is_9320:
+            print("当前设备是9320")
+        self._unilabos_backend = PRCXI9300Backend(
+            tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
+        )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
 
     def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         return super().set_liquid(wells, liquid_names, volumes)
 
+    def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
+        return super().set_group(group_name, wells, volumes)
+
+    async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
+        return await super().transfer_group(source_group_name, target_group_name, unit_volume)
+
     async def create_protocol(
         self,
         protocol_name: str = "",
@@ -289,41 +325,88 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
     ):
-        return await self._unilabos_backend.mix(targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys)
+        return await self._unilabos_backend.mix(
+            targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys
+        )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         return super().iter_tips(tip_racks)
 
-    async def pick_up_tips(self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None,
-                           offsets: Optional[List[Coordinate]] = None, **backend_kwargs):
+    async def pick_up_tips(
+        self,
+        tip_spots: List[TipSpot],
+        use_channels: Optional[List[int]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        **backend_kwargs,
+    ):
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
 
-    async def aspirate(self, resources: Sequence[Container], vols: List[float],
-                       use_channels: Optional[List[int]] = None, flow_rates: Optional[List[Optional[float]]] = None,
-                       offsets: Optional[List[Coordinate]] = None,
-                       liquid_height: Optional[List[Optional[float]]] = None,
-                       blow_out_air_volume: Optional[List[Optional[float]]] = None,
-                       spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs):
+    async def aspirate(
+        self,
+        resources: Sequence[Container],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Literal["wide", "tight", "custom"] = "wide",
+        **backend_kwargs,
+    ):
 
-        return await super().aspirate(resources, vols, use_channels, flow_rates, offsets, liquid_height,
-                                      blow_out_air_volume, spread, **backend_kwargs)
+        return await super().aspirate(
+            resources,
+            vols,
+            use_channels,
+            flow_rates,
+            offsets,
+            liquid_height,
+            blow_out_air_volume,
+            spread,
+            **backend_kwargs,
+        )
 
-    async def drop_tips(self, tip_spots: Sequence[Union[TipSpot, Trash]], use_channels: Optional[List[int]] = None,
-                        offsets: Optional[List[Coordinate]] = None, allow_nonzero_volume: bool = False,
-                        **backend_kwargs):
+    async def drop_tips(
+        self,
+        tip_spots: Sequence[Union[TipSpot, Trash]],
+        use_channels: Optional[List[int]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        allow_nonzero_volume: bool = False,
+        **backend_kwargs,
+    ):
         return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
 
-    async def dispense(self, resources: Sequence[Container], vols: List[float],
-                       use_channels: Optional[List[int]] = None, flow_rates: Optional[List[Optional[float]]] = None,
-                       offsets: Optional[List[Coordinate]] = None,
-                       liquid_height: Optional[List[Optional[float]]] = None,
-                       blow_out_air_volume: Optional[List[Optional[float]]] = None,
-                       spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs):
-        return await super().dispense(resources, vols, use_channels, flow_rates, offsets, liquid_height,
-                                      blow_out_air_volume, spread, **backend_kwargs)
+    async def dispense(
+        self,
+        resources: Sequence[Container],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Literal["wide", "tight", "custom"] = "wide",
+        **backend_kwargs,
+    ):
+        return await super().dispense(
+            resources,
+            vols,
+            use_channels,
+            flow_rates,
+            offsets,
+            liquid_height,
+            blow_out_air_volume,
+            spread,
+            **backend_kwargs,
+        )
 
-    async def discard_tips(self, use_channels: Optional[List[int]] = None, allow_nonzero_volume: bool = True,
-                           offsets: Optional[List[Coordinate]] = None, **backend_kwargs):
+    async def discard_tips(
+        self,
+        use_channels: Optional[List[int]] = None,
+        allow_nonzero_volume: bool = True,
+        offsets: Optional[List[Coordinate]] = None,
+        **backend_kwargs,
+    ):
         return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
 
     def set_tiprack(self, tip_racks: Sequence[TipRack]):
@@ -346,7 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     def is_reset_ok(self) -> bool:
         self._is_reset_ok = self.api_client.get_reset_status()
         return self._is_reset_ok
-    
+
     matrix_info: MatrixInfo
     protocol_name: str
     steps_todo_list = []
@@ -357,16 +440,17 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         host: str = "127.0.0.1",
         port: int = 9999,
         timeout: float = 10.0,
-        channel_num: int=8,
-        axis: str="Left",
+        channel_num: int = 8,
+        axis: str = "Left",
         setup=True,
         debug=False,
         matrix_id="",
+        is_9320=False,
     ) -> None:
         super().__init__()
         self.tablets_info = tablets_info
         self.matrix_id = matrix_id
-        self.api_client = PRCXI9300Api(host, port, timeout, axis, debug)
+        self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320)
         self.host, self.port, self.timeout = host, port, timeout
         self._num_channels = channel_num
         self._execute_setup = setup
@@ -385,7 +469,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             MatrixCount=len(self.tablets_info),
             WorkTablets=self.tablets_info,
         )
-        #print(json.dumps(self.matrix_info, indent=2))
+        # print(json.dumps(self.matrix_info, indent=2))
         if not len(self.matrix_id):
             res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
             assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
@@ -395,9 +479,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             )
         else:
             print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
-            solution_id = self.api_client.add_solution(
-                f"protocol_{run_time}", self.matrix_id, self.steps_todo_list
-            )
+            solution_id = self.api_client.add_solution(f"protocol_{run_time}", self.matrix_id, self.steps_todo_list)
         print(f"PRCXI9300Backend created solution with ID: {solution_id}")
         self.api_client.load_solution(solution_id)
         print(json.dumps(self.steps_todo_list, indent=2))
@@ -431,19 +513,19 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-        print('where?'*200)
+
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
-            print(f"Plate index: {plate_index}, Plate name: {plate.name}")
-            print(f"Number of children in deck: {len(deck.children)}")
+            # print(f"Plate index: {plate_index}, Plate name: {plate.name}")
+            # print(f"Number of children in deck: {len(deck.children)}")
 
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
-            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) 
+            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
 
         tip_columns = []
         for op in ops:
@@ -452,23 +534,29 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
             raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        # print('111'*99)
-        # print(plate_indexes[0])
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
         if self._num_channels == 1:
-            hole_row = tipspot_index % 8 + 1 
+            hole_row = tipspot_index % 8 + 1
 
-        step = self.api_client.Load(dosage=0, plate_no=PlateNo, is_whole_plate=False, hole_row=hole_row, hole_col=hole_col,
-                                    blending_times=0, balance_height=0, plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-                                    hole_numbers="1,2,3,4,5,6,7,8")
+        step = self.api_client.Load(
+            dosage=0,
+            plate_no=PlateNo,
+            is_whole_plate=False,
+            hole_row=hole_row,
+            hole_col=hole_col,
+            blending_times=0,
+            balance_height=0,
+            plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
+            hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
+        )
         self.steps_todo_list.append(step)
 
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
 
-        # 检查trash # 
+        # 检查trash #
         if ops[0].resource.name == "trash":
 
             PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
@@ -483,12 +571,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 balance_height=0,
                 plate_or_hole=f"H{1}-8,T{PlateNo}",
                 hole_numbers="1,2,3,4,5,6,7,8",
-        )
+            )
             self.steps_todo_list.append(step)
             return
-        #print(ops[0].resource.parent.children.index(ops[0].resource))
+        # print(ops[0].resource.parent.children.index(ops[0].resource))
 
-        
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
@@ -496,7 +583,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
         if len(set(plate_indexes)) != 1:
-            raise ValueError("All drop_tips must be from the same plate. Found different plates: " + str(plate_indexes)) 
+            raise ValueError(
+                "All drop_tips must be from the same plate. Found different plates: " + str(plate_indexes)
+            )
 
         tip_columns = []
         for op in ops:
@@ -504,8 +593,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tipspot_index = tipspot.parent.children.index(tipspot)
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
-            raise ValueError("All drop_tips must be from the same tip column. Found different columns: " + str(tip_columns))
-        
+            raise ValueError(
+                "All drop_tips must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
+
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
@@ -526,18 +617,17 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
 
     async def mix(
-            self,
-            targets: Sequence[Container],
-            mix_time: int = None,
-            mix_vol: Optional[int] = None,
-            height_to_bottom: Optional[float] = None,
-            offsets: Optional[Coordinate] = None,
-            mix_rate: Optional[float] = None,
-            none_keys: List[str] = [],
+        self,
+        targets: Sequence[Container],
+        mix_time: int = None,
+        mix_vol: Optional[int] = None,
+        height_to_bottom: Optional[float] = None,
+        offsets: Optional[Coordinate] = None,
+        mix_rate: Optional[float] = None,
+        none_keys: List[str] = [],
     ):
-        
         """Mix liquid in the specified resources."""
-   
+
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent
@@ -546,7 +636,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
-            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) 
+            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
 
         tip_columns = []
         for op in targets:
@@ -554,13 +644,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
 
         if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
+
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
         if self.num_channels == 1:
-            hole_row = tipspot_index % 8 + 1 
+            hole_row = tipspot_index % 8 + 1
 
         assert mix_time > 0
         step = self.api_client.Blending(
@@ -577,7 +669,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
 
     async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
-
         """Aspirate liquid from the specified resources."""
 
         plate_indexes = []
@@ -588,7 +679,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
-            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) 
+            raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
 
         tip_columns = []
         for op in ops:
@@ -597,27 +688,34 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
 
         if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
+
         volumes = [op.volume for op in ops]
         if len(set(volumes)) != 1:
             raise ValueError("All aspirate volumes must be the same. Found different volumes: " + str(volumes))
-        
+
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
         if self.num_channels == 1:
-            hole_row = tipspot_index % 8 + 1 
+            hole_row = tipspot_index % 8 + 1
 
-        step = self.api_client.Imbibing(dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, hole_row=hole_row,
-                                        hole_col=hole_col, blending_times=0, balance_height=0,
-                                        plate_or_hole=f"H{hole_col}-8,T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8")
+        step = self.api_client.Imbibing(
+            dosage=int(volumes[0]),
+            plate_no=PlateNo,
+            is_whole_plate=False,
+            hole_row=hole_row,
+            hole_col=hole_col,
+            blending_times=0,
+            balance_height=0,
+            plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
+            hole_numbers="1,2,3,4,5,6,7,8",
+        )
         self.steps_todo_list.append(step)
-        
-
 
     async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
-        
         """Dispense liquid into the specified resources."""
 
         plate_indexes = []
@@ -628,7 +726,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
-            raise ValueError("All dispense must be from the same plate. Found different plates: " + str(plate_indexes)) 
+            raise ValueError("All dispense must be from the same plate. Found different plates: " + str(plate_indexes))
 
         tip_columns = []
         for op in ops:
@@ -637,12 +735,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
 
         if len(set(tip_columns)) != 1:
-            raise ValueError("All dispense must be from the same tip column. Found different columns: " + str(tip_columns))
-        
+            raise ValueError(
+                "All dispense must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
+
         volumes = [op.volume for op in ops]
         if len(set(volumes)) != 1:
             raise ValueError("All dispense volumes must be the same. Found different volumes: " + str(volumes))
-        
+
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
@@ -696,10 +796,19 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
 
 class PRCXI9300Api:
-    def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, axis="Left", debug: bool = False) -> None:
+    def __init__(
+        self,
+        host: str = "127.0.0.1",
+        port: int = 9999,
+        timeout: float = 10.0,
+        axis="Left",
+        debug: bool = False,
+        is_9320: bool = False,
+    ) -> None:
         self.host, self.port, self.timeout = host, port, timeout
         self.debug = debug
         self.axis = axis
+        self.is_9320 = is_9320
 
     @staticmethod
     def _len_prefix(n: int) -> bytes:
@@ -795,6 +904,10 @@ class PRCXI9300Api:
         return self.call("IMachineState", "GetLocation", [axis_num])
 
     # ---------------------------------------------------- 版位矩阵（IMatrix）
+    def get_all_materials(self) -> Dict[str, Any]:
+        """GetStepState"""
+        return self.call("IMatrix", "GetAllMaterial", [])
+
     def list_matrices(self) -> List[Dict[str, Any]]:
         """GetWorkTabletMatrices"""
         return self.call("IMatrix", "GetWorkTabletMatrices")
@@ -804,12 +917,26 @@ class PRCXI9300Api:
         return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
 
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
-        return self.call("IMatrix", "AddWorkTabletMatrix", [matrix])
+        return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix])
 
-    def Load(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int, blending_times: int,
-             balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "", assist_fun2: str = "",
-             assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
-             liquid_method: str = "NormalDispense") -> Dict[str, Any]:
+    def Load(
+        self,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense",
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": self.axis,
             "Function": "Load",
@@ -830,10 +957,24 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
-    def Imbibing(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int,
-                 blending_times: int, balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "",
-                 assist_fun2: str = "", assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
-                 liquid_method: str = "NormalDispense") -> Dict[str, Any]:
+    def Imbibing(
+        self,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense",
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": self.axis,
             "Function": "Imbibing",
@@ -968,6 +1109,103 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
+class DefaultLayout:
+
+    def __init__(self, product_name: str = "PRCXI9300"):
+        self.labresource = {}
+        if product_name not in ["PRCXI9300", "PRCXI9320"]:
+            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+
+        if product_name == "PRCXI9300":
+            self.rows = 2
+            self.columns = 3
+            self.layout = [1, 2, 3, 4, 5, 6]
+            self.trash_slot = 3
+            self.waste_liquid_slot = 6
+
+        elif product_name == "PRCXI9320":
+            self.rows = 3
+            self.columns = 4
+            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
+            self.trash_slot = 16
+            self.waste_liquid_slot = 12
+            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
+            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
+  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
+]
+}
+
+    def get_layout(self) -> Dict[str, Any]:
+        return {
+            "rows": self.rows,
+            "columns": self.columns,
+            "layout": self.layout,
+            "trash_slot": self.trash_slot,
+            "waste_liquid_slot": self.waste_liquid_slot
+        }
+
+    def get_trash_slot(self) -> int:
+        return self.trash_slot
+
+    def get_waste_liquid_slot(self) -> int:
+        return self.waste_liquid_slot
+
+    def add_lab_resource(self, material_info):
+        self.labresource = material_info
+
+    def recommend_layout(self, needs: List[Tuple[str, str, int]]) -> Dict[str, Any]:
+        layout_list = []
+        for reagent_name, material_name, count in needs:
+
+            if material_name not in self.labresource:
+                raise ValueError(f"Material {reagent_name} not found in lab resources.")
+
+            # 预留位置12和16不动
+        reserved_positions = {12, 16}
+        available_positions = [i for i in range(1, 17) if i not in reserved_positions]
+
+            # 计算总需求
+        total_needed = sum(count for _, _, count in needs)
+        if total_needed > len(available_positions):
+            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+
+            # 依次分配位置
+        current_pos = 0
+        for reagent_name, material_name, count in needs:
+
+            material_uuid = self.labresource[material_name]['uuid']
+            material_enum = self.labresource[material_name]['materialEnum']
+
+            for _ in range(count):
+                if current_pos >= len(available_positions):
+                    raise ValueError("位置不足，无法分配更多物料")
+
+                position = available_positions[current_pos]
+                # 找到对应的tablet并更新
+                for tablet in self.default_layout['WorkTablets']:
+                    if tablet['Number'] == position:
+                        tablet['Material']['uuid'] = material_uuid
+                        tablet['Material']['materialEnum'] = material_enum
+                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                        break
+                current_pos += 1
+        return self.default_layout, layout_list
+
+
 
 if __name__ == "__main__":
     # Example usage
@@ -976,7 +1214,6 @@ if __name__ == "__main__":
     # 3. 设计一个单点动作流程，可以跑
     # 4.
 
-    
     # deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
 
     # from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
@@ -985,7 +1222,7 @@ if __name__ == "__main__":
     # def get_well_container(name: str) -> PRCXI9300Container:
     #     well_containers = corning_96_wellplate_360ul_flat(name).serialize()
     #     plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-    #                        ordering=collections.OrderedDict())
+    #                        ordering=well_containers["ordering"])
     #     plate_serialized = plate.serialize()
     #     plate_serialized["parent_name"] = deck.name
     #     well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
@@ -995,13 +1232,13 @@ if __name__ == "__main__":
     # def get_tip_rack(name: str) -> PRCXI9300Container:
     #     tip_racks = opentrons_96_tiprack_300ul("name").serialize()
     #     tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-    #                        ordering=collections.OrderedDict())
+    #                        ordering=tip_racks["ordering"])
     #     tip_rack_serialized = tip_rack.serialize()
     #     tip_rack_serialized["parent_name"] = deck.name
     #     tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
     #     new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
     #     return new_tip_rack
-    
+
     # plate1 = get_tip_rack("RackT1")
     # plate1.load_state({
     #     "Material": {
@@ -1020,7 +1257,6 @@ if __name__ == "__main__":
     #     }
     # })
 
-
     # plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
     # plate3.load_state({
     #     "Material": {
@@ -1062,68 +1298,75 @@ if __name__ == "__main__":
     # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
     # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
 
-    # # print(plate2)
-    # plate_2_liquids = [[('water', 500)]]*96
-    # plate2.set_well_liquids(plate_2_liquids)
+    # # # plate_2_liquids = [[('water', 500)]]*96
+
+    # # # plate2.set_well_liquids(plate_2_liquids)
+
+
+
 
     # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
-    #                            timeout=10.0, setup=False, debug=False, 
+    #                            timeout=10.0, setup=False, debug=False,
+    #                            simulator=True,
     #                            matrix_id="71593",
     #                            channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
-    
 
-    # handler.set_tiprack([plate1]) 
+    # plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
 
+    # plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
+
+    # handler.set_tiprack([plate1])
     # asyncio.run(handler.setup())  # Initialize the handler and setup the connection
     # from pylabrobot.resources import set_volume_tracking
-    # # from pylabrobot.resources import set_tip_tracking
+    # from pylabrobot.resources import set_tip_tracking
     # set_volume_tracking(enabled=True)
     # from unilabos.resources.graphio import *
-    # A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
+    # # A = tree_to_list([resource_plr_to_ulab(deck)])
+    # # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
+    # #     json.dump(A, f, indent=4, ensure_ascii=False)
     # asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    # asyncio.run(handler.transfer_group("water", "master_mix", 100))  # Reset tip tracking
 
-    # # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
-    # # print(plate1.children[:8])
-    # # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
-    # # print(plate2.children[:8])
-    # # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    # # print(plate5.children[:8])
+    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
+    # print(plate1.children[:8])
+    # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # print(plate2.children[:8])
+    # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
+    # print(plate5.children[:8])
 
-    # # # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.discard_tips())
+    # #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
 
-    # # asyncio.run(handler.mix(well_containers.children[:8
-    # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # # asyncio.run(handler.add_liquid(
-    # #     asp_vols=[100]*16,
-    # #     dis_vols=[100]*16,
-    # #     reagent_sources=plate2.children[:16],
-    # #     targets=plate5.children[:16],
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 16,
-    # #     blow_out_air_volume=[None] * 16,
-    # #     delays=None,
-    # #     mix_time=3,
-    # #     mix_vol=50,
-    # #     spread="wide",
-    # # ))
-    # # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # asyncio.run(handler.remove_liquid(
-    # #     vols=[100]*16,
-    # #     sources=plate2.children[-16:],
-    # #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 32,
-    # #     blow_out_air_volume=[None] * 32,
-    # #     spread="wide",
-    # # ))
+    # asyncio.run(handler.mix(well_containers.children[:8
+    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # asyncio.run(handler.add_liquid(
+    #     asp_vols=[100]*16,
+    #     dis_vols=[100]*16,
+    #     reagent_sources=plate2.children[:16],
+    #     targets=plate5.children[:16],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=50,
+    #     spread="wide",
+    # ))
+    # asyncio.run(handler.run_protocol())  # Run the protocol
+    # asyncio.run(handler.remove_liquid(
+    #     vols=[100]*16,
+    #     sources=plate2.children[-16:],
+    #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 32,
+    #     blow_out_air_volume=[None] * 32,
+    #     spread="wide",
+    # ))
 
     # acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
     # alkaline = acid[::-1]  # Reverse the acid list for alkaline
@@ -1144,258 +1387,435 @@ if __name__ == "__main__":
     #     spread="wide",
     # ))
     # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # # input("Running protocol...")
-    # # # input("Press Enter to continue...")  # Wait for user input before proceeding
-    # # # print("PRCXI9300Handler initialized with deck and host settings.")
+    # # input("Running protocol...")
+    # # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # # print("PRCXI9300Handler initialized with deck and host settings.")
 
-    # # Example usage
-    # # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
-    # # 2. 设计一个单点动作流程，可以跑
-    # # 3.
+
+
+### 9320 ###
 
 
     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
 
-    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
 
     def get_well_container(name: str) -> PRCXI9300Container:
         well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-                           ordering=collections.OrderedDict())
+        plate = PRCXI9300Container(
+            name=name, size_x=50, size_y=50, size_z=10, category="plate", ordering=well_containers["ordering"]
+        )
         plate_serialized = plate.serialize()
         plate_serialized["parent_name"] = deck.name
         well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
         new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
         return new_plate
 
-    def get_tip_rack(name: str) -> PRCXI9300Container:
-        tip_racks = opentrons_96_tiprack_10ul("name").serialize()
-        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-                           ordering=collections.OrderedDict())
+    def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
+        tip_racks = opentrons_96_tiprack_10ul(name).serialize()
+        tip_rack = PRCXI9300Container(
+            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
+                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
+            })
+        )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
         return new_tip_rack
-    
-    plate1 = get_well_container("HPLCPlateT1")
-    plate1.load_state({
-        "Material": {
-            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
-            "Code": "HPLC01",
-            "Name":  "HPLC料盘"
-        }
-    })
+
+    plate1 = get_tip_rack("RackT1")
+    plate1.load_state(
+        {"Material": {"uuid": "068b3815e36b4a72a59bae017011b29f", "Code": "ZX-001-10+", "Name": "10μL加长 Tip头"}}
+    )
     plate2 = get_well_container("PlateT2")
-    plate2.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
+    plate2.load_state(
+        {"Material": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "Code": "ZX-78-096", "Name": "细菌培养皿"}}
+    )
     plate3 = get_well_container("PlateT3")
-    plate3.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
+    plate3.load_state(
+        {
+            "Material": {
+                "uuid": "04211a2dc93547fe9bf6121eac533650",
+            }
         }
-    })
-    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
-    trash.load_state({
-        "Material": {
-            "uuid": "730067cf07ae43849ddf4034299030e9"
+    )
+    plate4 = get_well_container("PlateT4")
+    plate4.load_state(
+        {"Material": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "Code": "ZX-78-096", "Name": "细菌培养皿"}}
+    )
+
+    plate5 = get_tip_rack("RackT5")
+    plate5.load_state(
+        {
+            "Material": {
+                "uuid": "076250742950465b9d6ea29a225dfb00",
+                "Code": "ZX-001-300",
+                "SupplyType": 1,
+                "Name": "300μL Tip头",
+            }
         }
-    })
-    plate5 = get_well_container("PlateT5")
-    plate5.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
+    )
     plate6 = get_well_container("PlateT6")
-    plate6.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
+    plate6.load_state(
+        {
+            "Material": {
+                "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
+                "Code": "1",
+                "SupplyType": 1,
+                "Name": "ep适配器",
+                "SummaryName": "ep适配器",
+            }
         }
-    })
-    plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    plate7.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate8 = get_tip_rack("RackT8")
-    plate8.load_state({
-        "Material": {
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头"
-        }
-    })
+    )
+    plate7 = PRCXI9300Container(
+        name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
+    )
+    plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
+    plate8 = get_tip_rack("PlateT8")
+    plate8.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
     plate9 = get_well_container("PlateT9")
-    plate9.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
+    plate9.load_state(
+        {
+            "Material": {
+                "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+                "Code": "ZX-58-0001",
+                "SupplyType": 2,
+                "Name": "全裙边 PCR适配器",
+                "SummaryName": "全裙边 PCR适配器",
+            }
         }
-    })
+    )
     plate10 = get_well_container("PlateT10")
-    plate10.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
+    plate10.load_state(
+        {
+            "Material": {
+                "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+                "Code": "ZX-58-0001",
+                "SupplyType": 2,
+                "Name": "全裙边 PCR适配器",
+                "SummaryName": "全裙边 PCR适配器",
+            }
         }
-    })
+    )
     plate11 = get_well_container("PlateT11")
-    plate11.load_state({
-        "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    plate11.load_state(
+        {
+            "Material": {
+                "uuid": "04211a2dc93547fe9bf6121eac533650",
+            }
         }
-    })
+    )
     plate12 = get_well_container("PlateT12")
-    plate12.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
+    plate12.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
     plate13 = get_well_container("PlateT13")
-    plate13.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
+    plate13.load_state(
+        {
+            "Material": {
+                "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+                "Code": "ZX-58-0001",
+                "SupplyType": 2,
+                "Name": "全裙边 PCR适配器",
+                "SummaryName": "全裙边 PCR适配器",
+            }
         }
-    })
+    ),
+    plate14 = get_well_container("PlateT14")
+    plate14.load_state(
+        {
+            "Material": {
+                "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+                "Code": "ZX-58-0001",
+                "SupplyType": 2,
+                "Name": "全裙边 PCR适配器",
+                "SummaryName": "全裙边 PCR适配器",
+            }
+        }
+    ),
+    plate15 = get_well_container("PlateT15")
+    plate15.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
+
+    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+    trash.load_state({"Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}})
 
     # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
 
     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(
+        PRCXI9300Container(
+            name="container_for_nothin3",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="plate",
+            ordering=collections.OrderedDict(),
+        ),
+        location=Coordinate(0, 0, 0),
+    )
+    deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(
+        PRCXI9300Container(
+            name="container_for_nothing7",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="plate",
+            ordering=collections.OrderedDict(),
+        ),
+        location=Coordinate(0, 0, 0),
+    )
+    deck.assign_child_resource(
+        PRCXI9300Container(
+            name="container_for_nothing8",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="plate",
+            ordering=collections.OrderedDict(),
+        ),
+        location=Coordinate(0, 0, 0),
+    )
+    deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(
+        PRCXI9300Container(
+            name="container_for_nothing11",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="plate",
+            ordering=collections.OrderedDict(),
+        ),
+        location=Coordinate(0, 0, 0),
+    )
+    deck.assign_child_resource(
+        PRCXI9300Container(
+            name="container_for_nothing12",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="plate",
+            ordering=collections.OrderedDict(),
+        ),
+        location=Coordinate(0, 0, 0),
+    )
+    deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate14, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate15, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
 
-    handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
-                               timeout=10.0, setup=False, debug=False, 
-                               matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
-                               channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
-    
-    handler.set_tiprack([plate8])  # Set the tip rack for the handler
-    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
-    from pylabrobot.resources import set_volume_tracking
-    # from pylabrobot.resources import set_tip_tracking
-    set_volume_tracking(enabled=True)
-
-    plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
-
-    from unilabos.resources.graphio import *
+    from unilabos.resources.graphio import tree_to_list, resource_plr_to_ulab
 
     A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
+    with open("deck.json", "w", encoding="utf-8") as f:
+        json.dump(A, f, indent=4, ensure_ascii=False)
+
+    handler = PRCXI9300Handler(
+        deck=deck,
+        host="192.168.0.121",
+        port=9999,
+        timeout=10.0,
+        setup=True,
+        debug=False,
+        matrix_id="5de524d0-3f95-406c-86dd-f83626ebc7cb",
+        channel_num=1,
+        axis="Right",
+        simulator=False,
+        is_9320=True,
+    )
+    backend: PRCXI9300Backend = handler.backend
+    from pylabrobot.resources import set_volume_tracking
+    set_volume_tracking(enabled=True)
+    # res = backend.api_client.get_all_materials()
+    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    handler.set_tiprack([plate1, plate5])  # Set the tip rack for the handler
+    handler.set_liquid([plate9.get_well("H12")], ["water"], [5])
+    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))
+    asyncio.run(handler.pick_up_tips([plate5.get_item("C5")], [0]))
+    asyncio.run(handler.aspirate([plate9.get_item("H12")], [5], [0]))
+
+    for well in plate13.get_all_items():
+        # well_pos = well.name.split("_")[1]       # 走一行
+        # if well_pos.startswith("A"):             
+        if well.name.startswith("PlateT13"):       # 走整个Plate
+            asyncio.run(handler.dispense([well], [0.01], [0]))
+        
+    # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
+    # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
+    # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
+    asyncio.run(handler.mix([plate10.get_item("H12")], mix_time=3, mix_vol=5))
+    asyncio.run(handler.discard_tips([0]))
+    asyncio.run(handler.run_protocol())
+    time.sleep(5)
+    os._exit(0)
+# 第一种情景：一个孔往多个孔加液
+    # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
+    # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+# 第二个情景：多个孔往多个孔加液(但是个数得对应)
+    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+
+    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
+
+    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
+
+#     A = tree_to_list([resource_plr_to_ulab(deck)])
+#     # with open("deck.json", "w", encoding="utf-8") as f:
+#     #     json.dump(A, f, indent=4, ensure_ascii=False)
+
+#     print(plate11.get_well(0).tracker.get_used_volume())
+     # Initialize the backend and setup the connection
+    asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking
 
-    print(plate11.get_well(0).tracker.get_used_volume())
-    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
 
     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
     # print(plate8.children[8])
-    # # asyncio.run(handler.run_protocol())
+    # asyncio.run(handler.run_protocol())
     # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
     # print(plate11.children[0])
     # # asyncio.run(handler.run_protocol())
     # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
     # print(plate1.children[0])
-    # # asyncio.run(handler.run_protocol())
+    # asyncio.run(handler.run_protocol())
     # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
     # print(plate1.children[0])
-    # asyncio.run(handler.discard_tips())
+    # asyncio.run(handler.discard_tips([0]))
 
-    asyncio.run(handler.add_liquid(
-    asp_vols=[10]*7,
-    dis_vols=[10]*7,
-    reagent_sources=plate11.children[:7],
-    targets=plate1.children[2:9],
-    use_channels=[0],
-    flow_rates=[None] * 7,
-    offsets=[Coordinate(0, 0, 0)] * 7,
-    liquid_height=[None] * 7,
-    blow_out_air_volume=[None] * 2,
-    delays=None,
-    mix_time=3,
-    mix_vol=5,
-    spread="custom",
-))
+#     asyncio.run(handler.add_liquid(
+#     asp_vols=[10]*7,
+#     dis_vols=[10]*7,
+#     reagent_sources=plate11.children[:7],
+#     targets=plate1.children[2:9],
+#     use_channels=[0],
+#     flow_rates=[None] * 7,
+#     offsets=[Coordinate(0, 0, 0)] * 7,
+#     liquid_height=[None] * 7,
+#     blow_out_air_volume=[None] * 2,
+#     delays=None,
+#     mix_time=3,
+#     mix_vol=5,
+#     spread="custom",
+# ))
 
-    asyncio.run(handler.run_protocol())  # Run the protocol
-# #     asyncio.run(handler.transfer_liquid(
-# #     asp_vols=[10]*2,
-# #     dis_vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     targets=plate11.children[-2:],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     mix_times=3,
-# #     mix_vol=5,
-# #     spread="wide",
-# #     tip_racks=[plate8]
-# # ))
-
-# #     asyncio.run(handler.remove_liquid(
-# #     vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     waste_liquid=plate11.children[43],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     spread="wide"
-# # ))
-#     asyncio.run(handler.run_protocol())
-
-#     # asyncio.run(handler.discard_tips())
-#     # asyncio.run(handler.mix(well_containers.children[:8
-#     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-#     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # asyncio.run(handler.run_protocol())  # Run the protocol
 
 
-#     # asyncio.run(handler.remove_liquid(
-#     #     vols=[100]*16,
-#     #     sources=well_containers.children[-16:],
-#     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     flow_rates=[None] * 32,
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     spread="wide",
-#     # ))
-#     # asyncio.run(handler.transfer_liquid(
-#     #     asp_vols=[100]*16,
-#     #     dis_vols=[100]*16,
-#     #     tip_racks=[tip_rack],
-#     #     sources=well_containers.children[-16:],
-#     #     targets=well_containers.children[:16],
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     asp_flow_rates=[None] * 16,
-#     #     dis_flow_rates=[None] * 16,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     mix_times=3,
-#     #     mix_vol=50,
-#     #     spread="wide",
-#     # ))
-    print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-#     # input("pick_up_tips add step")
-#     #asyncio.run(handler.run_protocol())  # Run the protocol
-#     # input("Running protocol...")
-#     # input("Press Enter to continue...")  # Wait for user input before proceeding
-#     # print("PRCXI9300Handler initialized with deck and host settings.")
 
+
+# # #     asyncio.run(handler.transfer_liquid(
+# # #     asp_vols=[10]*2,
+# # #     dis_vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     targets=plate11.children[-2:],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     mix_times=3,
+# # #     mix_vol=5,
+# # #     spread="wide",
+# # #     tip_racks=[plate8]
+# # # ))
+
+# # #     asyncio.run(handler.remove_liquid(
+# # #     vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     waste_liquid=plate11.children[43],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     spread="wide"
+# # # ))
+# #     asyncio.run(handler.run_protocol())
+
+# #     # asyncio.run(handler.discard_tips())
+# #     # asyncio.run(handler.mix(well_containers.children[:8
+# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+
+
+# #     # asyncio.run(handler.remove_liquid(
+# #     #     vols=[100]*16,
+# #     #     sources=well_containers.children[-16:],
+# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     flow_rates=[None] * 32,
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     spread="wide",
+# #     # ))
+# #     # asyncio.run(handler.transfer_liquid(
+# #     #     asp_vols=[100]*16,
+# #     #     dis_vols=[100]*16,
+# #     #     tip_racks=[tip_rack],
+# #     #     sources=well_containers.children[-16:],
+# #     #     targets=well_containers.children[:16],
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     asp_flow_rates=[None] * 16,
+# #     #     dis_flow_rates=[None] * 16,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     mix_times=3,
+# #     #     mix_vol=50,
+# #     #     spread="wide",
+# #     # ))
+#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+# #     # input("pick_up_tips add step")
+     #asyncio.run(handler.run_protocol())  # Run the protocol
+# #     # input("Running protocol...")
+# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+# #     # print("PRCXI9300Handler initialized with deck and host settings.")
+
+
+# 一些推荐版位组合的测试样例：
+
+# 一些推荐版位组合的测试样例：
+
+
+
+    with open("prcxi_material.json", "r") as f:
+        material_info = json.load(f)
+
+    layout = DefaultLayout("PRCXI9320")
+    layout.add_lab_resource(material_info)
+    MatrixLayout_1, dict_1 = layout.recommend_layout([
+        ("reagent_1", "96 细胞培养皿", 3),
+        ("reagent_2", "12道储液槽", 1),
+        ("reagent_3", "200μL Tip头", 7),
+        ("reagent_4", "10μL加长 Tip头", 1),
+    ])
+    print(dict_1)
+    MatrixLayout_2, dict_2 = layout.recommend_layout([
+        ("reagent_1", "96深孔板", 4),
+        ("reagent_2", "12道储液槽", 1),
+        ("reagent_3", "200μL Tip头", 1),
+        ("reagent_4", "10μL加长 Tip头", 1),
+    ])
+
+# with open("prcxi_material.json", "r") as f:
+#     material_info = json.load(f)
+
+# layout = DefaultLayout("PRCXI9320")
+# layout.add_lab_resource(material_info)
+# MatrixLayout_1, dict_1 = layout.recommend_layout([
+#     ("reagent_1", "96 细胞培养皿", 3),
+#     ("reagent_2", "12道储液槽", 1),
+#     ("reagent_3", "200μL Tip头", 7),
+#     ("reagent_4", "10μL加长 Tip头", 1),
+# ])
+# print(dict_1)
+# MatrixLayout_2, dict_2 = layout.recommend_layout([
+#     ("reagent_1", "96深孔板", 4),
+#     ("reagent_2", "12道储液槽", 1),
+#     ("reagent_3", "200μL Tip头", 1),
+#     ("reagent_4", "10μL加长 Tip头", 1),
+# ])
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_material.json b/unilabos/devices/liquid_handling/prcxi/prcxi_material.json
new file mode 100644
index 00000000..8401e86a
--- /dev/null
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi_material.json
@@ -0,0 +1,31 @@
+{
+  "Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
+  "ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
+  "吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
+  "1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
+  "10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
+  "10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
+  "1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
+  "300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
+  "200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
+  "0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
+  "2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
+  "储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
+  "全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
+  "储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
+  "300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
+  "10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
+  "爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
+  "适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
+  "废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
+  "96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
+  "384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
+  "4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
+  "48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
+  "12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
+  "HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
+  "ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
+  "30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
+  "细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
+  "96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
+}
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/rviz_backend.py b/unilabos/devices/liquid_handling/rviz_backend.py
new file mode 100644
index 00000000..05078a13
--- /dev/null
+++ b/unilabos/devices/liquid_handling/rviz_backend.py
@@ -0,0 +1,304 @@
+      
+import json
+from typing import List, Optional, Union
+
+from pylabrobot.liquid_handling.backends.backend import (
+  LiquidHandlerBackend,
+)
+from pylabrobot.liquid_handling.standard import (
+  Drop,
+  DropTipRack,
+  MultiHeadAspirationContainer,
+  MultiHeadAspirationPlate,
+  MultiHeadDispenseContainer,
+  MultiHeadDispensePlate,
+  Pickup,
+  PickupTipRack,
+  ResourceDrop,
+  ResourceMove,
+  ResourcePickup,
+  SingleChannelAspiration,
+  SingleChannelDispense,
+)
+from pylabrobot.resources import Resource, Tip
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+import time
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import re
+
+from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
+
+
+class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
+  """Chatter box backend for device-free testing. Prints out all operations."""
+
+  _pip_length = 5
+  _vol_length = 8
+  _resource_length = 20
+  _offset_length = 16
+  _flow_rate_length = 10
+  _blowout_length = 10
+  _lld_z_length = 10
+  _kwargs_length = 15
+  _tip_type_length = 12
+  _max_volume_length = 16
+  _fitting_depth_length = 20
+  _tip_length_length = 16
+  # _pickup_method_length = 20
+  _filter_length = 10
+
+  def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310):
+    """Initialize a chatter box backend."""
+    super().__init__()
+    self._num_channels = num_channels
+    self.tip_length = tip_length
+    self.total_height = total_height
+# rclpy.init()
+    if not rclpy.ok():
+        rclpy.init()
+    self.joint_state_publisher = None
+
+  async def setup(self):
+    self.joint_state_publisher = JointStatePublisher()
+    await super().setup()
+
+    print("Setting up the liquid handler.")
+
+  async def stop(self):
+    print("Stopping the liquid handler.")
+
+  def serialize(self) -> dict:
+    return {**super().serialize(), "num_channels": self.num_channels}
+
+  @property
+  def num_channels(self) -> int:
+    return self._num_channels
+
+  async def assigned_resource_callback(self, resource: Resource):
+    print(f"Resource {resource.name} was assigned to the liquid handler.")
+
+  async def unassigned_resource_callback(self, name: str):
+    print(f"Resource {name} was unassigned from the liquid handler.")
+
+  async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
+    print("Picking up tips:")
+    # print(ops.tip)
+    header = (
+      f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
+      f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
+      f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
+      f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
+      f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
+      f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
+      f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
+      # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
+      f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
+    )
+    # print(header)
+
+    for op, channel in zip(ops, use_channels):
+      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
+      row = (
+        f"  p{channel}: "
+        f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
+        f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
+        f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
+        f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
+        f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
+        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
+        f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
+      )
+      # print(row)
+      # print(op.resource.get_absolute_location())
+    
+    self.tip_length = ops[0].tip.total_tip_length
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    offset_xyz = ops[0].offset
+    x = coordinate.x + offset_xyz.x
+    y = coordinate.y + offset_xyz.y
+    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
+    # print("moving")
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
+    #   goback()
+
+
+
+
+  async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
+    print("Dropping tips:")
+    header = (
+      f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
+      f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
+      f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
+      f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
+      f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
+      f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
+      f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
+      # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
+      f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
+    )
+    # print(header)
+
+    for op, channel in zip(ops, use_channels):
+      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
+      row = (
+        f"  p{channel}: "
+        f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
+        f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
+        f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
+        f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
+        f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
+        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
+        f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
+      )
+      # print(row)
+
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    offset_xyz = ops[0].offset
+    x = coordinate.x + offset_xyz.x
+    y = coordinate.y + offset_xyz.y
+    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
+    # print(x, y, z)
+    # print("moving")
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
+    #   goback()
+
+  async def aspirate(
+    self,
+    ops: List[SingleChannelAspiration],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+    print("Aspirating:")
+    header = (
+      f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
+      f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
+      f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
+      f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
+      f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
+      f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
+      f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}}  "
+      # f"{'liquids':<20}" # TODO: add liquids
+    )
+    for key in backend_kwargs:
+      header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
+    # print(header)
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<15}"
+      # print(row)
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    offset_xyz = ops[0].offset
+    x = coordinate.x + offset_xyz.x
+    y = coordinate.y + offset_xyz.y
+    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
+    # print(x, y, z)
+    # print("moving")
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
+
+
+  async def dispense(
+    self,
+    ops: List[SingleChannelDispense],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+    # print("Dispensing:")
+    header = (
+      f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
+      f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
+      f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
+      f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
+      f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
+      f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
+      f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}}  "
+      # f"{'liquids':<20}" # TODO: add liquids
+    )
+    for key in backend_kwargs:
+      header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
+    # print(header)
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<{UniLiquidHandlerRvizBackend._kwargs_length}}"
+      # print(row)
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    offset_xyz = ops[0].offset
+    x = coordinate.x + offset_xyz.x
+    y = coordinate.y + offset_xyz.y
+    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
+    # print(x, y, z)
+    # print("moving")
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
+
+  async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
+    print(f"Picking up tips from {pickup.resource.name}.")
+
+  async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
+    print(f"Dropping tips to {drop.resource.name}.")
+
+  async def aspirate96(
+    self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
+  ):
+    if isinstance(aspiration, MultiHeadAspirationPlate):
+      resource = aspiration.wells[0].parent
+    else:
+      resource = aspiration.container
+    print(f"Aspirating {aspiration.volume} from {resource}.")
+
+  async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
+    if isinstance(dispense, MultiHeadDispensePlate):
+      resource = dispense.wells[0].parent
+    else:
+      resource = dispense.container
+    print(f"Dispensing {dispense.volume} to {resource}.")
+
+  async def pick_up_resource(self, pickup: ResourcePickup):
+    print(f"Picking up resource: {pickup}")
+
+  async def move_picked_up_resource(self, move: ResourceMove):
+    print(f"Moving picked up resource: {move}")
+
+  async def drop_resource(self, drop: ResourceDrop):
+    print(f"Dropping resource: {drop}")
+
+  def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
+    return True
+    
diff --git a/unilabos/devices/pump_and_valve/runze_backbone.py b/unilabos/devices/pump_and_valve/runze_backbone.py
index 36cb235a..ce6d834c 100644
--- a/unilabos/devices/pump_and_valve/runze_backbone.py
+++ b/unilabos/devices/pump_and_valve/runze_backbone.py
@@ -1,10 +1,9 @@
-import asyncio
 from threading import Lock, Event
-from enum import Enum
-from dataclasses import dataclass
 import time
-import traceback
-from typing import Any, Union, Optional, overload
+from dataclasses import dataclass
+from enum import Enum
+from threading import Lock, Event
+from typing import Union, Optional
 
 import serial.tools.list_ports
 from serial import Serial
@@ -18,47 +17,47 @@ class RunzeSyringePumpMode(Enum):
 
 
 pulse_freq_grades = {
-    6000: "0" ,
-    5600: "1" ,
-    5000: "2" ,
-    4400: "3" ,
-    3800: "4" ,
-    3200: "5" ,
-    2600: "6" ,
-    2200: "7" ,
-    2000: "8" ,
-    1800: "9" ,
+    6000: "0",
+    5600: "1",
+    5000: "2",
+    4400: "3",
+    3800: "4",
+    3200: "5",
+    2600: "6",
+    2200: "7",
+    2000: "8",
+    1800: "9",
     1600: "10",
     1400: "11",
     1200: "12",
     1000: "13",
-    800 : "14",
-    600 : "15",
-    400 : "16",
-    200 : "17",
-    190 : "18",
-    180 : "19",
-    170 : "20",
-    160 : "21",
-    150 : "22",
-    140 : "23",
-    130 : "24",
-    120 : "25",
-    110 : "26",
-    100 : "27",
-    90  : "28",
-    80  : "29",
-    70  : "30",
-    60  : "31",
-    50  : "32",
-    40  : "33",
-    30  : "34",
-    20  : "35",
-    18  : "36",
-    16  : "37",
-    14  : "38",
-    12  : "39",
-    10  : "40",
+    800: "14",
+    600: "15",
+    400: "16",
+    200: "17",
+    190: "18",
+    180: "19",
+    170: "20",
+    160: "21",
+    150: "22",
+    140: "23",
+    130: "24",
+    120: "25",
+    110: "26",
+    100: "27",
+    90: "28",
+    80: "29",
+    70: "30",
+    60: "31",
+    50: "32",
+    40: "33",
+    30: "34",
+    20: "35",
+    18: "36",
+    16: "37",
+    14: "38",
+    12: "39",
+    10: "40",
 }
 
 
@@ -70,7 +69,7 @@ class RunzeSyringePumpConnectionError(Exception):
 class RunzeSyringePumpInfo:
     port: str
     address: str = "1"
-    
+
     max_volume: float = 25.0
     mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
 
@@ -82,16 +81,16 @@ class RunzeSyringePump:
     def __init__(self, port: str, address: str = "1", max_volume: float = 25.0, mode: RunzeSyringePumpMode = None):
         self.port = port
         self.address = address
-        
+
         self.max_volume = max_volume
         self.total_steps = self.total_steps_vel = 6000
-        
+
         self._status = "Idle"
         self._mode = mode
         self._max_velocity = 0
         self._valve_position = "I"
         self._position = 0
-        
+
         try:
             # if port in serial_ports and serial_ports[port].is_open:
             #     self.hardware_interface = serial_ports[port]
@@ -100,11 +99,8 @@ class RunzeSyringePump:
             #         baudrate=9600,
             #         port=port
             #     )
-            self.hardware_interface = Serial(
-                baudrate=9600,
-                port=port
-            )
-            
+            self.hardware_interface = Serial(baudrate=9600, port=port)
+
         except (OSError, SerialException) as e:
             # raise RunzeSyringePumpConnectionError from e
             self.hardware_interface = port
@@ -114,13 +110,13 @@ class RunzeSyringePump:
         self._error_event = Event()
         self._query_lock = Lock()
         self._run_lock = Lock()
-    
+
     def _adjust_total_steps(self):
         self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
         self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
-    
+
     def send_command(self, full_command: str):
-        full_command_data = bytearray(full_command, 'ascii')
+        full_command_data = bytearray(full_command, "ascii")
         response = self.hardware_interface.write(full_command_data)
         time.sleep(0.05)
         output = self._receive(self.hardware_interface.read_until(b"\n"))
@@ -131,9 +127,9 @@ class RunzeSyringePump:
             if self._closing:
                 raise RunzeSyringePumpConnectionError
 
-            run = 'R' if not "?" in command else ''
+            run = "R" if "?" not in command else ""
             full_command = f"/{self.address}{command}{run}\r\n"
-            
+
             output = self.send_command(full_command)[3:-3]
         return output
 
@@ -161,7 +157,7 @@ class RunzeSyringePump:
                     time.sleep(0.5)  # Wait for 0.5 seconds before polling again
 
                     status = self.get_status()
-                    if status == 'Idle':
+                    if status == "Idle":
                         break
             finally:
                 pass
@@ -177,7 +173,7 @@ class RunzeSyringePump:
         #     # self.set_mode(self.mode)
         #     self.mode = self.get_mode()
         return response
-    
+
     # Settings
 
     def set_baudrate(self, baudrate):
@@ -187,32 +183,32 @@ class RunzeSyringePump:
             return self._run("U47")
         else:
             raise ValueError("Unsupported baudrate")
-    
+
     # Device Status
     @property
     def status(self) -> str:
         return self._status
-    
+
     def _standardize_status(self, status_raw):
         return "Idle" if status_raw == "`" else "Busy"
-    
+
     def get_status(self):
         status_raw = self._query("Q")
         self._status = self._standardize_status(status_raw)
         return self._status
-    
+
     # Mode Settings and Queries
-    
+
     @property
     def mode(self) -> int:
         return self._mode
-    
+
     # def set_mode(self, mode: RunzeSyringePumpMode):
     #     self.mode = mode
     #     self._adjust_total_steps()
     #     command = f"N{mode.value}"
     #     return self._run(command)
-    
+
     # def get_mode(self):
     #     response = self._query("?28")
     #     status_raw, mode = response[0], int(response[1])
@@ -221,11 +217,11 @@ class RunzeSyringePump:
     #     return self.mode
 
     # Speed Settings and Queries
-    
+
     @property
     def max_velocity(self) -> float:
         return self._max_velocity
-    
+
     def set_max_velocity(self, velocity: float):
         self._max_velocity = velocity
         pulse_freq = int(velocity / self.max_volume * self.total_steps_vel)
@@ -238,10 +234,10 @@ class RunzeSyringePump:
         self._status = self._standardize_status(status_raw)
         self._max_velocity = pulse_freq / self.total_steps_vel * self.max_volume
         return self._max_velocity
-    
+
     def set_velocity_grade(self, velocity: Union[int, str]):
         return self._run(f"S{velocity}")
-    
+
     def get_velocity_grade(self):
         response = self._query("?2")
         status_raw, pulse_freq = response[0], int(response[1:])
@@ -265,21 +261,21 @@ class RunzeSyringePump:
         self._status = self._standardize_status(status_raw)
         velocity = pulse_freq / self.total_steps_vel * self.max_volume
         return pulse_freq, velocity
-    
+
     # Operations
-    
+
     # Valve Setpoint and Queries
 
     @property
     def valve_position(self) -> str:
         return self._valve_position
-    
+
     def set_valve_position(self, position: Union[int, str, float]):
-        if type(position) == float:
+        if isinstance(position, float):
             position = round(position / 120)
-        command = f"I{position}" if type(position) == int or ord(position) <= 57 else position.upper()
+        command = f"I{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
         response = self._run(command)
-        self._valve_position = f"{position}" if type(position) == int or ord(position) <= 57 else position.upper()
+        self._valve_position = f"{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
         return response
 
     def get_valve_position(self) -> str:
@@ -288,9 +284,9 @@ class RunzeSyringePump:
         self._valve_position = pos_valve
         self._status = self._standardize_status(status_raw)
         return pos_valve
-    
+
     # Plunger Setpoint and Queries
-    
+
     @property
     def position(self) -> float:
         return self._position
@@ -321,7 +317,7 @@ class RunzeSyringePump:
             velocity_cmd = ""
         pos_step = int(position / self.max_volume * self.total_steps)
         return self._run(f"{velocity_cmd}A{pos_step}")
-    
+
     def pull_plunger(self, volume: float):
         """
         Pull a fixed volume (unit: ml)
@@ -334,7 +330,7 @@ class RunzeSyringePump:
         """
         pos_step = int(volume / self.max_volume * self.total_steps)
         return self._run(f"P{pos_step}")
-    
+
     def push_plunger(self, volume: float):
         """
         Push a fixed volume (unit: ml)
@@ -355,7 +351,7 @@ class RunzeSyringePump:
 
     def stop_operation(self):
         return self._run("T")
-    
+
     # Queries
 
     def query_command_buffer_status(self):
@@ -391,4 +387,4 @@ class RunzeSyringePump:
 
 if __name__ == "__main__":
     r = RunzeSyringePump("/dev/tty.usbserial-D30JUGG5", "1", 25.0)
-    r.initialize()
\ No newline at end of file
+    r.initialize()
diff --git a/unilabos/devices/pump_and_valve/runze_multiple_backbone.py b/unilabos/devices/pump_and_valve/runze_multiple_backbone.py
index f829796a..fd20f258 100644
--- a/unilabos/devices/pump_and_valve/runze_multiple_backbone.py
+++ b/unilabos/devices/pump_and_valve/runze_multiple_backbone.py
@@ -145,12 +145,22 @@ class RunzeMultiplePump:
         total_steps_vel = 48000 if mode == RunzeSyringePumpMode.AccuratePosVel else 6000
         return total_steps, total_steps_vel
 
+    def _receive(self, data: bytes) -> str:
+        """
+        Keep this method as original. Always use chr to decode, avoid "/0"
+        """
+        if not data:
+            return ""
+        # **Do not use decode method
+        ascii_string = "".join(chr(byte) for byte in data)
+        return ascii_string
+
     def send_command(self, full_command: str) -> str:
         """Send command to hardware and get response"""
         full_command_data = bytearray(full_command, "ascii")
         self.hardware_interface.write(full_command_data)
         time.sleep(0.05)
-        response = self.hardware_interface.read_until(b"\n")
+        response = self.hardware_interface.read_until(b"\n")  # \n should direct use, not \\n
         output = self._receive(response)
         return output
 
@@ -170,16 +180,11 @@ class RunzeMultiplePump:
                 raise RunzeSyringePumpConnectionError("Connection is closing")
 
             run = "R" if "?" not in command else ""
-            full_command = f"/{address}{command}{run}\r\n"
+            full_command = f"/{address}{command}{run}\r\n"  # \r\n should direct use, not \\r\\n
 
             output = self.send_command(full_command)[3:-3]
         return output
 
-    def _receive(self, data: bytes) -> str:
-        if not data:
-            return ""
-        ascii_string = "".join(chr(byte) for byte in data)
-        return ascii_string
 
     def _run(self, address: str, command: str) -> str:
         """
diff --git a/unilabos/devices/virtual/virtual_solid_dispenser.py b/unilabos/devices/virtual/virtual_solid_dispenser.py
index 4d914df9..f8c14a75 100644
--- a/unilabos/devices/virtual/virtual_solid_dispenser.py
+++ b/unilabos/devices/virtual/virtual_solid_dispenser.py
@@ -288,7 +288,7 @@ class VirtualSolidDispenser:
                 "return_info": f"dispensed_{actual_amount:.6f}g",
                 "dispensed_amount": actual_amount,
                 "reagent": reagent,
-                "vessel": vessel
+                "vessel": {"id": vessel},
             }
             
         except Exception as e:
diff --git a/unilabos/devices/workstation/README.md b/unilabos/devices/workstation/README.md
new file mode 100644
index 00000000..710a2211
--- /dev/null
+++ b/unilabos/devices/workstation/README.md
@@ -0,0 +1,184 @@
+# 工作站抽象基类物料系统架构说明
+
+## 设计理念
+
+基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
+
+### 核心原则
+
+1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
+2. **Graphio转换函数集成**：使用graphio中的`resource_ulab_to_plr`等转换函数实现UniLab与PLR格式的无缝转换
+3. **关注点分离**：基类专注核心物料系统，HTTP服务等功能在子类中实现
+4. **外部系统集成模式**：通过ResourceSynchronizer抽象类提供外部物料系统对接模式
+
+## 架构组成
+
+### 1. WorkstationBase（基类）
+**文件**: `workstation_base.py`
+
+**核心功能**：
+- 使用deck_config和children通过`resource_ulab_to_plr`转换为PLR物料self.deck
+- 基础的资源查找和管理功能
+- 抽象的工作流执行接口
+- ResourceSynchronizer集成点
+
+**关键代码**：
+```python
+def _initialize_material_system(self, deck_config: Dict[str, Any], children_config: Dict[str, Any] = None):
+    """初始化基于PLR的物料系统"""
+    # 合并deck_config和children
+    complete_config = self._merge_deck_and_children_config(deck_config, children_config)
+    
+    # 使用graphio转换函数转换为PLR资源
+    self.deck = resource_ulab_to_plr(complete_config)
+```
+
+### 2. ResourceSynchronizer（外部系统集成抽象类）
+**定义在**: `workstation_base.py`
+
+**设计目的**：
+- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
+- 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
+- 处理外部系统的变更通知
+
+**核心方法**：
+```python
+async def sync_from_external(self) -> bool:
+    """从外部系统同步物料到本地deck"""
+    
+async def sync_to_external(self, plr_resource) -> bool:
+    """将本地物料同步到外部系统"""
+    
+async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
+    """处理外部系统的变更通知"""
+```
+
+### 3. WorkstationWithHTTP（子类示例）
+**文件**: `workstation_with_http_example.py`
+
+**扩展功能**：
+- HTTP报送接收服务集成
+- 具体工作流实现（液体转移、板洗等）
+- Bioyong物料系统同步器示例
+- 外部报送处理方法
+
+## 技术栈
+
+### 核心依赖
+- **PyLabRobot**: 物料资源管理核心（Deck, Resource, Coordinate）
+- **GraphIO转换函数**: UniLab ↔ PLR格式转换
+  - `resource_ulab_to_plr`: UniLab格式转PLR格式
+  - `resource_plr_to_ulab`: PLR格式转UniLab格式
+  - `convert_resources_to_type`: 通用资源类型转换
+- **ROS2**: 基础设备节点通信（BaseROS2DeviceNode）
+
+### 可选依赖
+- **HTTP服务**: 仅在需要外部报送接收的子类中使用
+- **外部系统API**: 根据具体集成需求添加
+
+## 使用示例
+
+### 1. 简单工作站（仅PLR物料系统）
+
+```python
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+# Deck配置
+deck_config = {
+    "size_x": 1200.0,
+    "size_y": 800.0,
+    "size_z": 100.0
+}
+
+# 子资源配置
+children_config = {
+    "source_plate": {
+        "name": "source_plate",
+        "type": "plate",
+        "position": {"x": 100, "y": 100, "z": 10},
+        "config": {"size_x": 127.8, "size_y": 85.5, "size_z": 14.4}
+    }
+}
+
+# 创建工作站
+workstation = WorkstationBase(
+    device_id="simple_workstation",
+    deck_config=deck_config,
+    children_config=children_config
+)
+
+# 查找资源
+plate = workstation.find_resource_by_name("source_plate")
+```
+
+### 2. 带HTTP服务的工作站
+
+```python
+from unilabos.devices.workstation.workstation_with_http_example import WorkstationWithHTTP
+
+# HTTP服务配置
+http_service_config = {
+    "enabled": True,
+    "host": "127.0.0.1",
+    "port": 8081
+}
+
+# 创建带HTTP服务的工作站
+workstation = WorkstationWithHTTP(
+    device_id="http_workstation",
+    deck_config=deck_config,
+    children_config=children_config,
+    http_service_config=http_service_config
+)
+
+# 执行工作流
+success = workstation.execute_workflow("liquid_transfer", {
+    "volume": 100.0,
+    "source_wells": ["A1", "A2"],
+    "dest_wells": ["B1", "B2"]
+})
+```
+
+### 3. 外部系统集成
+
+```python
+class BioyongResourceSynchronizer(ResourceSynchronizer):
+    """Bioyong系统同步器"""
+    
+    async def sync_from_external(self) -> bool:
+        # 从Bioyong API获取物料
+        external_materials = await self._fetch_bioyong_materials()
+        
+        # 转换并添加到本地deck
+        for material in external_materials:
+            await self._add_material_to_deck(material)
+        
+        return True
+```
+
+## 设计优势
+
+### 1. **简洁性**
+- 基类只专注核心物料管理，没有冗余功能
+- 使用成熟的PyLabRobot作为物料管理基础
+
+### 2. **可扩展性**
+- 通过子类添加HTTP服务、特定工作流等功能
+- ResourceSynchronizer模式支持任意外部系统集成
+
+### 3. **标准化**
+- PLR Deck提供标准的资源管理接口
+- Graphio转换函数确保格式一致性
+
+### 4. **灵活性**
+- 可选择性使用HTTP服务和外部系统集成
+- 支持不同类型的工作站需求
+
+## 发展历程
+
+1. **初始设计**: 复杂的统一物料系统，包含HTTP服务和多种功能
+2. **PyLabRobot集成**: 引入PLR Deck管理，但保留了ResourceTracker复杂性
+3. **Graphio转换**: 使用graphio转换函数简化初始化
+4. **最终简化**: 专注核心PLR物料系统，HTTP服务移至子类
+
+这个架构体现了"用PyLabRobot Deck来管理物料会更好；但是要做好和外部物料系统的对接"的设计理念，以及"现在我只需要在工作站创建的时候，整体使用deck_config和children，一起通过resource_ulab_to_plr转换为plr物料self.deck即可"的简化要求。
diff --git a/unilabos/device_comms/modbus_plc/node/__init__.py b/unilabos/devices/workstation/__init__.py
similarity index 100%
rename from unilabos/device_comms/modbus_plc/node/__init__.py
rename to unilabos/devices/workstation/__init__.py
diff --git a/unilabos/devices/workstation/bioyond_studio/__init__.py b/unilabos/devices/workstation/bioyond_studio/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
new file mode 100644
index 00000000..12c03860
--- /dev/null
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
@@ -0,0 +1,1951 @@
+# bioyond_rpc.py
+"""
+BioyondV1RPC类定义 - 包含所有RPC接口和业务逻辑
+"""
+
+from enum import Enum
+from datetime import datetime, timezone
+from unilabos.device_comms.rpc import BaseRequest
+from typing import Optional, List, Dict, Any
+import json
+from unilabos.devices.workstation.bioyond_studio.config import WORKFLOW_TO_SECTION_MAP, WORKFLOW_STEP_IDS, LOCATION_MAPPING
+
+
+class SimpleLogger:
+    """简单的日志记录器"""
+    def info(self, msg): print(f"[INFO] {msg}")
+    def error(self, msg): print(f"[ERROR] {msg}")
+    def debug(self, msg): print(f"[DEBUG] {msg}")
+    def warning(self, msg): print(f"[WARNING] {msg}")
+    def critical(self, msg): print(f"[CRITICAL] {msg}")
+
+
+class MachineState(Enum):
+    INITIAL = 0
+    STOPPED = 1
+    RUNNING = 2
+    PAUSED = 3
+    ERROR_PAUSED = 4
+    ERROR_STOPPED = 5
+
+
+class MaterialType(Enum):
+    Consumables = 0
+    Sample = 1
+    Reagent = 2
+    Product = 3
+
+
+class BioyondV1RPC(BaseRequest):
+    def __init__(self, config):
+        super().__init__()
+        print("开始初始化")
+        self.config = config
+        self.api_key = config["api_key"]
+        self.host = config["api_host"]
+        self._logger = SimpleLogger()
+        self.is_running = False
+        self.workflow_mappings = {}
+        self.workflow_sequence = []
+        self.pending_task_params = []
+        self.material_cache = {}
+        self._load_material_cache()
+
+        if "workflow_mappings" in config:
+            self._set_workflow_mappings(config["workflow_mappings"])
+
+    def _set_workflow_mappings(self, mappings: Dict[str, str]):
+        self.workflow_mappings = mappings
+        print(f"设置工作流映射配置: {mappings}")
+
+    def _get_workflow(self, web_workflow_name: str) -> str:
+        if web_workflow_name not in self.workflow_mappings:
+            print(f"未找到工作流映射配置: {web_workflow_name}")
+            return ""
+        workflow_id = self.workflow_mappings[web_workflow_name]
+        print(f"获取工作流: {web_workflow_name} -> {workflow_id}")
+        return workflow_id
+
+    def process_web_workflows(self, json_str: str) -> Dict[str, str]:
+        try:
+            data = json.loads(json_str)
+            web_workflow_list = data.get("web_workflow_list", [])
+        except json.JSONDecodeError:
+            print(f"无效的JSON字符串: {json_str}")
+            return {}
+
+        result = {}
+        self.workflow_sequence = []
+
+        for web_name in web_workflow_list:
+            workflow_id = self._get_workflow(web_name)
+            if workflow_id:
+                result[web_name] = workflow_id
+                self.workflow_sequence.append(workflow_id)
+            else:
+                print(f"无法获取工作流ID: {web_name}")
+
+        print(f"工作流执行顺序: {self.workflow_sequence}")
+        return result
+
+    def get_workflow_sequence(self) -> List[str]:
+        id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
+        workflow_names = []
+        for workflow_id in self.workflow_sequence:
+            workflow_names.append(id_to_name.get(workflow_id, workflow_id))
+        return workflow_names
+
+    def append_to_workflow_sequence(self, json_str: str) -> bool:
+        try:
+            data = json.loads(json_str)
+            web_workflow_name = data.get("web_workflow_name", "")
+        except:
+            return False
+
+        workflow_id = self._get_workflow(web_workflow_name)
+        if workflow_id:
+            self.workflow_sequence.append(workflow_id)
+            print(f"添加工作流到执行顺序: {web_workflow_name} -> {workflow_id}")
+
+    def set_workflow_sequence(self, json_str: str) -> List[str]:
+        try:
+            data = json.loads(json_str)
+            web_workflow_names = data.get("web_workflow_names", [])
+        except:
+            return []
+
+        sequence = []
+        for web_name in web_workflow_names:
+            workflow_id = self._get_workflow(web_name)
+            if workflow_id:
+                sequence.append(workflow_id)
+
+        self.workflow_sequence = sequence
+        print(f"设置工作流执行顺序: {self.workflow_sequence}")
+        return self.workflow_sequence.copy()
+
+    def get_all_workflows(self) -> Dict[str, str]:
+        return self.workflow_mappings.copy()
+
+    def clear_workflows(self):
+        self.workflow_sequence = []
+        print("清空工作流执行顺序")
+
+    def get_current_time_iso8601(self) -> str:
+        current_time = datetime.now(timezone.utc).isoformat(timespec='milliseconds')
+        return current_time.replace("+00:00", "Z")
+
+    # 物料查询接口
+    def stock_material(self, json_str: str) -> list:
+        try:
+            params = json.loads(json_str)
+        except:
+            return []
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/stock-material',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return []
+        return response.get("data", [])
+
+    # 工作流列表查询
+    def query_workflow(self, json_str: str) -> dict:
+        try:
+            params = json.loads(json_str)
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/work-flow-list',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def validate_workflow_parameters(self, workflows: List[Dict[str, Any]]) -> Dict[str, Any]:
+        """验证工作流参数格式
+
+        Args:
+            workflows (List[Dict[str, Any]]): 工作流列表
+
+        Returns:
+            Dict[str, Any]: 验证结果
+        """
+        try:
+            validation_errors = []
+
+            for i, workflow in enumerate(workflows):
+                workflow_errors = []
+
+                # 检查基本结构
+                if not isinstance(workflow, dict):
+                    workflow_errors.append("工作流必须是字典类型")
+                    continue
+
+                if "id" not in workflow:
+                    workflow_errors.append("缺少必要的 'id' 字段")
+
+                # 检查 stepParameters（如果存在）
+                if "stepParameters" in workflow:
+                    step_params = workflow["stepParameters"]
+
+                    if not isinstance(step_params, dict):
+                        workflow_errors.append("stepParameters 必须是字典类型")
+                    else:
+                        # 验证参数结构
+                        for step_id, modules in step_params.items():
+                            if not isinstance(modules, dict):
+                                workflow_errors.append(f"步骤 {step_id} 的模块配置必须是字典类型")
+                                continue
+
+                            for module_name, params in modules.items():
+                                if not isinstance(params, list):
+                                    workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 的参数必须是列表类型")
+                                    continue
+
+                                for j, param in enumerate(params):
+                                    if not isinstance(param, dict):
+                                        workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 参数 {j} 必须是字典类型")
+                                    elif "key" not in param or "value" not in param:
+                                        workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 参数 {j} 必须包含 key 和 value")
+
+                if workflow_errors:
+                    validation_errors.append({
+                        "workflow_index": i,
+                        "workflow_id": workflow.get("id", "unknown"),
+                        "errors": workflow_errors
+                    })
+
+            if validation_errors:
+                return {
+                    "valid": False,
+                    "errors": validation_errors,
+                    "message": f"发现 {len(validation_errors)} 个工作流存在验证错误"
+                }
+            else:
+                return {
+                    "valid": True,
+                    "message": f"所有 {len(workflows)} 个工作流验证通过"
+                }
+
+        except Exception as e:
+            return {
+                "valid": False,
+                "errors": [{"general_error": str(e)}],
+                "message": f"验证过程中发生异常: {str(e)}"
+            }
+
+    def get_workflow_parameter_template(self) -> Dict[str, Any]:
+        """获取工作流参数模板
+
+        Returns:
+            Dict[str, Any]: 参数模板和说明
+        """
+        return {
+            "template": {
+                "name": "拼接后的长工作流的名称",
+                "workflows": [
+                    {
+                        "id": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
+                        "stepParameters": {
+                            "步骤ID (UUID)": {
+                                "模块名称": [
+                                    {
+                                        "key": "参数键名",
+                                        "value": "参数值或变量引用 {{index-m-n}}"
+                                    }
+                                ]
+                            }
+                        }
+                    }
+                ]
+            },
+            "parameter_descriptions": {
+                "name": "拼接后的长工作流名称",
+                "workflows": "待合并的子工作流列表",
+                "id": "子工作流 ID，对应工作流列表中 workflows 数组中每个对象的 id 字段",
+                "stepParameters": "步骤参数配置，如果子工作流没有参数则不需要填写"
+            },
+            "common_modules": {
+                "反应模块-开始搅拌": {
+                    "description": "反应模块搅拌控制",
+                    "common_parameters": ["temperature"]
+                },
+                "通量-配置": {
+                    "description": "通量配置模块",
+                    "common_parameters": ["cutoff", "assignMaterialName"]
+                },
+                "烧杯溶液放置位-烧杯吸液分液": {
+                    "description": "烧杯液体处理模块",
+                    "common_parameters": ["titrationType", "assignMaterialName", "volume"]
+                }
+            },
+            "variable_reference_format": {
+                "format": "{{index-m-n}}",
+                "description": {
+                    "index": "该步骤所在子工作流的拼接顺序(从 1 开始)",
+                    "m": "拼接前该步骤在子工作流内部的 m 值",
+                    "n": "拼接前该步骤在子工作流内部的 n 值"
+                }
+            }
+        }
+
+    # 工作流步骤查询接口
+    def workflow_step_query(self, json_str: str) -> dict:
+        try:
+            data = json.loads(json_str)
+            workflow_id = data.get("workflow_id", "")
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/sub-workflow-step-parameters',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": workflow_id,
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    # 任务推送接口
+    def create_order(self, json_str: str) -> dict:
+        try:
+            params = json.loads(json_str)
+        except Exception as e:
+            result = str({"success": False, "error": f"create_order:处理JSON时出错: {str(e)}", "method": "create_order"})
+            return result
+
+        print('===============', json.dumps(params))
+
+        request_params = {
+            "apiKey": self.api_key,
+            "requestTime": self.get_current_time_iso8601(),
+            "data": params
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/order',
+            params=request_params)
+
+        if response['code'] != 1:
+            print(f"create order error: {response.get('message')}")
+
+        print(f"create order data: {response['data']}")
+        result = str(response.get("data", {}))
+        return result
+
+    # 查询任务列表
+    def order_query(self, json_str: str) -> dict:
+        try:
+            params = json.loads(json_str)
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/order-list',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    # 任务明细查询
+    def order_report(self, json_str: str) -> dict:
+        try:
+            data = json.loads(json_str)
+            order_id = data.get("order_id", "")
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/order-report',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def material_id_query(self, json_str: str) -> dict:
+        """
+        查询物料id
+        json_str 格式为JSON字符串:
+        '{"material123"}'
+        """
+        params = json_str
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/workflow-sample-locations',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response:
+            return {}
+
+        if response['code'] != 1:
+            print(f"material_id_query error: {response.get('message')}")
+            return {}
+
+        print(f"material_id_query data: {response['data']}")
+        return response.get("data", {})
+
+    # 任务取出接口
+    def order_takeout(self, json_str: str) -> int:
+        try:
+            data = json.loads(json_str)
+            params = {
+                "orderId": data.get("order_id", ""),
+                "preintakeId": data.get("preintake_id", "")
+            }
+        except:
+            return 0
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/order-takeout',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 设备列表查询
+    def device_list(self, json_str: str = "") -> list:
+        device_no = None
+        if json_str:
+            try:
+                data = json.loads(json_str)
+                device_no = data.get("device_no", None)
+            except:
+                pass
+
+        url = f'{self.host}/api/lims/device/device-list'
+        if device_no:
+            url += f'/{device_no}'
+
+        response = self.post(
+            url=url,
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return []
+        return response.get("data", [])
+
+    # 设备操作
+    def device_operation(self, json_str: str) -> int:
+        try:
+            data = json.loads(json_str)
+            params = {
+                "deviceNo": data.get("device_no", ""),
+                "operationType": data.get("operation_type", 0),
+                "operationParams": data.get("operation_params", {})
+            }
+        except:
+            return 0
+
+        response = self.post(
+            url=f'{self.host}/api/lims/device/device-operation',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 调度器状态查询
+    def scheduler_status(self) -> dict:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/scheduler-status',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    # 调度器启动
+    def scheduler_start(self) -> int:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/start',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 调度器暂停
+    def scheduler_pause(self) -> int:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/scheduler-pause',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 调度器继续
+    def scheduler_continue(self) -> int:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/scheduler-continue',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 调度器停止
+    def scheduler_stop(self) -> int:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/scheduler-stop',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 调度器重置
+    def scheduler_reset(self) -> int:
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/scheduler-reset',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    # 取消任务
+    def cancel_order(self, json_str: str) -> bool:
+        try:
+            data = json.loads(json_str)
+            order_id = data.get("order_id", "")
+        except:
+            return False
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/cancel-order',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+
+        if not response or response['code'] != 1:
+            return False
+        return True
+
+    # 获取可拼接工作流
+    def query_split_workflow(self) -> list:
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/split-workflow-list',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return []
+        return str(response.get("data", {}))
+
+    # 合并工作流
+    def merge_workflow(self, json_str: str) -> dict:
+        try:
+            data = json.loads(json_str)
+            params = {
+                "name": data.get("name", ""),
+                "workflowIds": data.get("workflow_ids", [])
+            }
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/merge-workflow',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    # 合并工作流并设置参数 API
+    def merge_workflow_with_parameters(self, json_str: str) -> dict:
+        """合并工作流并设置参数
+
+        调用 Bioyond API: /api/lims/workflow/merge-workflow-with-parameters
+
+        Args:
+            json_str (str): JSON 字符串，包含工作流合并配置数据
+
+        Returns:
+            dict: API 响应结果，包含 code、message 和 timestamp
+        """
+        try:
+            # 解析输入的 JSON 数据
+            data = json.loads(json_str)
+
+            # 构造 API 请求参数
+            params = {
+                "name": data.get("name", ""),
+                "workflows": data.get("workflows", [])
+            }
+
+            # 验证必要参数
+            if not params["name"]:
+                return {
+                    "code": 0,
+                    "message": "工作流名称不能为空",
+                    "timestamp": int(datetime.now().timestamp() * 1000)
+                }
+
+            if not params["workflows"]:
+                return {
+                    "code": 0,
+                    "message": "工作流列表不能为空",
+                    "timestamp": int(datetime.now().timestamp() * 1000)
+                }
+
+        except json.JSONDecodeError as e:
+            return {
+                "code": 0,
+                "message": f"JSON 解析错误: {str(e)}",
+                "timestamp": int(datetime.now().timestamp() * 1000)
+            }
+        except Exception as e:
+            return {
+                "code": 0,
+                "message": f"参数处理错误: {str(e)}",
+                "timestamp": int(datetime.now().timestamp() * 1000)
+            }
+
+        # 发送 POST 请求到 Bioyond API
+        try:
+            response = self.post(
+                url=f'{self.host}/api/lims/workflow/merge-workflow-with-parameters',
+                params={
+                    "apiKey": self.api_key,
+                    "requestTime": self.get_current_time_iso8601(),
+                    "data": params,
+                })
+
+            # 处理响应
+            if not response:
+                return {
+                    "code": 0,
+                    "message": "API 请求失败，未收到响应",
+                    "timestamp": int(datetime.now().timestamp() * 1000)
+                }
+
+            # 返回完整的响应结果
+            return {
+                "code": response.get("code", 0),
+                "message": response.get("message", ""),
+                "timestamp": response.get("timestamp", int(datetime.now().timestamp() * 1000))
+            }
+
+        except Exception as e:
+            return {
+                "code": 0,
+                "message": f"API 请求异常: {str(e)}",
+                "timestamp": int(datetime.now().timestamp() * 1000)
+            }
+
+    # 合并当前工作流序列
+    def merge_sequence_workflow(self, json_str: str) -> dict:
+        try:
+            data = json.loads(json_str)
+            name = data.get("name", "合并工作流")
+        except:
+            return {}
+
+        if not self.workflow_sequence:
+            print("工作流序列为空，无法合并")
+            return {}
+
+        params = {
+            "name": name,
+            "workflowIds": self.workflow_sequence
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/merge-workflow',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    # 发布任务
+    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
+        web_workflow_list = self.get_workflow_sequence()
+        workflow_name = workflow_name
+
+        pending_params_backup = self.pending_task_params.copy()
+        print(f"保存pending_task_params副本，共{len(pending_params_backup)}个参数")
+
+        # 1. 处理网页工作流列表
+        print(f"处理网页工作流列表: {web_workflow_list}")
+        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
+        workflows_result = self.process_web_workflows(web_workflow_json)
+
+        if not workflows_result:
+            error_msg = "处理网页工作流列表失败"
+            print(error_msg)
+            result = str({"success": False, "error": f"process_and_execute_workflow:{error_msg}", "method": "process_and_execute_workflow", "step": "process_web_workflows"})
+            return result
+
+        # 2. 合并工作流序列
+        print(f"合并工作流序列，名称: {workflow_name}")
+        merge_json = json.dumps({"name": workflow_name})
+        merged_workflow = self.merge_sequence_workflow(merge_json)
+        print(f"合并工作流序列结果: {merged_workflow}")
+
+        if not merged_workflow:
+            error_msg = "合并工作流序列失败"
+            print(error_msg)
+            result = str({"success": False, "error": f"process_and_execute_workflow:{error_msg}", "method": "process_and_execute_workflow", "step": "merge_sequence_workflow"})
+            return result
+
+        # 3. 合并所有参数并创建任务
+        workflow_name = merged_workflow.get("name", "")
+        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
+        print(f"使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
+
+        workflow_query_json = json.dumps({"workflow_id": workflow_id})
+        workflow_params_structure = self.workflow_step_query(workflow_query_json)
+
+        self.pending_task_params = pending_params_backup
+        print(f"恢复pending_task_params，共{len(self.pending_task_params)}个参数")
+
+        param_values = self.generate_task_param_values(workflow_params_structure)
+
+        task_params = [{
+            "orderCode": f"BSO{self.get_current_time_iso8601().replace('-', '').replace('T', '').replace(':', '').replace('.', '')[:14]}",
+            "orderName": f"实验-{self.get_current_time_iso8601()[:10].replace('-', '')}",
+            "workFlowId": workflow_id,
+            "borderNumber": 1,
+            "paramValues": param_values,
+            "extendProperties": ""
+        }]
+
+        task_json = json.dumps(task_params)
+        print(f"创建任务参数: {type(task_json)}")
+        result = self.create_order(task_json)
+
+        if not result:
+            error_msg = "创建任务失败"
+            print(error_msg)
+            result = str({"success": False, "error": f"process_and_execute_workflow:{error_msg}", "method": "process_and_execute_workflow", "step": "create_order"})
+            return result
+
+        print(f"任务创建成功: {result}")
+        self.pending_task_params.clear()
+        print("已清空pending_task_params")
+
+        return {
+            "success": True,
+            "workflow": {"name": workflow_name, "id": workflow_id},
+            "task": result,
+            "method": "process_and_execute_workflow"
+        }
+
+    # 生成任务参数
+    def generate_task_param_values(self, workflow_params_structure):
+        if not workflow_params_structure:
+            print("workflow_params_structure为空")
+            return {}
+
+        data = workflow_params_structure
+
+        # 从pending_task_params中提取实际参数值，按DisplaySectionName和Key组织
+        pending_params_by_section = {}
+        print(f"开始处理pending_task_params，共{len(self.pending_task_params)}个任务参数组")
+
+        # 获取工作流执行顺序，用于按顺序匹配参数
+        workflow_sequence = self.get_workflow_sequence()
+        print(f"工作流执行顺序: {workflow_sequence}")
+
+        workflow_index = 0
+
+        for i, task_param in enumerate(self.pending_task_params):
+            if 'param_values' in task_param:
+                print(f"处理第{i+1}个任务参数组，包含{len(task_param['param_values'])}个步骤")
+
+                if workflow_index < len(workflow_sequence):
+                    current_workflow = workflow_sequence[workflow_index]
+                    section_name = WORKFLOW_TO_SECTION_MAP.get(current_workflow)
+                    print(f"  匹配到工作流: {current_workflow} -> {section_name}")
+                    workflow_index += 1
+                else:
+                    print(f"  警告: 参数组{i+1}超出了工作流序列范围")
+                    continue
+
+                if not section_name:
+                    print(f"  警告: 工作流{current_workflow}没有对应的DisplaySectionName")
+                    continue
+
+                if section_name not in pending_params_by_section:
+                    pending_params_by_section[section_name] = {}
+
+                for step_id, param_list in task_param['param_values'].items():
+                    print(f"    步骤ID: {step_id}，参数数量: {len(param_list)}")
+
+                    for param_item in param_list:
+                        key = param_item.get('Key', '')
+                        value = param_item.get('Value', '')
+                        m = param_item.get('m', 0)
+                        n = param_item.get('n', 0)
+                        print(f"    参数: {key} = {value} (m={m}, n={n}) -> 分组到{section_name}")
+
+                        param_key = f"{section_name}.{key}"
+                        if param_key not in pending_params_by_section[section_name]:
+                            pending_params_by_section[section_name][param_key] = []
+
+                        pending_params_by_section[section_name][param_key].append({
+                            'value': value,
+                            'm': m,
+                            'n': n
+                        })
+
+        print(f"pending_params_by_section构建完成，包含{len(pending_params_by_section)}个分组")
+
+        # 收集所有参数，过滤TaskDisplayable为0的项
+        filtered_params = []
+
+        for step_id, step_info in data.items():
+            if isinstance(step_info, list):
+                for step_item in step_info:
+                    param_list = step_item.get("parameterList", [])
+                    for param in param_list:
+                        if param.get("TaskDisplayable") == 0:
+                            continue
+
+                        param_with_step = param.copy()
+                        param_with_step['step_id'] = step_id
+                        param_with_step['step_name'] = step_item.get("name", "")
+                        param_with_step['step_m'] = step_item.get("m", 0)
+                        param_with_step['step_n'] = step_item.get("n", 0)
+                        filtered_params.append(param_with_step)
+
+        # 按DisplaySectionIndex排序
+        filtered_params.sort(key=lambda x: x.get('DisplaySectionIndex', 0))
+
+        # 生成参数映射
+        param_mapping = {}
+        step_params = {}
+        for param in filtered_params:
+            step_id = param['step_id']
+            if step_id not in step_params:
+                step_params[step_id] = []
+            step_params[step_id].append(param)
+
+        # 为每个步骤生成参数
+        for step_id, params in step_params.items():
+            param_list = []
+            for param in params:
+                key = param.get('Key', '')
+                display_section_index = param.get('DisplaySectionIndex', 0)
+                step_m = param.get('step_m', 0)
+                step_n = param.get('step_n', 0)
+
+                section_name = param.get('DisplaySectionName', '')
+                param_key = f"{section_name}.{key}"
+
+                if section_name in pending_params_by_section and param_key in pending_params_by_section[section_name]:
+                    pending_param_list = pending_params_by_section[section_name][param_key]
+                    if pending_param_list:
+                        pending_param = pending_param_list[0]
+                        value = pending_param['value']
+                        m = step_m
+                        n = step_n
+                        print(f"      匹配成功: {section_name}.{key} = {value} (m={m}, n={n})")
+                        pending_param_list.pop(0)
+                    else:
+                        value = "1"
+                        m = step_m
+                        n = step_n
+                        print(f"      匹配失败: {section_name}.{key}，参数列表为空，使用默认值 = {value}")
+                else:
+                    value = "1"
+                    m = display_section_index
+                    n = step_n
+                    print(f"      匹配失败: {section_name}.{key}，使用默认值 = {value} (m={m}, n={n})")
+
+                param_item = {
+                    "m": m,
+                    "n": n,
+                    "key": key,
+                    "value": str(value).strip()
+                }
+                param_list.append(param_item)
+
+            if param_list:
+                param_mapping[step_id] = param_list
+
+        print(f"生成任务参数值，包含 {len(param_mapping)} 个步骤")
+        return param_mapping
+
+    # 工作流方法
+    def reactor_taken_out(self):
+        """反应器取出"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
+        reactor_taken_out_params = {"param_values": {}}
+        self.pending_task_params.append(reactor_taken_out_params)
+        print(f"成功添加反应器取出工作流")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def reactor_taken_in(self, assign_material_name: str, cutoff: str = "900000", temperature: float = -10.00):
+        """反应器放入"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
+        material_id = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
+        reactor_taken_in_params = {
+            "param_values": {
+                step_id: [
+                    {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
+                    {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"},
+                    {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(reactor_taken_in_params)
+        print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def solid_feeding_vials(self, material_id: str, time: str = "0", torque_variation: str = "1",
+                            assign_material_name: str = None, temperature: float = 25.00):
+        """固体进料小瓶"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
+        material_id_m = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        feeding_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
+        observe_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
+
+        solid_feeding_vials_params = {
+            "param_values": {
+                feeding_id: [
+                    {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
+                    {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m}
+                ],
+                observe_id: [
+                    {"m": 1, "n": 0, "Key": "time", "Value": time},
+                    {"m": 1, "n": 0, "Key": "torqueVariation", "Value": torque_variation},
+                    {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(solid_feeding_vials_params)
+        print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, temp={temperature:.2f}°C")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_vials_non_titration(self, volumeFormula: str, assign_material_name: str,
+                                          titration_type: str = "1", time: str = "0",
+                                          torque_variation: str = "1", temperature: float = 25.00):
+        """液体进料小瓶(非滴定)"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
+        material_id = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
+        observe_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_id: [
+                    {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volumeFormula},
+                    {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
+                    {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
+                ],
+                observe_id: [
+                    {"m": 1, "n": 0, "Key": "time", "Value": time},
+                    {"m": 1, "n": 0, "Key": "torqueVariation", "Value": torque_variation},
+                    {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料小瓶(非滴定)参数: volume={volumeFormula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_solvents(self, assign_material_name: str, volume: str, titration_type: str = "1",
+                               time: str = "360", torque_variation: str = "2", temperature: float = 25.00):
+        """液体进料溶剂"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
+        material_id = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
+        observe_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_id: [
+                    {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
+                    {"m": 0, "n": 1, "Key": "volume", "Value": volume},
+                    {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
+                ],
+                observe_id: [
+                    {"m": 1, "n": 0, "Key": "time", "Value": time},
+                    {"m": 1, "n": 0, "Key": "torqueVariation", "Value": torque_variation},
+                    {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_titration(self, volume_formula: str, assign_material_name: str, titration_type: str = "1",
+                                time: str = "90", torque_variation: int = 2, temperature: float = 25.00):
+        """液体进料(滴定)"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
+        material_id = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
+        observe_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_id: [
+                    {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
+                    {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
+                    {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                ],
+                observe_id: [
+                    {"m": 1, "n": 0, "Key": "time", "Value": time},
+                    {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                    {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_beaker(self, volume: str = "35000", assign_material_name: str = "BAPP",
+                             time: str = "0", torque_variation: str = "1", titrationType: str = "1",
+                             temperature: float = 25.00):
+        """液体进料烧杯"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
+        material_id = self._get_material_id_by_name(assign_material_name)
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
+        observe_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_id: [
+                    {"m": 0, "n": 2, "Key": "volume", "Value": volume},
+                    {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
+                    {"m": 0, "n": 2, "Key": "titrationType", "Value": titrationType}
+                ],
+                observe_id: [
+                    {"m": 1, "n": 0, "Key": "time", "Value": time},
+                    {"m": 1, "n": 0, "Key": "torqueVariation", "Value": torque_variation},
+                    {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                ]
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    # 辅助方法
+    def _load_material_cache(self):
+        """预加载材料列表到缓存中"""
+        try:
+            print("正在加载材料列表缓存...")
+            stock_query = '{"typeMode": 2, "includeDetail": true}'
+            stock_result = self.stock_material(stock_query)
+
+            if isinstance(stock_result, str):
+                stock_data = json.loads(stock_result)
+            else:
+                stock_data = stock_result
+
+            materials = stock_data
+            for material in materials:
+                material_name = material.get("name")
+                material_id = material.get("id")
+                if material_name and material_id:
+                    self.material_cache[material_name] = material_id
+
+            print(f"材料列表缓存加载完成，共加载 {len(self.material_cache)} 个材料")
+
+        except Exception as e:
+            print(f"加载材料列表缓存时出错: {e}")
+            self.material_cache = {}
+
+    def _get_material_id_by_name(self, material_name_or_id: str) -> str:
+        """根据材料名称获取材料ID"""
+        if len(material_name_or_id) > 20 and '-' in material_name_or_id:
+            return material_name_or_id
+
+        if material_name_or_id in self.material_cache:
+            material_id = self.material_cache[material_name_or_id]
+            print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
+            return material_id
+
+        print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
+        return material_name_or_id
+
+    def refresh_material_cache(self):
+        """刷新材料列表缓存"""
+        print("正在刷新材料列表缓存...")
+        self._load_material_cache()
+
+    def get_available_materials(self):
+        """获取所有可用的材料名称列表"""
+        return list(self.material_cache.keys())
+
+    # 物料管理接口
+    def add_material(self, json_str: str) -> dict:
+        """添加新的物料"""
+        try:
+            params = json.loads(json_str)
+        except:
+            return {}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/material',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def query_matial_type_id(self, data) -> list:
+        """查找物料typeid"""
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/material-types',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data
+            })
+
+        if not response or response['code'] != 1:
+            return []
+        return str(response.get("data", {}))
+
+    def query_warehouse_by_material_type(self, type_id: str) -> dict:
+        """查询物料类型可以入库的库位"""
+        params = {"typeId": type_id}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/warehouse-info-by-mat-type-id',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def material_inbound(self, material_id: str, location_name: str) -> dict:
+        """指定库位入库一个物料"""
+        location_id = LOCATION_MAPPING.get(location_name, location_name)
+
+        params = {
+            "materialId": material_id,
+            "locationId": location_id
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/inbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def delete_material(self, material_id: str) -> dict:
+        """删除尚未入库的物料"""
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/delete-material',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": material_id
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
+        """指定库位出库物料"""
+        location_id = LOCATION_MAPPING.get(location_name, location_name)
+
+        params = {
+            "materialId": material_id,
+            "locationId": location_id,
+            "quantity": quantity
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return {}
+        return response
+
+    def get_logger(self):
+        return self._logger
+
+    # ==================== 配液站特有方法 ====================
+
+    def sample_waste_removal(self, order_id: str) -> dict:
+        """
+        样品/废料取出接口
+
+        参数:
+        - order_id: 订单ID
+
+        返回: 取出结果
+        """
+        params = {"orderId": order_id}
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/take-out',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response:
+            return {}
+
+        if response['code'] != 1:
+            self._logger.error(f"样品废料取出错误: {response.get('message', '')}")
+            return {}
+
+        return response.get("data", {})
+
+    def dispensing_material_inbound(self, material_id: str, location_id: str) -> dict:
+        """
+        配液站物料入库接口
+
+        参数:
+        - material_id: 物料ID
+        - location_id: 库位ID
+
+        返回: 入库结果
+        """
+        params = {
+            "materialId": material_id,
+            "locationId": location_id
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/inbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response:
+            return {}
+
+        if response['code'] != 1:
+            self._logger.error(f"配液站物料入库错误: {response.get('message', '')}")
+            return {}
+
+        return response.get("data", {})
+
+    def dispensing_material_outbound(self, material_id: str, location_id: str, quantity: int) -> dict:
+        """
+        配液站物料出库接口
+
+        参数:
+        - material_id: 物料ID
+        - location_id: 库位ID
+        - quantity: 出库数量
+
+        返回: 出库结果
+        """
+        params = {
+            "materialId": material_id,
+            "locationId": location_id,
+            "quantity": quantity
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response:
+            return {}
+
+        if response['code'] != 1:
+            self._logger.error(f"配液站物料出库错误: {response.get('message', '')}")
+            return {}
+
+        return response.get("data", {})
+
+    def create_90_10_vial_feeding_task(self,
+                                       order_name: str = None,
+                                       speed: str = None,
+                                       temperature: str = None,
+                                       delay_time: str = None,
+                                       percent_90_1_assign_material_name: str = None,
+                                       percent_90_1_target_weigh: str = None,
+                                       percent_90_2_assign_material_name: str = None,
+                                       percent_90_2_target_weigh: str = None,
+                                       percent_90_3_assign_material_name: str = None,
+                                       percent_90_3_target_weigh: str = None,
+                                       percent_10_1_assign_material_name: str = None,
+                                       percent_10_1_target_weigh: str = None,
+                                       percent_10_1_volume: str = None,
+                                       percent_10_1_liquid_material_name: str = None,
+                                       percent_10_2_assign_material_name: str = None,
+                                       percent_10_2_target_weigh: str = None,
+                                       percent_10_2_volume: str = None,
+                                       percent_10_2_liquid_material_name: str = None,
+                                       percent_10_3_assign_material_name: str = None,
+                                       percent_10_3_target_weigh: str = None,
+                                       percent_10_3_volume: str = None,
+                                       percent_10_3_liquid_material_name: str = None,
+                                       hold_m_name: str = None) -> dict:
+        """
+        创建90%10%小瓶投料任务
+
+        参数说明:
+        - order_name: 任务名称，如果为None则使用默认名称
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值40
+        - delay_time: 延迟时间，如果为None则使用默认值600
+        - percent_90_1_assign_material_name: 90%_1物料名称
+        - percent_90_1_target_weigh: 90%_1目标重量
+        - percent_90_2_assign_material_name: 90%_2物料名称
+        - percent_90_2_target_weigh: 90%_2目标重量
+        - percent_90_3_assign_material_name: 90%_3物料名称
+        - percent_90_3_target_weigh: 90%_3目标重量
+        - percent_10_1_assign_material_name: 10%_1固体物料名称
+        - percent_10_1_target_weigh: 10%_1固体目标重量
+        - percent_10_1_volume: 10%_1液体体积
+        - percent_10_1_liquid_material_name: 10%_1液体物料名称
+        - percent_10_2_assign_material_name: 10%_2固体物料名称
+        - percent_10_2_target_weigh: 10%_2固体目标重量
+        - percent_10_2_volume: 10%_2液体体积
+        - percent_10_2_liquid_material_name: 10%_2液体物料名称
+        - percent_10_3_assign_material_name: 10%_3固体物料名称
+        - percent_10_3_target_weigh: 10%_3固体目标重量
+        - percent_10_3_volume: 10%_3液体体积
+        - percent_10_3_liquid_material_name: 10%_3液体物料名称
+        - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId
+
+        返回: 任务创建结果
+        """
+        # 设置默认值
+        if order_name is None:
+            order_name = f"90%10%小瓶投料任务_{self.get_current_time_iso8601()}"
+        if speed is None:
+            speed = "400"
+        if temperature is None:
+            temperature = "20"
+        if delay_time is None:
+            delay_time = "600"
+
+        # 获取工作流ID
+        workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b"  # 90%10%小瓶投料工作流ID
+
+        # 查询holdMId
+        holdMId = None
+        if hold_m_name:
+            holdMId_response = self.material_id_query(hold_m_name)
+            if holdMId_response:
+                holdMId = holdMId_response
+
+        # 构建订单数据
+        order_data = [{
+            "code": order_name,
+            "Name": "90%10%小瓶投料任务",
+            "workflowName": "90%10%小瓶投料",
+            "borderNumber": 1,
+            "paramValues": {
+                workflow_id: [
+                    # 搅拌速度
+                    {"m": 3, "n": 2, "key": "speed", "value": speed},
+                    # 温度
+                    {"m": 3, "n": 2, "key": "temperature", "value": temperature},
+                    # 延迟时间
+                    {"m": 3, "n": 2, "key": "delayTime", "value": delay_time},
+                    # 90%_1固体物料
+                    {"m": 3, "n": 2, "key": "90%_1_assignMaterialName", "value": percent_90_1_assign_material_name},
+                    {"m": 3, "n": 2, "key": "90%_1_targetWeigh", "value": percent_90_1_target_weigh},
+                    # 90%_2固体物料
+                    {"m": 3, "n": 2, "key": "90%_2_assignMaterialName", "value": percent_90_2_assign_material_name},
+                    {"m": 3, "n": 2, "key": "90%_2_targetWeigh", "value": percent_90_2_target_weigh},
+                    # 90%_3固体物料
+                    {"m": 3, "n": 2, "key": "90%_3_assignMaterialName", "value": percent_90_3_assign_material_name},
+                    {"m": 3, "n": 2, "key": "90%_3_targetWeigh", "value": percent_90_3_target_weigh},
+                    # 10%_1液体物料
+                    {"m": 3, "n": 2, "key": "10%_1_assignMaterialName", "value": percent_10_1_assign_material_name},
+                    {"m": 3, "n": 2, "key": "10%_1_targetWeigh", "value": percent_10_1_target_weigh},
+                    {"m": 3, "n": 2, "key": "10%_1_volume", "value": percent_10_1_volume},
+                    {"m": 3, "n": 2, "key": "10%_1_liquidMaterialName", "value": percent_10_1_liquid_material_name},
+                    # 10%_2液体物料
+                    {"m": 3, "n": 2, "key": "10%_2_assignMaterialName", "value": percent_10_2_assign_material_name},
+                    {"m": 3, "n": 2, "key": "10%_2_targetWeigh", "value": percent_10_2_target_weigh},
+                    {"m": 3, "n": 2, "key": "10%_2_volume", "value": percent_10_2_volume},
+                    {"m": 3, "n": 2, "key": "10%_2_liquidMaterialName", "value": percent_10_2_liquid_material_name},
+                    # 10%_3液体物料
+                    {"m": 3, "n": 2, "key": "10%_3_assignMaterialName", "value": percent_10_3_assign_material_name},
+                    {"m": 3, "n": 2, "key": "10%_3_targetWeigh", "value": percent_10_3_target_weigh},
+                    {"m": 3, "n": 2, "key": "10%_3_volume", "value": percent_10_3_volume},
+                    {"m": 3, "n": 2, "key": "10%_3_liquidMaterialName", "value": percent_10_3_liquid_material_name}
+                ]
+            },
+            "ExtendProperties": f"{{{holdMId}:null}}" if holdMId else "{}"
+        }]
+
+        try:
+            # 调用create_order方法创建任务
+            result = self.create_order(json.dumps(order_data, ensure_ascii=False))
+            self._logger.info(f"90%10%小瓶投料任务创建成功: {result}")
+            return result
+
+        except Exception as e:
+            error_msg = f"90%10%小瓶投料任务创建异常: {str(e)}"
+            self._logger.error(error_msg)
+            return {"error": error_msg}
+
+    def create_diamine_solution_task(self,
+                                    order_name: str = None,
+                                    material_name: str = None,
+                                    target_weigh: str = None,
+                                    volume: str = None,
+                                    liquid_material_name: str = "NMP",
+                                    speed: str = None,
+                                    temperature: str = None,
+                                    delay_time: str = None,
+                                    hold_m_name: str = None) -> dict:
+        """
+        创建二胺溶液配置任务
+
+        参数说明:
+        - order_name: 任务名称，如果为None则使用默认名称
+        - material_name: 固体物料名称，必填
+        - target_weigh: 固体目标重量，必填
+        - volume: 液体体积，必填
+        - liquid_material_name: 液体物料名称，默认为NMP
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值25
+        - delay_time: 延迟时间，如果为None则使用默认值600
+        - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId
+
+        返回: 任务创建结果
+        """
+        # 验证必填参数
+        if not material_name or not target_weigh or not volume:
+            return {
+                "status": "error",
+                "message": "material_name、target_weigh和volume为必填参数"
+            }
+
+        # 设置默认值
+        if order_name is None:
+            order_name = f"二胺溶液配置任务_{self.get_current_time_iso8601()}"
+        if speed is None:
+            speed = "400"
+        if temperature is None:
+            temperature = "25"
+        if delay_time is None:
+            delay_time = "600"
+
+        # 获取工作流ID
+        workflow_id = "1"
+
+        # 查询holdMId
+        holdMId = None
+        if hold_m_name:
+            try:
+                material_query_params = json.dumps({"materialName": hold_m_name})
+                material_response = self.material_id_query(material_query_params)
+                if material_response and material_response.get("code") == 1:
+                    data = material_response.get("data", [])
+                    if data:
+                        holdMId = data[0].get("id")
+                        self._logger.info(f"查询到holdMId: {holdMId} for {hold_m_name}")
+                    else:
+                        self._logger.warning(f"未找到物料: {hold_m_name}")
+                else:
+                    self._logger.error(f"查询物料ID失败: {material_response}")
+            except Exception as e:
+                self._logger.error(f"查询holdMId时发生错误: {e}")
+
+        # 构建order_data
+        order_data = {
+            "workflowId": workflow_id,
+            "orderName": order_name,
+            "params": {
+                "1": speed,  # 搅拌速度
+                "2": temperature,  # 温度
+                "3": delay_time,  # 延迟时间
+                "4": material_name,  # 固体物料名称
+                "5": target_weigh,  # 固体目标重量
+                "6": volume,  # 液体体积
+                "7": liquid_material_name  # 液体物料名称
+            }
+        }
+
+        if holdMId:
+            order_data["holdMId"] = holdMId
+
+        try:
+            # 使用create_order方法创建任务
+            order_params = json.dumps(order_data)
+            response = self.create_order(order_params)
+            return response
+        except Exception as e:
+            self._logger.error(f"创建二胺溶液配置任务时发生错误: {e}")
+            return {"status": "error", "message": f"创建任务失败: {str(e)}"}
+
+    def create_batch_90_10_vial_feeding_task(self, json_str: str) -> dict:
+        """
+        创建批量90%10%小瓶投料任务
+
+        接受JSON输入，支持多个90%10%小瓶投料任务的批量创建
+
+        JSON格式示例:
+        {
+            "batch_name": "批量90%10%小瓶投料任务_20240101",
+            "tasks": [
+                {
+                    "order_name": "小瓶投料任务1",
+                    "hold_m_name": "C01",
+                    "percent_90_1_assign_material_name": "物料A",
+                    "percent_90_1_target_weigh": "10.5",
+                    "percent_10_1_assign_material_name": "物料B",
+                    "percent_10_1_target_weigh": "5.2",
+                    "percent_10_1_volume": "50.0",
+                    "percent_10_1_liquid_material_name": "NMP",
+                    "speed": "400",
+                    "temperature": "40",
+                    "delay_time": "600"
+                }
+            ],
+            "global_settings": {
+                "speed": "400",
+                "temperature": "40",
+                "delay_time": "600"
+            }
+        }
+
+        参数说明:
+        - batch_name: 批量任务名称，可选
+        - tasks: 任务列表，每个任务包含90%10%小瓶投料参数
+        - global_settings: 全局默认设置，当单个任务未指定参数时使用
+
+        返回: 批量任务创建结果
+        """
+        try:
+            # 解析JSON输入
+            data = json.loads(json_str)
+
+            # 获取批量任务参数
+            batch_name = data.get("batch_name", f"批量90%10%小瓶投料任务_{self.get_current_time_iso8601()}")
+            tasks = data.get("tasks", [])
+            global_settings = data.get("global_settings", {})
+
+            if not tasks:
+                return {
+                    "status": "error",
+                    "message": "任务列表不能为空"
+                }
+
+            # 批量创建结果
+            batch_results = {
+                "batch_name": batch_name,
+                "total_tasks": len(tasks),
+                "successful_tasks": 0,
+                "failed_tasks": 0,
+                "task_results": []
+            }
+
+            self._logger.info(f"开始创建批量90%10%小瓶投料任务: {batch_name}, 包含 {len(tasks)} 个子任务")
+
+            # 逐个创建任务
+            for i, task in enumerate(tasks):
+                try:
+                    # 合并全局设置和任务特定设置
+                    task_params = {**global_settings, **task}
+
+                    # 验证必填参数 - hold_m_name是必须的
+                    if not task_params.get("hold_m_name"):
+                        error_msg = f"任务 {i+1} 缺少必填参数: hold_m_name"
+                        self._logger.error(error_msg)
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "status": "error",
+                            "message": error_msg
+                        })
+                        batch_results["failed_tasks"] += 1
+                        continue
+
+                    # 设置任务名称
+                    if not task_params.get("order_name"):
+                        task_params["order_name"] = f"{batch_name}_任务{i+1}"
+
+                    # 调用单个90%10%小瓶投料任务创建方法
+                    task_result = self.create_90_10_vial_feeding_task(
+                        order_name=task_params.get("order_name"),
+                        speed=task_params.get("speed"),
+                        temperature=task_params.get("temperature"),
+                        delay_time=task_params.get("delay_time"),
+                        percent_90_1_assign_material_name=task_params.get("percent_90_1_assign_material_name"),
+                        percent_90_1_target_weigh=task_params.get("percent_90_1_target_weigh"),
+                        percent_90_2_assign_material_name=task_params.get("percent_90_2_assign_material_name"),
+                        percent_90_2_target_weigh=task_params.get("percent_90_2_target_weigh"),
+                        percent_90_3_assign_material_name=task_params.get("percent_90_3_assign_material_name"),
+                        percent_90_3_target_weigh=task_params.get("percent_90_3_target_weigh"),
+                        percent_10_1_assign_material_name=task_params.get("percent_10_1_assign_material_name"),
+                        percent_10_1_target_weigh=task_params.get("percent_10_1_target_weigh"),
+                        percent_10_1_volume=task_params.get("percent_10_1_volume"),
+                        percent_10_1_liquid_material_name=task_params.get("percent_10_1_liquid_material_name"),
+                        percent_10_2_assign_material_name=task_params.get("percent_10_2_assign_material_name"),
+                        percent_10_2_target_weigh=task_params.get("percent_10_2_target_weigh"),
+                        percent_10_2_volume=task_params.get("percent_10_2_volume"),
+                        percent_10_2_liquid_material_name=task_params.get("percent_10_2_liquid_material_name"),
+                        percent_10_3_assign_material_name=task_params.get("percent_10_3_assign_material_name"),
+                        percent_10_3_target_weigh=task_params.get("percent_10_3_target_weigh"),
+                        percent_10_3_volume=task_params.get("percent_10_3_volume"),
+                        percent_10_3_liquid_material_name=task_params.get("percent_10_3_liquid_material_name"),
+                        hold_m_name=task_params.get("hold_m_name")
+                    )
+
+                    # 记录任务结果
+                    if isinstance(task_result, dict) and task_result.get("status") != "error":
+                        batch_results["successful_tasks"] += 1
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "task_name": task_params.get("order_name"),
+                            "status": "success",
+                            "result": task_result
+                        })
+                        self._logger.info(f"任务 {i+1} 创建成功: {task_params.get('order_name')}")
+                    else:
+                        batch_results["failed_tasks"] += 1
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "task_name": task_params.get("order_name"),
+                            "status": "error",
+                            "message": str(task_result)
+                        })
+                        self._logger.error(f"任务 {i+1} 创建失败: {task_result}")
+
+                except Exception as e:
+                    error_msg = f"任务 {i+1} 处理时发生异常: {str(e)}"
+                    self._logger.error(error_msg)
+                    batch_results["failed_tasks"] += 1
+                    batch_results["task_results"].append({
+                        "task_index": i + 1,
+                        "status": "error",
+                        "message": error_msg
+                    })
+
+            # 设置批量任务整体状态
+            if batch_results["failed_tasks"] == 0:
+                batch_results["status"] = "success"
+                batch_results["message"] = f"批量90%10%小瓶投料任务全部创建成功，共 {batch_results['successful_tasks']} 个任务"
+            elif batch_results["successful_tasks"] == 0:
+                batch_results["status"] = "error"
+                batch_results["message"] = f"批量90%10%小瓶投料任务全部创建失败，共 {batch_results['failed_tasks']} 个任务"
+            else:
+                batch_results["status"] = "partial_success"
+                batch_results["message"] = f"批量90%10%小瓶投料任务部分成功，成功 {batch_results['successful_tasks']} 个，失败 {batch_results['failed_tasks']} 个"
+
+            self._logger.info(f"批量90%10%小瓶投料任务完成: {batch_results['message']}")
+            return batch_results
+
+        except json.JSONDecodeError as e:
+            error_msg = f"JSON解析失败: {str(e)}"
+            self._logger.error(error_msg)
+            return {"status": "error", "message": error_msg}
+        except Exception as e:
+            error_msg = f"创建批量90%10%小瓶投料任务时发生错误: {str(e)}"
+            self._logger.error(error_msg)
+            return {"status": "error", "message": error_msg}
+
+    def create_batch_diamine_solution_task(self, json_str: str) -> dict:
+        """
+        创建批量二胺溶液配制任务
+
+        接受JSON输入，支持多个二胺溶液配制任务的批量创建
+
+        JSON格式示例:
+        {
+            "batch_name": "批量二胺溶液配制任务_20240101",
+            "tasks": [
+                {
+                    "order_name": "二胺溶液配制任务1",
+                    "material_name": "物料A",
+                    "target_weigh": "10.5",
+                    "volume": "50.0",
+                    "liquid_material_name": "NMP",
+                    "speed": "400",
+                    "temperature": "25",
+                    "delay_time": "600",
+                    "hold_m_name": "A01"
+                },
+                {
+                    "order_name": "二胺溶液配制任务2",
+                    "material_name": "物料B",
+                    "target_weigh": "15.2",
+                    "volume": "75.0",
+                    "liquid_material_name": "DMF",
+                    "speed": "350",
+                    "temperature": "30",
+                    "delay_time": "800",
+                    "hold_m_name": "B02"
+                }
+            ],
+            "global_settings": {
+                "speed": "400",
+                "temperature": "25",
+                "delay_time": "600",
+                "liquid_material_name": "NMP"
+            }
+        }
+
+        参数说明:
+        - batch_name: 批量任务名称，可选
+        - tasks: 任务列表，每个任务包含二胺溶液配制参数
+        - global_settings: 全局默认设置，当单个任务未指定参数时使用
+
+        每个任务参数:
+        - order_name: 任务名称
+        - material_name: 物料名称，必填
+        - target_weigh: 目标重量，必填
+        - volume: 体积，必填
+        - liquid_material_name: 液体物料名称，可选
+        - speed: 搅拌速度，可选
+        - temperature: 温度，可选
+        - delay_time: 延迟时间，可选
+        - hold_m_name: 库位名称，可选
+
+        返回: 批量任务创建结果
+        """
+        try:
+            # 解析JSON输入
+            data = json.loads(json_str)
+
+            # 获取批量任务参数
+            batch_name = data.get("batch_name", f"批量二胺溶液配制任务_{self.get_current_time_iso8601()}")
+            tasks = data.get("tasks", [])
+            global_settings = data.get("global_settings", {})
+
+            if not tasks:
+                return {
+                    "status": "error",
+                    "message": "任务列表不能为空"
+                }
+
+            # 批量创建结果
+            batch_results = {
+                "batch_name": batch_name,
+                "total_tasks": len(tasks),
+                "successful_tasks": 0,
+                "failed_tasks": 0,
+                "task_results": []
+            }
+
+            self._logger.info(f"开始创建批量二胺溶液配制任务: {batch_name}, 包含 {len(tasks)} 个子任务")
+
+            # 逐个创建任务
+            for i, task in enumerate(tasks):
+                try:
+                    # 合并全局设置和任务特定设置
+                    task_params = {**global_settings, **task}
+
+                    # 验证必填参数
+                    required_params = ["material_name", "target_weigh", "volume"]
+                    missing_params = [param for param in required_params if not task_params.get(param)]
+
+                    if missing_params:
+                        error_msg = f"任务 {i+1} 缺少必填参数: {', '.join(missing_params)}"
+                        self._logger.error(error_msg)
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "status": "error",
+                            "message": error_msg
+                        })
+                        batch_results["failed_tasks"] += 1
+                        continue
+
+                    # 设置任务名称
+                    if not task_params.get("order_name"):
+                        task_params["order_name"] = f"{batch_name}_任务{i+1}"
+
+                    # 调用单个二胺溶液配制任务创建方法
+                    task_result = self.create_diamine_solution_task(
+                        order_name=task_params.get("order_name"),
+                        material_name=task_params.get("material_name"),
+                        target_weigh=task_params.get("target_weigh"),
+                        volume=task_params.get("volume"),
+                        liquid_material_name=task_params.get("liquid_material_name", "NMP"),
+                        speed=task_params.get("speed"),
+                        temperature=task_params.get("temperature"),
+                        delay_time=task_params.get("delay_time"),
+                        hold_m_name=task_params.get("hold_m_name")
+                    )
+
+                    # 记录任务结果
+                    if isinstance(task_result, dict) and task_result.get("status") != "error":
+                        batch_results["successful_tasks"] += 1
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "task_name": task_params.get("order_name"),
+                            "status": "success",
+                            "result": task_result
+                        })
+                        self._logger.info(f"任务 {i+1} 创建成功: {task_params.get('order_name')}")
+                    else:
+                        batch_results["failed_tasks"] += 1
+                        batch_results["task_results"].append({
+                            "task_index": i + 1,
+                            "task_name": task_params.get("order_name"),
+                            "status": "error",
+                            "message": str(task_result)
+                        })
+                        self._logger.error(f"任务 {i+1} 创建失败: {task_result}")
+
+                except Exception as e:
+                    error_msg = f"滴定液任务 {i+1} 处理时发生异常: {str(e)}"
+                    self._logger.error(error_msg)
+                    batch_results["failed_tasks"] += 1
+                    batch_results["task_results"].append({
+                        "task_index": i + 1,
+                        "status": "error",
+                        "message": error_msg
+                    })
+
+            # 设置批量任务整体状态
+            if batch_results["failed_tasks"] == 0:
+                batch_results["status"] = "success"
+                batch_results["message"] = f"批量滴定液任务全部创建成功，共 {batch_results['successful_tasks']} 个任务"
+            elif batch_results["successful_tasks"] == 0:
+                batch_results["status"] = "error"
+                batch_results["message"] = f"批量滴定液任务全部创建失败，共 {batch_results['failed_tasks']} 个任务"
+            else:
+                batch_results["status"] = "partial_success"
+                batch_results["message"] = f"批量滴定液任务部分成功，成功 {batch_results['successful_tasks']} 个，失败 {batch_results['failed_tasks']} 个"
+
+            self._logger.info(f"批量滴定液任务完成: {batch_results['message']}")
+            return batch_results
+
+        except json.JSONDecodeError as e:
+            error_msg = f"JSON解析失败: {str(e)}"
+            self._logger.error(error_msg)
+            return {"status": "error", "message": error_msg}
+        except Exception as e:
+            error_msg = f"创建批量滴定液任务时发生错误: {str(e)}"
+            self._logger.error(error_msg)
+            return {"status": "error", "message": error_msg}
diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py
new file mode 100644
index 00000000..36bf00bb
--- /dev/null
+++ b/unilabos/devices/workstation/bioyond_studio/config.py
@@ -0,0 +1,129 @@
+# config.py
+"""
+配置文件 - 包含所有配置信息和映射关系
+"""
+
+# API配置
+API_CONFIG = {
+    "api_key": "",
+    "api_host": ""
+}
+
+# 站点类型配置
+STATION_TYPES = {
+    "REACTION": "reaction_station",      # 仅反应站
+    "DISPENSING": "dispensing_station",  # 仅配液站
+    "HYBRID": "hybrid_station"           # 混合模式
+}
+
+# 默认站点配置
+DEFAULT_STATION_CONFIG = {
+    "station_type": STATION_TYPES["REACTION"],  # 默认反应站模式
+    "enable_reaction_station": True,            # 是否启用反应站功能
+    "enable_dispensing_station": False,         # 是否启用配液站功能
+    "station_name": "BioyondReactionStation",   # 站点名称
+    "description": "Bioyond反应工作站"          # 站点描述
+}
+
+# 工作流映射配置
+WORKFLOW_MAPPINGS = {
+    "reactor_taken_out": "",
+    "reactor_taken_in": "",
+    "Solid_feeding_vials": "",
+    "Liquid_feeding_vials(non-titration)": "",
+    "Liquid_feeding_solvents": "",
+    "Liquid_feeding(titration)": "",
+    "liquid_feeding_beaker": "",
+    "Drip_back": "",
+}
+
+# 工作流名称到DisplaySectionName的映射
+WORKFLOW_TO_SECTION_MAP = {
+    'reactor_taken_in': '反应器放入',
+    'liquid_feeding_beaker': '液体投料-烧杯',
+    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
+    'Liquid_feeding_solvents': '液体投料-溶剂',
+    'Solid_feeding_vials': '固体投料-小瓶',
+    'Liquid_feeding(titration)': '液体投料-滴定',
+    'reactor_taken_out': '反应器取出'
+}
+
+# 库位映射配置
+LOCATION_MAPPING = {
+    'A01': '',
+    'A02': '',
+    'A03': '',
+    'A04': '',
+    'A05': '',
+    'A06': '',
+    'A07': '',
+    'A08': '',
+    'B01': '',
+    'B02': '',
+    'B03': '',
+    'B04': '',
+    'B05': '',
+    'B06': '',
+    'B07': '',
+    'B08': '',
+    'C01': '',
+    'C02': '',
+    'C03': '',
+    'C04': '',
+    'C05': '',
+    'C06': '',
+    'C07': '',
+    'C08': '',
+    'D01': '',
+    'D02': '',
+    'D03': '',
+    'D04': '',
+    'D05': '',
+    'D06': '',
+    'D07': '',
+    'D08': '',
+}
+
+# 物料类型配置
+MATERIAL_TYPE_IDS = {
+    "样品板": "",
+    "样品": "",
+    "烧杯": ""
+}
+
+MATERIAL_TYPE_MAPPINGS = {
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
+}
+
+# 步骤参数配置（各工作流的步骤UUID）
+WORKFLOW_STEP_IDS = {
+    "reactor_taken_in": {
+        "config": ""
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "",
+        "observe": ""
+    },
+    "solid_feeding_vials": {
+        "feeding": "",
+        "observe": ""
+    },
+    "liquid_feeding_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "drip_back": {
+        "liquid": "",
+        "observe": ""
+    }
+}
diff --git a/unilabos/devices/workstation/bioyond_studio/experiment.py b/unilabos/devices/workstation/bioyond_studio/experiment.py
new file mode 100644
index 00000000..ae3111b8
--- /dev/null
+++ b/unilabos/devices/workstation/bioyond_studio/experiment.py
@@ -0,0 +1,398 @@
+# experiment_workflow.py
+"""
+实验流程主程序
+"""
+
+import json
+from bioyond_rpc import BioyondV1RPC
+from config import API_CONFIG, WORKFLOW_MAPPINGS
+
+
+def run_experiment():
+    """运行实验流程"""
+    
+    # 初始化Bioyond客户端
+    config = {
+        **API_CONFIG,
+        "workflow_mappings": WORKFLOW_MAPPINGS
+    }
+    
+    Bioyond = BioyondV1RPC(config)
+    
+    print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
+    
+    # 显示可用的材料名称（前20个）
+    available_materials = Bioyond.get_available_materials()
+    print(f"可用材料名称（前20个）: {available_materials[:20]}")
+    print(f"总共有 {len(available_materials)} 个材料可用\n")
+    
+    # 1. 反应器放入
+    print("1. 添加反应器放入工作流，带参数...")
+    Bioyond.reactor_taken_in(
+        assign_material_name="BTDA-DD", 
+        cutoff="10000", 
+        temperature="-10"
+    )
+    
+    # 2. 液体投料-烧杯 (第一个)
+    print("2. 添加液体投料-烧杯，带参数...")
+    Bioyond.liquid_feeding_beaker(
+        volume="34768.7", 
+        assign_material_name="ODA",
+        time="0", 
+        torque_variation="1", 
+        titrationType="1", 
+        temperature=-10
+    )
+    
+    # 3. 液体投料-烧杯 (第二个)
+    print("3. 添加液体投料-烧杯，带参数...")
+    Bioyond.liquid_feeding_beaker(
+        volume="34080.9", 
+        assign_material_name="MPDA",
+        time="5", 
+        torque_variation="2", 
+        titrationType="1", 
+        temperature=0
+    )
+    
+    # 4. 液体投料-小瓶非滴定
+    print("4. 添加液体投料-小瓶非滴定，带参数...")
+    Bioyond.liquid_feeding_vials_non_titration(
+        volumeFormula="639.5", 
+        assign_material_name="SIDA", 
+        titration_type="1", 
+        time="0", 
+        torque_variation="1", 
+        temperature=-10
+    )
+    
+    # 5. 液体投料溶剂
+    print("5. 添加液体投料溶剂，带参数...")
+    Bioyond.liquid_feeding_solvents(
+        assign_material_name="NMP",
+        volume="19000", 
+        titration_type="1", 
+        time="5", 
+        torque_variation="2", 
+        temperature=-10
+    )
+    
+    # 6-8. 固体进料小瓶 (三个)
+    print("6. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="180", 
+        torque_variation="2",
+        assign_material_name="BTDA-1", 
+        temperature=-10.00
+    )
+    
+    print("7. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="180", 
+        torque_variation="2",
+        assign_material_name="BTDA-2", 
+        temperature=25.00
+    )
+    
+    print("8. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="480", 
+        torque_variation="2",
+        assign_material_name="BTDA-3", 
+        temperature=25.00
+    )
+    
+    # 液体投料滴定（第一个）
+    print("9. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="1000", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    # 液体投料滴定（第二个）
+    print("10. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+
+    # 液体投料滴定（第三个）
+    print("11. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("12. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("13. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("14. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+
+
+
+    print("15. 添加液体投料溶剂，带参数...")
+    Bioyond.liquid_feeding_solvents(
+        assign_material_name="PGME",
+        volume="16894.6", 
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature=25.00
+    )
+    
+    # 16. 反应器取出
+    print("16. 添加反应器取出工作流...")
+    Bioyond.reactor_taken_out()
+    
+    # 显示当前工作流序列
+    sequence = Bioyond.get_workflow_sequence()
+    print("\n当前工作流执行顺序:")
+    print(sequence)
+    
+    # 执行process_and_execute_workflow，合并工作流并创建任务
+    print("\n4. 执行process_and_execute_workflow...")
+    
+    result = Bioyond.process_and_execute_workflow(
+        workflow_name="test3_86", 
+        task_name="实验3_86"
+    )
+    
+    # 显示执行结果
+    print("\n5. 执行结果:")
+    if isinstance(result, str):
+        try:
+            result_dict = json.loads(result)
+            if result_dict.get("success"):
+                print("任务创建成功!")
+                print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
+                print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
+                print(f"- 任务结果: {result_dict.get('task')}")
+            else:
+                print(f"任务创建失败: {result_dict.get('error')}")
+        except:
+            print(f"结果解析失败: {result}")
+    else:
+        if result.get("success"):
+            print("任务创建成功!")
+            print(f"- 工作流: {result.get('workflow', {}).get('name')}")
+            print(f"- 工作流ID: {result.get('workflow', {}).get('id')}")
+            print(f"- 任务结果: {result.get('task')}")
+        else:
+            print(f"任务创建失败: {result.get('error')}")
+    
+    # 可选：启动调度器
+    # Bioyond.scheduler_start()
+    
+    return Bioyond
+
+
+def prepare_materials(bioyond):
+    """准备实验材料（可选）"""
+    
+    # 样品板材料数据定义
+    material_data_yp_1 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-1",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-1",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PEPA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-2",
+                "quantity": 1,
+                "x": 1,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PMDA",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    material_data_yp_2 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-2",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "SIDA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-3",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    # 烧杯材料数据定义
+    beaker_materials = [
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-1",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "TFDB",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "ODA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "MPDA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-2",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        }
+    ]
+    
+    # 如果需要，可以在这里调用add_material方法添加材料
+    # 例如:
+    # result = bioyond.add_material(json.dumps(material_data_yp_1))
+    # print(f"添加材料结果: {result}")
+    
+    return {
+        "sample_plates": [material_data_yp_1, material_data_yp_2],
+        "beakers": beaker_materials
+    }
+
+
+if __name__ == "__main__":
+    # 运行主实验流程
+    bioyond_client = run_experiment()
+    
+    # 可选：准备材料数据
+    # materials = prepare_materials(bioyond_client)
+    # print(f"\n准备的材料数据: {materials}")
diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py
new file mode 100644
index 00000000..b2c3ac2d
--- /dev/null
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -0,0 +1,2389 @@
+"""
+Bioyond工作站实现
+Bioyond Workstation Implementation
+
+集成Bioyond物料管理的工作站示例
+"""
+import traceback
+from typing import Dict, Any, List, Optional, Union
+import json
+
+from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
+from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
+from unilabos.resources.warehouse import WareHouse
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import resource_bioyond_to_plr
+
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
+from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+from pylabrobot.resources.resource import Resource as ResourcePLR
+
+from unilabos.devices.workstation.bioyond_studio.config import (
+    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS,
+    STATION_TYPES, DEFAULT_STATION_CONFIG
+)
+
+
+class BioyondResourceSynchronizer(ResourceSynchronizer):
+    """Bioyond资源同步器
+
+    负责与Bioyond系统进行物料数据的同步
+    """
+
+    def __init__(self, workstation: 'BioyondWorkstation'):
+        super().__init__(workstation)
+        self.bioyond_api_client = None
+        self.sync_interval = 60  # 默认60秒同步一次
+        self.last_sync_time = 0
+        self.initialize()
+
+    def initialize(self) -> bool:
+        """初始化Bioyond资源同步器"""
+        try:
+            self.bioyond_api_client = self.workstation.hardware_interface
+            if self.bioyond_api_client is None:
+                logger.error("Bioyond API客户端未初始化")
+                return False
+
+            # 设置同步间隔
+            self.sync_interval = self.workstation.bioyond_config.get("sync_interval", 600)
+
+            logger.info("Bioyond资源同步器初始化完成")
+            return True
+        except Exception as e:
+            logger.error(f"Bioyond资源同步器初始化失败: {e}")
+            return False
+
+    def sync_from_external(self) -> bool:
+        """从Bioyond系统同步物料数据"""
+        try:
+            if self.bioyond_api_client is None:
+                logger.error("Bioyond API客户端未初始化")
+                return False
+
+            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
+            if not bioyond_data:
+                logger.warning("从Bioyond获取的物料数据为空")
+                return False
+
+            # 转换为UniLab格式
+            unilab_resources = resource_bioyond_to_plr(bioyond_data, type_mapping=self.workstation.bioyond_config["material_type_mappings"], deck=self.workstation.deck)
+
+            logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
+            return True
+        except Exception as e:
+            logger.error(f"从Bioyond同步物料数据失败: {e}")
+            traceback.print_exc()
+            return False
+
+    def sync_to_external(self, resource: Any) -> bool:
+        """将本地物料数据变更同步到Bioyond系统"""
+        try:
+            if self.bioyond_api_client is None:
+                logger.error("Bioyond API客户端未初始化")
+                return False
+
+            # 调用入库、出库操作
+            # bioyond_format_data = self._convert_resource_to_bioyond_format(resource)
+            # success = await self.bioyond_api_client.update_material(bioyond_format_data)
+            #
+            # if success
+        except:
+            pass
+
+    def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
+        """处理Bioyond系统的变更通知"""
+        try:
+            # 这里可以实现对Bioyond变更的处理逻辑
+            logger.info(f"处理Bioyond变更通知: {change_info}")
+
+            return True
+        except Exception as e:
+            logger.error(f"处理Bioyond变更通知失败: {e}")
+            return False
+
+
+class BioyondWorkstation(WorkstationBase):
+    """Bioyond工作站
+
+    集成Bioyond物料管理的工作站实现
+    """
+
+    def __init__(
+        self,
+        bioyond_config: Optional[Dict[str, Any]] = None,
+        deck: Optional[Any] = None,
+        station_config: Optional[Dict[str, Any]] = None,
+        *args,
+        **kwargs,
+    ):
+        # 初始化父类
+        super().__init__(
+            # 桌子
+            deck=deck,
+            *args,
+            **kwargs,
+        )
+
+        # 检查 deck 是否为 None，防止 AttributeError
+        if self.deck is None:
+            logger.error("❌ Deck 配置为空，请检查配置文件中的 deck 参数")
+            raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
+
+        # 初始化 warehouses 属性
+        self.deck.warehouses = {}
+        for resource in self.deck.children:
+            if isinstance(resource, WareHouse):
+                self.deck.warehouses[resource.name] = resource
+
+        # 配置站点类型
+        self._configure_station_type(station_config)
+
+        # 创建通信模块
+        self._create_communication_module(bioyond_config)
+        self.resource_synchronizer = BioyondResourceSynchronizer(self)
+        self.resource_synchronizer.sync_from_external()
+
+        # TODO: self._ros_node里面拿属性
+        logger.info(f"Bioyond工作站初始化完成")
+
+    def post_init(self, ros_node: ROS2WorkstationNode):
+        self._ros_node = ros_node
+        #self.deck = create_a_coin_cell_deck()
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+
+    def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
+        ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
+            "plr_resources": resource,
+            "target_device_id": mount_device_id,
+            "target_resources": mount_resource,
+            "sites": sites,
+        })
+
+    def _configure_station_type(self, station_config: Optional[Dict[str, Any]] = None) -> None:
+        """配置站点类型和功能模块
+
+        Args:
+            station_config (Optional[Dict[str, Any]]): 站点配置，如果为None则使用默认配置
+        """
+        # 合并默认配置和用户配置
+        self.station_config = {**DEFAULT_STATION_CONFIG}
+        if station_config:
+            self.station_config.update(station_config)
+
+        # 设置站点属性
+        self.station_type = self.station_config["station_type"]
+        self.enable_reaction_station = self.station_config["enable_reaction_station"]
+        self.enable_dispensing_station = self.station_config["enable_dispensing_station"]
+        self.station_name = self.station_config["station_name"]
+        self.station_description = self.station_config["description"]
+
+        # 根据站点类型调整功能启用状态
+        if self.station_type == STATION_TYPES["REACTION"]:
+            self.enable_reaction_station = True
+            self.enable_dispensing_station = False
+            self.station_description = "Bioyond反应站"
+            logger.info("🧪 配置为反应站模式")
+
+        elif self.station_type == STATION_TYPES["DISPENSING"]:
+            self.enable_reaction_station = False
+            self.enable_dispensing_station = True
+            self.station_description = "Bioyond配液站"
+            logger.info("🧫 配置为配液站模式")
+
+        elif self.station_type == STATION_TYPES["HYBRID"]:
+            self.enable_reaction_station = True
+            self.enable_dispensing_station = True
+            self.station_description = "Bioyond混合工作站"
+            logger.info("🔬 配置为混合工作站模式")
+
+        logger.info(f"站点配置: {self.station_name} - {self.station_description}")
+        logger.info(f"反应站功能: {'✅ 启用' if self.enable_reaction_station else '❌ 禁用'}")
+        logger.info(f"配液站功能: {'✅ 启用' if self.enable_dispensing_station else '❌ 禁用'}")
+
+    def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
+        """创建Bioyond通信模块"""
+        self.bioyond_config = config or {
+            **API_CONFIG,
+            "workflow_mappings": WORKFLOW_MAPPINGS,
+            "material_type_mappings": MATERIAL_TYPE_MAPPINGS
+        }
+
+        # 根据站点配置有条件地初始化接口
+        self.hardware_interface = None
+        self.dispensing_interface = None
+
+        if self.enable_reaction_station:
+            # 反应站接口
+            self.hardware_interface = BioyondV1RPC(self.bioyond_config)
+            logger.info("✅ 反应站接口已初始化")
+        else:
+            logger.info("⏭️  反应站接口已跳过")
+
+        if self.enable_dispensing_station:
+            # 配液站接口 - 使用统一的BioyondV1RPC类
+            self.dispensing_interface = BioyondV1RPC(self.bioyond_config)
+            logger.info("✅ 配液站接口已初始化")
+        else:
+            logger.info("⏭️  配液站接口已跳过")
+
+        return None
+
+    def _check_interface_availability(self, interface_type: str) -> bool:
+        """检查指定接口是否可用
+
+        Args:
+            interface_type (str): 接口类型，'reaction' 或 'dispensing'
+
+        Returns:
+            bool: 接口是否可用
+
+        Raises:
+            RuntimeError: 当接口不可用时抛出异常
+        """
+        if interface_type == "reaction":
+            if not self.enable_reaction_station or self.hardware_interface is None:
+                raise RuntimeError(
+                    f"❌ 反应站接口不可用！当前站点类型: {self.station_type}, "
+                    f"反应站功能: {'启用' if self.enable_reaction_station else '禁用'}"
+                )
+            return True
+
+        elif interface_type == "dispensing":
+            if not self.enable_dispensing_station or self.dispensing_interface is None:
+                raise RuntimeError(
+                    f"❌ 配液站接口不可用！当前站点类型: {self.station_type}, "
+                    f"配液站功能: {'启用' if self.enable_dispensing_station else '禁用'}"
+                )
+            return True
+
+        else:
+            raise ValueError(f"未知的接口类型: {interface_type}")
+
+    def get_station_info(self) -> Dict[str, Any]:
+        """获取站点信息
+
+        Returns:
+            Dict[str, Any]: 站点配置和状态信息
+        """
+        return {
+            "station_name": self.station_name,
+            "station_type": self.station_type,
+            "station_description": self.station_description,
+            "enable_reaction_station": self.enable_reaction_station,
+            "enable_dispensing_station": self.enable_dispensing_station,
+            "reaction_interface_available": self.hardware_interface is not None,
+            "dispensing_interface_available": self.dispensing_interface is not None,
+            "supported_station_types": list(STATION_TYPES.values())
+        }
+
+    @property
+    def bioyond_status(self) -> Dict[str, Any]:
+        """获取 Bioyond 系统状态信息
+
+        这个属性被 ROS 节点用来发布设备状态
+
+        Returns:
+            Dict[str, Any]: Bioyond 系统的状态信息
+        """
+        try:
+            # 获取基础站点信息
+            station_info = self.get_station_info()
+
+            # 获取接口状态
+            interface_status = {
+                "reaction_interface_connected": False,
+                "dispensing_interface_connected": False,
+                "last_sync_time": getattr(self.resource_synchronizer, 'last_sync_time', 0),
+                "sync_interval": getattr(self.resource_synchronizer, 'sync_interval', 60)
+            }
+
+            # 检查反应站接口状态
+            if self.hardware_interface is not None:
+                try:
+                    # 尝试获取调度器状态来验证连接
+                    scheduler_status = self.get_scheduler_status()
+                    interface_status["reaction_interface_connected"] = scheduler_status.get("status") == "success"
+                except Exception:
+                    interface_status["reaction_interface_connected"] = False
+
+            # 检查配液站接口状态
+            if self.dispensing_interface is not None:
+                try:
+                    # 配液站接口也使用相同的连接检查方式
+                    interface_status["dispensing_interface_connected"] = True
+                except Exception:
+                    interface_status["dispensing_interface_connected"] = False
+
+            # 获取资源同步状态
+            sync_status = {
+                "last_sync_success": True,  # 默认值，可以根据实际同步结果更新
+                "total_resources": len(getattr(self.deck, 'children', [])),
+                "warehouse_count": len(getattr(self.deck, 'warehouses', {}))
+            }
+
+            return {
+                "station_info": station_info,
+                "interface_status": interface_status,
+                "sync_status": sync_status,
+                "timestamp": __import__('time').time(),
+                "status": "online" if (interface_status["reaction_interface_connected"] or
+                                     interface_status["dispensing_interface_connected"]) else "offline"
+            }
+
+        except Exception as e:
+            logger.error(f"获取 Bioyond 状态失败: {e}")
+            # 返回基础状态信息，避免完全失败
+            return {
+                "station_info": {
+                    "station_name": getattr(self, 'station_name', 'BioyondWorkstation'),
+                    "station_type": getattr(self, 'station_type', 'unknown'),
+                    "enable_reaction_station": getattr(self, 'enable_reaction_station', False),
+                    "enable_dispensing_station": getattr(self, 'enable_dispensing_station', False)
+                },
+                "interface_status": {
+                    "reaction_interface_connected": False,
+                    "dispensing_interface_connected": False,
+                    "last_sync_time": 0,
+                    "sync_interval": 60
+                },
+                "sync_status": {
+                    "last_sync_success": False,
+                    "total_resources": 0,
+                    "warehouse_count": 0
+                },
+                "timestamp": __import__('time').time(),
+                "status": "error",
+                "error_message": str(e)
+            }
+
+    def _register_supported_workflows(self):
+        """注册Bioyond支持的工作流"""
+        from unilabos.devices.workstation.workstation_base import WorkflowInfo
+
+        # Bioyond物料同步工作流
+        self.supported_workflows["bioyond_sync"] = WorkflowInfo(
+            name="bioyond_sync",
+            description="从Bioyond系统同步物料",
+            parameters={
+                "sync_type": {"type": "string", "default": "full", "options": ["full", "incremental"]},
+                "force_sync": {"type": "boolean", "default": False}
+            }
+        )
+
+        # Bioyond物料更新工作流
+        self.supported_workflows["bioyond_update"] = WorkflowInfo(
+            name="bioyond_update",
+            description="将本地物料变更同步到Bioyond",
+            parameters={
+                "material_ids": {"type": "list", "default": []},
+                "sync_all": {"type": "boolean", "default": True}
+            }
+        )
+
+        logger.info(f"注册了 {len(self.supported_workflows)} 个Bioyond工作流")
+
+    async def execute_bioyond_sync_workflow(self, parameters: Dict[str, Any]) -> Dict[str, Any]:
+        """执行Bioyond同步工作流"""
+        try:
+            sync_type = parameters.get("sync_type", "full")
+            force_sync = parameters.get("force_sync", False)
+
+            logger.info(f"开始执行Bioyond同步工作流: {sync_type}")
+
+            # 获取物料管理模块
+            material_manager = self.material_management
+
+            if sync_type == "full":
+                # 全量同步
+                success = await material_manager.sync_from_bioyond()
+            else:
+                # 增量同步（这里可以实现增量同步逻辑）
+                success = await material_manager.sync_from_bioyond()
+
+            if success:
+                result = {
+                    "status": "success",
+                    "message": f"Bioyond同步完成: {sync_type}",
+                    "synced_resources": len(material_manager.plr_resources)
+                }
+            else:
+                result = {
+                    "status": "failed",
+                    "message": "Bioyond同步失败"
+                }
+
+            logger.info(f"Bioyond同步工作流执行完成: {result['status']}")
+            return result
+
+        except Exception as e:
+            logger.error(f"Bioyond同步工作流执行失败: {e}")
+            return {
+                "status": "error",
+                "message": str(e)
+            }
+
+    # ==================== 工作流合并与参数设置 API ====================
+
+    def merge_workflow_with_parameters(
+        self,
+        name: str,
+        workflows: List[Dict[str, Any]],
+        **kwargs
+    ) -> Dict[str, Any]:
+        """合并工作流并设置参数 API
+
+        合并子工作流时传入实验参数，新建实验时如果没有传参数，则使用此处传入的参数作为默认值
+
+        Args:
+            name (str): 拼接后的长工作流名称
+            workflows (List[Dict[str, Any]]): 待合并的子工作流列表，每个元素包含：
+                - id (str): 子工作流 ID (UUID)
+                - stepParameters (Dict, 可选): 步骤参数配置
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含 code、message 和 timestamp
+
+        Example:
+            workflows = [
+                {
+                    "id": "3fa85f64-5717-4562-b3fc-2c963f66afa6"
+                },
+                {
+                    "id": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
+                    "stepParameters": {
+                        "5a30bee1-7de2-45de-a89f-a25c78e4404b": {
+                            "反应模块-开始搅拌": [
+                                {
+                                    "key": "temperature",
+                                    "value": "25"
+                                }
+                            ],
+                            "通量-配置": [
+                                {
+                                    "key": "cutoff",
+                                    "value": "9999"
+                                },
+                                {
+                                    "key": "assignMaterialName",
+                                    "value": "3a1bf167-e862-f269-3749-a1c70cbbe6a6"
+                                }
+                            ]
+                        }
+                    }
+                }
+            ]
+
+            result = workstation.merge_workflow_with_parameters(
+                name="拼接后的长工作流的名称",
+                workflows=workflows
+            )
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"开始合并工作流: {name}, 包含 {len(workflows)} 个子工作流")
+
+            # 基本参数验证
+            if not name:
+                raise ValueError("工作流名称不能为空")
+
+            if not workflows or len(workflows) == 0:
+                raise ValueError("工作流列表不能为空")
+
+            # 使用 RPC 层进行详细的参数验证
+            validation_result = self.hardware_interface.validate_workflow_parameters(workflows)
+            if not validation_result.get("valid", False):
+                raise ValueError(f"工作流参数验证失败: {validation_result.get('message', '未知错误')}")
+
+            # 构造请求数据
+            request_data = {
+                "name": name,
+                "workflows": workflows
+            }
+
+            # 转换为 JSON 字符串
+            json_str = json.dumps(request_data, ensure_ascii=False)
+
+            logger.info(f"发送工作流合并请求: {json_str}")
+
+            # 调用底层 API（需要在 bioyond_rpc.py 中实现）
+            result = self.hardware_interface.merge_workflow_with_parameters(json_str)
+
+            if result.get("code") == 1:
+                success_msg = f"工作流合并成功: {name}"
+                logger.info(success_msg)
+                return {
+                    "success": True,
+                    "code": result.get("code"),
+                    "message": result.get("message", ""),
+                    "timestamp": result.get("timestamp", 0),
+                    "action": "merge_workflow_with_parameters",
+                    "workflow_name": name,
+                    "workflow_count": len(workflows)
+                }
+            else:
+                error_msg = f"工作流合并失败: {result.get('message', '未知错误')}"
+                logger.error(error_msg)
+                return {
+                    "success": False,
+                    "code": result.get("code", 0),
+                    "message": result.get("message", error_msg),
+                    "timestamp": result.get("timestamp", 0),
+                    "action": "merge_workflow_with_parameters"
+                }
+
+        except Exception as e:
+            error_msg = f"工作流合并操作异常: {str(e)}"
+            logger.error(error_msg)
+            traceback.print_exc()
+            return {
+                "success": False,
+                "code": 0,
+                "message": error_msg,
+                "action": "merge_workflow_with_parameters"
+            }
+
+    def validate_workflow_parameters(self, workflows: List[Dict[str, Any]]) -> Dict[str, Any]:
+        """验证工作流参数格式
+
+        Args:
+            workflows (List[Dict[str, Any]]): 工作流列表
+
+        Returns:
+            Dict[str, Any]: 验证结果
+        """
+        # 委托给 RPC 层进行参数验证
+        return self.hardware_interface.validate_workflow_parameters(workflows)
+
+    def get_workflow_parameter_template(self) -> Dict[str, Any]:
+        """获取工作流参数模板
+
+        Returns:
+            Dict[str, Any]: 参数模板和说明
+        """
+        # 委托给 RPC 层获取参数模板
+        return self.hardware_interface.get_workflow_parameter_template()
+
+    # ==================== 反应站动作函数 ====================
+    # 基于 bioyond_rpc.py 中的反应站方法实现
+
+    def reactor_taken_out(self, order_id: str = "", preintake_id: str = "", **kwargs) -> Dict[str, Any]:
+        """反应器取出操作 - 调用底层 order_takeout API
+
+        从反应站中取出反应器，通过订单ID和预取样ID进行精确控制
+
+        Args:
+            order_id (str): 订单ID，用于标识要取出的订单
+            preintake_id (str): 预取样ID，用于标识具体的取样任务
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含 code 和 return_info
+        """
+        try:
+            logger.info(f"执行反应器取出操作: 订单ID={order_id}, 预取样ID={preintake_id}")
+
+            # 构造 JSON 参数
+            params = {
+                "order_id": order_id,
+                "preintake_id": preintake_id
+            }
+            json_str = json.dumps(params)
+
+            # 调用底层 order_takeout API
+            result_code = self.hardware_interface.order_takeout(json_str)
+
+            if result_code == 1:
+                success_msg = f"反应器取出操作成功完成，订单ID: {order_id}"
+                logger.info(success_msg)
+                return {
+                    "success": True,
+                    "code": result_code,
+                    "return_info": success_msg,
+                    "action": "reactor_taken_out"
+                }
+            else:
+                error_msg = f"反应器取出操作失败，返回代码: {result_code}"
+                logger.error(error_msg)
+                return {
+                    "success": False,
+                    "code": result_code,
+                    "return_info": error_msg,
+                    "action": "reactor_taken_out"
+                }
+
+        except Exception as e:
+            error_msg = f"反应器取出操作异常: {str(e)}"
+            logger.error(error_msg)
+            return {
+                "success": False,
+                "code": 0,
+                "return_info": error_msg,
+                "action": "reactor_taken_out"
+            }
+
+    def reactor_taken_in(self, **kwargs) -> Dict[str, Any]:
+        """反应器放入操作
+
+        将反应器放入反应站
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("执行反应器放入操作")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.reactor_taken_in()
+
+            return {
+                "success": True,
+                "message": "反应器放入操作完成",
+                "result": result,
+                "action": "reactor_taken_in"
+            }
+
+        except Exception as e:
+            logger.error(f"反应器放入操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "reactor_taken_in"
+            }
+
+    def solid_feeding_vials(self, material_name: str = "", volume: str = "", **kwargs) -> Dict[str, Any]:
+        """固体进料到小瓶
+
+        Args:
+            material_name (str): 物料名称
+            volume (str): 进料体积
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行固体进料操作: 物料={material_name}, 体积={volume}")
+
+            # 参数验证
+            if not material_name:
+                raise ValueError("物料名称不能为空")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.solid_feeding_vials(
+                assign_material_name=material_name,
+                volume=volume,
+                **kwargs
+            )
+
+            return {
+                "success": True,
+                "message": f"固体进料操作完成: {material_name}",
+                "result": result,
+                "action": "solid_feeding_vials",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"固体进料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "solid_feeding_vials",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+    def liquid_feeding_vials_non_titration(self, material_name: str = "", volume: str = "", **kwargs) -> Dict[str, Any]:
+        """非滴定液体进料到小瓶
+
+        Args:
+            material_name (str): 物料名称
+            volume (str): 进料体积
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行非滴定液体进料操作: 物料={material_name}, 体积={volume}")
+
+            # 参数验证
+            if not material_name:
+                raise ValueError("物料名称不能为空")
+            if not volume:
+                raise ValueError("进料体积不能为空")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.liquid_feeding_vials_non_titration(
+                assign_material_name=material_name,
+                volume=volume,
+                **kwargs
+            )
+
+            return {
+                "success": True,
+                "message": f"非滴定液体进料操作完成: {material_name}",
+                "result": result,
+                "action": "liquid_feeding_vials_non_titration",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"非滴定液体进料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "liquid_feeding_vials_non_titration",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+    def liquid_feeding_solvents(self, material_name: str = "", volume: str = "", **kwargs) -> Dict[str, Any]:
+        """溶剂进料操作
+
+        Args:
+            material_name (str): 溶剂名称
+            volume (str): 进料体积
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行溶剂进料操作: 溶剂={material_name}, 体积={volume}")
+
+            # 参数验证
+            if not material_name:
+                raise ValueError("溶剂名称不能为空")
+            if not volume:
+                raise ValueError("进料体积不能为空")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.liquid_feeding_solvents(
+                assign_material_name=material_name,
+                volume=volume,
+                **kwargs
+            )
+
+            return {
+                "success": True,
+                "message": f"溶剂进料操作完成: {material_name}",
+                "result": result,
+                "action": "liquid_feeding_solvents",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"溶剂进料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "liquid_feeding_solvents",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+    def liquid_feeding_titration(self, material_name: str = "", volume: str = "",
+                               titration_type: str = "1", time: str = "120",
+                               torque_variation: str = "2", **kwargs) -> Dict[str, Any]:
+        """滴定液体进料操作
+
+        Args:
+            material_name (str): 物料名称
+            volume (str): 进料体积
+            titration_type (str): 滴定类型，默认为"1"
+            time (str): 滴定时间，默认为"120"秒
+            torque_variation (str): 扭矩变化，默认为"2"
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行滴定液体进料操作: 物料={material_name}, 体积={volume}, 类型={titration_type}")
+
+            # 参数验证
+            if not material_name:
+                raise ValueError("物料名称不能为空")
+            if not volume:
+                raise ValueError("进料体积不能为空")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.liquid_feeding_titration(
+                assign_material_name=material_name,
+                volume=volume,
+                titration_type=titration_type,
+                time=time,
+                torque_variation=torque_variation,
+                **kwargs
+            )
+
+            return {
+                "success": True,
+                "message": f"滴定液体进料操作完成: {material_name}",
+                "result": result,
+                "action": "liquid_feeding_titration",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume,
+                    "titration_type": titration_type,
+                    "time": time,
+                    "torque_variation": torque_variation
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"滴定液体进料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "liquid_feeding_titration",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume,
+                    "titration_type": titration_type,
+                    "time": time,
+                    "torque_variation": torque_variation
+                }
+            }
+
+    def liquid_feeding_beaker(self, material_name: str = "", volume: str = "", **kwargs) -> Dict[str, Any]:
+        """烧杯液体进料操作
+
+        Args:
+            material_name (str): 物料名称
+            volume (str): 进料体积
+            **kwargs: 其他参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行烧杯液体进料操作: 物料={material_name}, 体积={volume}")
+
+            # 参数验证
+            if not material_name:
+                raise ValueError("物料名称不能为空")
+            if not volume:
+                raise ValueError("进料体积不能为空")
+
+            # 调用 bioyond_rpc.py 中的反应站方法
+            result = self.hardware_interface.liquid_feeding_beaker(
+                assign_material_name=material_name,
+                volume=volume,
+                **kwargs
+            )
+
+            return {
+                "success": True,
+                "message": f"烧杯液体进料操作完成: {material_name}",
+                "result": result,
+                "action": "liquid_feeding_beaker",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"烧杯液体进料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "liquid_feeding_beaker",
+                "parameters": {
+                    "material_name": material_name,
+                    "volume": volume
+                }
+            }
+
+    # ==================== 配液站动作函数 ====================
+    # 基于 dispensing_station_bioyong.py 中的配液站方法实现
+
+    def create_order(self, order_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """创建配液任务订单
+
+        Args:
+            order_data (Union[str, Dict[str, Any]]): 订单数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("创建配液任务订单")
+
+            # 处理输入数据
+            if isinstance(order_data, str):
+                order_json = order_data
+            else:
+                order_json = json.dumps(order_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.create_order(order_json)
+
+            return {
+                "success": True,
+                "message": "配液任务订单创建完成",
+                "result": result,
+                "action": "create_order"
+            }
+
+        except Exception as e:
+            logger.error(f"创建配液任务订单失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_order"
+            }
+
+    def order_query(self, query_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """查询配液任务状态
+
+        Args:
+            query_data (Union[str, Dict[str, Any]]): 查询数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 查询结果
+        """
+        try:
+            logger.info("查询配液任务状态")
+
+            # 处理输入数据
+            if isinstance(query_data, str):
+                query_json = query_data
+            else:
+                query_json = json.dumps(query_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.order_query(query_json)
+
+            return {
+                "success": True,
+                "message": "配液任务状态查询完成",
+                "result": result,
+                "action": "order_query"
+            }
+
+        except Exception as e:
+            logger.error(f"查询配液任务状态失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "order_query"
+            }
+
+    def dispensing_material_inbound(self, material_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """配液站物料入库
+
+        Args:
+            material_data (Union[str, Dict[str, Any]]): 物料数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("执行配液站物料入库操作")
+
+            # 处理输入数据
+            if isinstance(material_data, str):
+                material_json = material_data
+            else:
+                material_json = json.dumps(material_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.material_inbound(material_json)
+
+            return {
+                "success": True,
+                "message": "配液站物料入库完成",
+                "result": result,
+                "action": "dispensing_material_inbound"
+            }
+
+        except Exception as e:
+            logger.error(f"配液站物料入库失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "dispensing_material_inbound"
+            }
+
+    def dispensing_material_outbound(self, material_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """配液站物料出库
+
+        Args:
+            material_data (Union[str, Dict[str, Any]]): 物料数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("执行配液站物料出库操作")
+
+            # 处理输入数据
+            if isinstance(material_data, str):
+                material_json = material_data
+            else:
+                material_json = json.dumps(material_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.material_outbound(material_json)
+
+            return {
+                "success": True,
+                "message": "配液站物料出库完成",
+                "result": result,
+                "action": "dispensing_material_outbound"
+            }
+
+        except Exception as e:
+            logger.error(f"配液站物料出库失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "dispensing_material_outbound"
+            }
+
+    def delete_material(self, material_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """删除物料
+
+        Args:
+            material_data (Union[str, Dict[str, Any]]): 物料数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("执行删除物料操作")
+
+            # 处理输入数据
+            if isinstance(material_data, str):
+                material_json = material_data
+            else:
+                material_json = json.dumps(material_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.delete_material(material_json)
+
+            return {
+                "success": True,
+                "message": "删除物料操作完成",
+                "result": result,
+                "action": "delete_material"
+            }
+
+        except Exception as e:
+            logger.error(f"删除物料操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "delete_material"
+            }
+
+    def sample_waste_removal(self, waste_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """样品废料移除
+
+        Args:
+            waste_data (Union[str, Dict[str, Any]]): 废料数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("执行样品废料移除操作")
+
+            # 处理输入数据
+            if isinstance(waste_data, str):
+                waste_json = waste_data
+            else:
+                waste_json = json.dumps(waste_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.sample_waste_removal(waste_json)
+
+            return {
+                "success": True,
+                "message": "样品废料移除操作完成",
+                "result": result,
+                "action": "sample_waste_removal"
+            }
+
+        except Exception as e:
+            logger.error(f"样品废料移除操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "sample_waste_removal"
+            }
+
+    def create_resource(self, resource_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """创建资源（样品板等）
+
+        Args:
+            resource_data (Union[str, Dict[str, Any]]): 资源数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("执行创建资源操作")
+
+            # 处理输入数据
+            if isinstance(resource_data, str):
+                resource_json = resource_data
+            else:
+                resource_json = json.dumps(resource_data)
+
+            # 调用配液站接口
+            result = self.dispensing_interface.create_resource(resource_json)
+
+            return {
+                "success": True,
+                "message": "创建资源操作完成",
+                "result": result,
+                "action": "create_resource"
+            }
+
+        except Exception as e:
+            logger.error(f"创建资源操作失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_resource"
+            }
+
+    def create_90_10_vial_feeding_task(self, task_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """创建90/10比例进料任务
+
+        Args:
+            task_data (Union[str, Dict[str, Any]]): 任务数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("创建90/10比例进料任务")
+
+            # 处理输入数据
+            if isinstance(task_data, str):
+                task_params = json.loads(task_data)
+            else:
+                task_params = task_data
+
+            # 调用配液站接口，传递具体参数而不是JSON字符串
+            result = self.dispensing_interface.create_90_10_vial_feeding_task(
+                order_name=task_params.get("order_name"),
+                speed=task_params.get("speed"),
+                temperature=task_params.get("temperature"),
+                delay_time=task_params.get("delay_time"),
+                percent_90_1_assign_material_name=task_params.get("percent_90_1_assign_material_name"),
+                percent_90_1_target_weigh=task_params.get("percent_90_1_target_weigh"),
+                percent_90_2_assign_material_name=task_params.get("percent_90_2_assign_material_name"),
+                percent_90_2_target_weigh=task_params.get("percent_90_2_target_weigh"),
+                percent_90_3_assign_material_name=task_params.get("percent_90_3_assign_material_name"),
+                percent_90_3_target_weigh=task_params.get("percent_90_3_target_weigh"),
+                percent_10_1_assign_material_name=task_params.get("percent_10_1_assign_material_name"),
+                percent_10_1_target_weigh=task_params.get("percent_10_1_target_weigh"),
+                percent_10_1_volume=task_params.get("percent_10_1_volume"),
+                percent_10_1_liquid_material_name=task_params.get("percent_10_1_liquid_material_name"),
+                percent_10_2_assign_material_name=task_params.get("percent_10_2_assign_material_name"),
+                percent_10_2_target_weigh=task_params.get("percent_10_2_target_weigh"),
+                percent_10_2_volume=task_params.get("percent_10_2_volume"),
+                percent_10_2_liquid_material_name=task_params.get("percent_10_2_liquid_material_name"),
+                percent_10_3_assign_material_name=task_params.get("percent_10_3_assign_material_name"),
+                percent_10_3_target_weigh=task_params.get("percent_10_3_target_weigh"),
+                percent_10_3_volume=task_params.get("percent_10_3_volume"),
+                percent_10_3_liquid_material_name=task_params.get("percent_10_3_liquid_material_name"),
+                hold_m_name=task_params.get("hold_m_name")
+            )
+
+            return {
+                "success": True,
+                "message": "90/10比例进料任务创建完成",
+                "result": result,
+                "action": "create_90_10_vial_feeding_task"
+            }
+
+        except Exception as e:
+            logger.error(f"创建90/10比例进料任务失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_90_10_vial_feeding_task"
+            }
+
+    def create_diamine_solution_task(self, solution_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """创建二胺溶液配制任务
+
+        Args:
+            solution_data (Union[str, Dict[str, Any]]): 溶液数据，可以是JSON字符串或字典
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            self._check_interface_availability("dispensing")
+
+            logger.info("创建二胺溶液配制任务")
+
+            # 处理输入数据
+            if isinstance(solution_data, str):
+                solution_params = json.loads(solution_data)
+            else:
+                solution_params = solution_data
+
+            # 调用配液站接口，传递具体参数而不是JSON字符串
+            result = self.dispensing_interface.create_diamine_solution_task(
+                order_name=solution_params.get("order_name"),
+                material_name=solution_params.get("material_name"),
+                target_weigh=solution_params.get("target_weigh"),
+                volume=solution_params.get("volume"),
+                liquid_material_name=solution_params.get("liquid_material_name", "NMP"),
+                speed=solution_params.get("speed"),
+                temperature=solution_params.get("temperature"),
+                delay_time=solution_params.get("delay_time"),
+                hold_m_name=solution_params.get("hold_m_name")
+            )
+
+            return {
+                "success": True,
+                "message": "二胺溶液配制任务创建完成",
+                "result": result,
+                "action": "create_diamine_solution_task"
+            }
+
+        except Exception as e:
+            logger.error(f"创建二胺溶液配制任务失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_diamine_solution_task"
+            }
+
+    def create_batch_90_10_vial_feeding_task(self, batch_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """
+        创建批量90%10%小瓶投料任务
+
+        Args:
+            batch_data: 批量90%10%小瓶投料任务数据，可以是JSON字符串或字典
+                       包含batch_name、tasks列表和global_settings
+
+        Returns:
+            Dict[str, Any]: 批量任务创建结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            if not self._check_interface_availability("dispensing"):
+                return {
+                    "success": False,
+                    "error": "配液站接口不可用",
+                    "action": "create_batch_90_10_vial_feeding_task"
+                }
+
+            # 解析输入数据
+            if isinstance(batch_data, str):
+                batch_params = json.loads(batch_data)
+            else:
+                batch_params = batch_data
+
+            logger.info(f"创建批量90%10%小瓶投料任务: {batch_params.get('batch_name', '未命名批量90%10%小瓶投料任务')}")
+
+            # 调用配液站接口的批量90%10%小瓶投料方法
+            result = self.dispensing_interface.create_batch_90_10_vial_feeding_task(
+                json.dumps(batch_params) if isinstance(batch_params, dict) else batch_data
+            )
+
+            return {
+                "success": True,
+                "result": result,
+                "action": "create_batch_90_10_vial_feeding_task"
+            }
+
+        except json.JSONDecodeError as e:
+            logger.error(f"批量90%10%小瓶投料任务数据解析失败: {e}")
+            return {
+                "success": False,
+                "error": f"JSON解析失败: {str(e)}",
+                "action": "create_batch_90_10_vial_feeding_task"
+            }
+
+        except Exception as e:
+            logger.error(f"创建批量90%10%小瓶投料任务失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_batch_90_10_vial_feeding_task"
+            }
+
+    def create_batch_diamine_solution_task(self, batch_data: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """
+        创建批量二胺溶液配制任务
+
+        Args:
+            batch_data: 批量二胺溶液配制任务数据，可以是JSON字符串或字典
+                       包含batch_name、tasks列表和global_settings
+
+        Returns:
+            Dict[str, Any]: 批量任务创建结果
+        """
+        try:
+            # 检查配液站接口是否可用
+            if not self._check_interface_availability("dispensing"):
+                return {
+                    "success": False,
+                    "error": "配液站接口不可用",
+                    "action": "create_batch_diamine_solution_task"
+                }
+
+            # 解析输入数据
+            if isinstance(batch_data, str):
+                batch_params = json.loads(batch_data)
+            else:
+                batch_params = batch_data
+
+            logger.info(f"创建批量二胺溶液配制任务: {batch_params.get('batch_name', '未命名批量二胺溶液配制任务')}")
+
+            # 调用配液站接口的批量二胺溶液配制方法
+            result = self.dispensing_interface.create_batch_diamine_solution_task(
+                json.dumps(batch_params) if isinstance(batch_params, dict) else batch_data
+            )
+
+            return {
+                "success": True,
+                "result": result,
+                "action": "create_batch_diamine_solution_task"
+            }
+
+        except json.JSONDecodeError as e:
+            logger.error(f"批量二胺溶液配制任务数据解析失败: {e}")
+            return {
+                "success": False,
+                "error": f"JSON解析失败: {str(e)}",
+                "action": "create_batch_diamine_solution_task"
+            }
+
+        except Exception as e:
+            logger.error(f"创建批量二胺溶液配制任务失败: {e}")
+            return {
+                "success": False,
+                "error": str(e),
+                "action": "create_batch_diamine_solution_task"
+            }
+
+    # ==================== 反应站动作接口 ====================
+
+    def reaction_station_drip_back(self, volume: str, assign_material_name: str,
+                                 time: str, torque_variation: str) -> Dict[str, Any]:
+        """反应站滴回操作
+
+        Args:
+            volume (str): 投料体积
+            assign_material_name (str): 溶剂名称
+            time (str): 观察时间（单位min）
+            torque_variation (str): 是否观察1否2是
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站滴回操作: 体积={volume}, 溶剂={assign_material_name}")
+
+            # 调用硬件接口的滴回方法
+            result = self.hardware_interface.reactor_taken_out(
+                volume=volume,
+                assign_material_name=assign_material_name,
+                time=time,
+                torque_variation=torque_variation
+            )
+
+            return {
+                "success": True,
+                "return_info": "滴回操作完成",
+                "result": result,
+                "action": "reaction_station_drip_back"
+            }
+
+        except Exception as e:
+            logger.error(f"反应站滴回操作失败: {e}")
+            return {
+                "success": False,
+                "return_info": f"滴回操作失败: {str(e)}",
+                "action": "reaction_station_drip_back"
+            }
+
+    def reaction_station_liquid_feed(self, titration_type: str, volume: str,
+                                   assign_material_name: str, time: str,
+                                   torque_variation: str) -> Dict[str, Any]:
+        """反应站液体投料操作
+
+        Args:
+            titration_type (str): 滴定类型1否2是
+            volume (str): 投料体积
+            assign_material_name (str): 溶剂名称
+            time (str): 观察时间（单位min）
+            torque_variation (str): 是否观察1否2是
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站液体投料: 类型={titration_type}, 体积={volume}, 溶剂={assign_material_name}")
+
+            # 根据滴定类型选择相应的方法
+            if titration_type == "2":  # 滴定
+                result = self.hardware_interface.liquid_feeding_titration(
+                    volume=volume,
+                    assign_material_name=assign_material_name,
+                    time=time,
+                    torque_variation=torque_variation
+                )
+            else:  # 非滴定
+                result = self.hardware_interface.liquid_feeding_vials_non_titration(
+                    volume=volume,
+                    assign_material_name=assign_material_name,
+                    time=time,
+                    torque_variation=torque_variation
+                )
+
+            return {
+                "success": True,
+                "return_info": "液体投料操作完成",
+                "result": result,
+                "action": "reaction_station_liquid_feed"
+            }
+
+        except Exception as e:
+            logger.error(f"反应站液体投料操作失败: {e}")
+            return {
+                "success": False,
+                "return_info": f"液体投料操作失败: {str(e)}",
+                "action": "reaction_station_liquid_feed"
+            }
+
+    def reaction_station_solid_feed_vial(self, assign_material_name: str, material_id: str,
+                                       time: str, torque_variation: str) -> Dict[str, Any]:
+        """反应站固体投料-小瓶操作
+
+        Args:
+            assign_material_name (str): 固体名称_粉末加样模块-投料
+            material_id (str): 固体投料类型_粉末加样模块-投料
+            time (str): 观察时间_反应模块-观察搅拌结果
+            torque_variation (str): 是否观察1否2是_反应模块-观察搅拌结果
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站固体投料: 固体={assign_material_name}, ID={material_id}")
+
+            # 调用硬件接口的固体投料方法
+            result = self.hardware_interface.solid_feeding_vials(
+                assign_material_name=assign_material_name,
+                material_id=material_id,
+                time=time,
+                torque_variation=torque_variation
+            )
+
+            return {
+                "success": True,
+                "return_info": "固体投料操作完成",
+                "result": result,
+                "action": "reaction_station_solid_feed_vial"
+            }
+
+        except Exception as e:
+            logger.error(f"反应站固体投料操作失败: {e}")
+            return {
+                "success": False,
+                "return_info": f"固体投料操作失败: {str(e)}",
+                "action": "reaction_station_solid_feed_vial"
+            }
+
+    def reaction_station_take_in(self, cutoff: str, temperature: str,
+                               assign_material_name: str) -> Dict[str, Any]:
+        """反应站取入操作
+
+        Args:
+            cutoff (str): 截止参数
+            temperature (str): 温度
+            assign_material_name (str): 物料名称
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站取入操作: 温度={temperature}, 物料={assign_material_name}")
+
+            # 调用硬件接口的取入方法
+            result = self.hardware_interface.reactor_taken_in(
+                cutoff=cutoff,
+                temperature=temperature,
+                assign_material_name=assign_material_name
+            )
+
+            return {
+                "success": True,
+                "return_info": "取入操作完成",
+                "result": result,
+                "action": "reaction_station_take_in"
+            }
+
+        except Exception as e:
+            logger.error(f"反应站取入操作失败: {e}")
+            return {
+                "success": False,
+                "return_info": f"取入操作失败: {str(e)}",
+                "action": "reaction_station_take_in"
+            }
+
+    def reaction_station_reactor_taken_out(self, order_id: str = "", preintake_id: str = "") -> Dict[str, Any]:
+        """反应站反应器取出操作
+
+        Args:
+            order_id (str): 订单ID，用于标识要取出的订单
+            preintake_id (str): 预取样ID，用于标识具体的取样任务
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站反应器取出操作: 订单ID={order_id}, 预取样ID={preintake_id}")
+
+            # 调用更新后的反应器取出方法
+            result = self.reactor_taken_out(order_id=order_id, preintake_id=preintake_id)
+
+            # 更新 action 字段以区分调用来源
+            result["action"] = "reaction_station_reactor_taken_out"
+
+            return result
+
+        except Exception as e:
+            logger.error(f"反应站反应器取出操作失败: {e}")
+            return {
+                "success": False,
+                "code": 0,
+                "return_info": f"反应器取出操作失败: {str(e)}",
+                "action": "reaction_station_reactor_taken_out"
+            }
+
+    def reaction_station_process_execute(self, workflow_name: str, task_name: str) -> Dict[str, Any]:
+        """反应站流程执行操作
+
+        Args:
+            workflow_name (str): 工作流名称
+            task_name (str): 任务名称
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            # 检查反应站接口是否可用
+            self._check_interface_availability("reaction")
+
+            logger.info(f"执行反应站流程: 工作流={workflow_name}, 任务={task_name}")
+
+            # 这里可以根据具体的工作流和任务名称调用相应的方法
+            # 暂时使用通用的执行方法
+            result = {
+                "workflow_name": workflow_name,
+                "task_name": task_name,
+                "status": "executed"
+            }
+
+            return {
+                "success": True,
+                "return_info": "流程执行完成",
+                "result": result,
+                "action": "reaction_station_process_execute"
+            }
+
+        except Exception as e:
+            logger.error(f"反应站流程执行失败: {e}")
+            return {
+                "success": False,
+                "return_info": f"流程执行失败: {str(e)}",
+                "action": "reaction_station_process_execute"
+            }
+
+    # ==================== 物料管理动作函数 ====================
+
+    def material_inbound(self, material_id: str, location_name: str) -> Dict[str, Any]:
+        """物料入库操作
+
+        将物料添加到指定位置
+
+        Args:
+            material_id (str): 物料ID
+            location_name (str): 位置名称
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含状态和消息
+        """
+        try:
+            logger.info(f"开始执行物料入库操作: 物料ID={material_id}, 位置={location_name}")
+            result = self.hardware_interface.material_inbound(
+                material_id=material_id,
+                location_name=location_name
+            )
+
+            if result:
+                logger.info("物料入库操作成功")
+                return {
+                    "status": "success",
+                    "message": f"物料入库成功，物料ID: {material_id}",
+                    "data": result
+                }
+            else:
+                logger.error("物料入库操作失败")
+                return {
+                    "status": "failed",
+                    "message": "物料入库失败"
+                }
+
+        except Exception as e:
+            logger.error(f"物料入库操作异常: {e}")
+            return {
+                "status": "error",
+                "message": f"物料入库操作异常: {str(e)}"
+            }
+
+    def material_outbound(self, material_id: str, location_name: str,
+                         quantity: int) -> Dict[str, Any]:
+        """物料出库操作
+
+        从指定位置取出物料
+
+        Args:
+            material_id (str): 物料ID
+            location_name (str): 位置名称
+            quantity (int): 数量
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含状态和消息
+        """
+        try:
+            logger.info(f"开始执行物料出库操作: 物料ID={material_id}, 位置={location_name}, 数量={quantity}")
+            result = self.hardware_interface.material_outbound(
+                material_id=material_id,
+                location_name=location_name,
+                quantity=quantity
+            )
+
+            if result:
+                logger.info("物料出库操作成功")
+                return {
+                    "status": "success",
+                    "message": f"物料出库成功，物料ID: {material_id}",
+                    "data": result
+                }
+            else:
+                logger.error("物料出库操作失败")
+                return {
+                    "status": "failed",
+                    "message": "物料出库失败"
+                }
+
+        except Exception as e:
+            logger.error(f"物料出库操作异常: {e}")
+            return {
+                "status": "error",
+                "message": f"物料出库操作异常: {str(e)}"
+            }
+
+    # ============ 工作流控制函数 ============
+
+    def create_order(self, workflow_name: str, task_name: str,
+                    parameters: Dict[str, Any] = None) -> Dict[str, Any]:
+        """创建工作流订单
+
+        创建并提交工作流执行订单
+
+        Args:
+            workflow_name (str): 工作流名称
+            task_name (str): 任务名称
+            parameters (Dict[str, Any]): 工作流参数
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含状态和订单信息
+        """
+        try:
+            logger.info(f"开始创建工作流订单: 工作流={workflow_name}, 任务={task_name}")
+
+            # 使用 BioyondV1RPC 的工作流处理方法
+            result = self.hardware_interface.process_and_execute_workflow(
+                workflow_name=workflow_name,
+                task_name=task_name
+            )
+
+            if result and result.get("status") == "success":
+                logger.info("工作流订单创建成功")
+                return {
+                    "status": "success",
+                    "message": f"工作流订单创建成功: {workflow_name}",
+                    "data": result
+                }
+            else:
+                logger.error("工作流订单创建失败")
+                return {
+                    "status": "failed",
+                    "message": "工作流订单创建失败",
+                    "data": result
+                }
+
+        except Exception as e:
+            logger.error(f"创建工作流订单异常: {e}")
+            return {
+                "status": "error",
+                "message": f"创建工作流订单异常: {str(e)}"
+            }
+
+    def get_scheduler_status(self) -> Dict[str, Any]:
+        """获取调度器状态
+
+        Returns:
+            Dict[str, Any]: 调度器状态信息
+        """
+        try:
+            logger.info("获取调度器状态")
+            result = self.hardware_interface.scheduler_status()
+
+            return {
+                "status": "success",
+                "message": "调度器状态获取成功",
+                "data": result
+            }
+
+        except Exception as e:
+            logger.error(f"获取调度器状态异常: {e}")
+            return {
+                "status": "error",
+                "message": f"获取调度器状态异常: {str(e)}"
+            }
+
+    def start_scheduler(self) -> Dict[str, Any]:
+        """启动调度器
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("启动调度器")
+            result = self.hardware_interface.scheduler_start()
+
+            if result == 1:  # 成功返回1
+                logger.info("调度器启动成功")
+                return {
+                    "status": "success",
+                    "message": "调度器启动成功"
+                }
+            else:
+                logger.error("调度器启动失败")
+                return {
+                    "status": "failed",
+                    "message": "调度器启动失败"
+                }
+
+        except Exception as e:
+            logger.error(f"启动调度器异常: {e}")
+            return {
+                "status": "error",
+                "message": f"启动调度器异常: {str(e)}"
+            }
+
+    def stop_scheduler(self) -> Dict[str, Any]:
+        """停止调度器
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("停止调度器")
+            result = self.hardware_interface.scheduler_stop()
+
+            if result == 1:  # 成功返回1
+                logger.info("调度器停止成功")
+                return {
+                    "status": "success",
+                    "message": "调度器停止成功"
+                }
+            else:
+                logger.error("调度器停止失败")
+                return {
+                    "status": "failed",
+                    "message": "调度器停止失败"
+                }
+
+        except Exception as e:
+            logger.error(f"停止调度器异常: {e}")
+            return {
+                 "status": "error",
+                 "message": f"停止调度器异常: {str(e)}"
+             }
+
+    # ============ 其他操作函数 ============
+
+    def drip_back(self, assign_material_name: str = "Reactor", time: str = "0",
+                  torque_variation: str = "1", temperature: float = 25.00) -> Dict[str, Any]:
+        """滴回操作
+
+        执行滴回操作，通常用于反应后的物料回收
+
+        Args:
+            assign_material_name (str): 指定的物料名称，默认为 "Reactor"
+            time (str): 操作时间，默认为 "0"
+            torque_variation (str): 扭矩变化，默认为 "1"
+            temperature (float): 温度设置，默认为 25.00°C
+
+        Returns:
+            Dict[str, Any]: 操作结果，包含状态和消息
+        """
+        try:
+            logger.info(f"开始执行滴回操作: 物料={assign_material_name}, 温度={temperature}°C")
+
+            # 根据配置文件中的映射，滴回操作可能对应特定的工作流
+            workflow_name = self.config.get("workflow_mappings", {}).get("Drip_back")
+
+            if workflow_name:
+                result = self.hardware_interface.process_and_execute_workflow(
+                    workflow_name=workflow_name,
+                    task_name="drip_back_task"
+                )
+            else:
+                # 如果没有特定的工作流映射，使用通用的液体操作
+                logger.warning("未找到滴回操作的工作流映射，使用默认处理")
+                result = {"status": "success", "message": "滴回操作完成"}
+
+            if result and result.get("status") == "success":
+                logger.info("滴回操作成功")
+                return {
+                    "status": "success",
+                    "message": f"滴回操作成功，物料: {assign_material_name}",
+                    "data": result
+                }
+            else:
+                logger.error("滴回操作失败")
+                return {
+                    "status": "failed",
+                    "message": "滴回操作失败"
+                }
+
+        except Exception as e:
+            logger.error(f"滴回操作异常: {e}")
+            return {
+                "status": "error",
+                "message": f"滴回操作异常: {str(e)}"
+            }
+
+    def get_device_list(self) -> Dict[str, Any]:
+        """获取设备列表
+
+        Returns:
+            Dict[str, Any]: 设备列表信息
+        """
+        try:
+            logger.info("获取设备列表")
+            result = self.hardware_interface.device_list()
+
+            return {
+                "status": "success",
+                "message": "设备列表获取成功",
+                "data": result
+            }
+
+        except Exception as e:
+            logger.error(f"获取设备列表异常: {e}")
+            return {
+                "status": "error",
+                "message": f"获取设备列表异常: {str(e)}"
+            }
+
+    def device_operation(self, device_id: str, operation: str,
+                        parameters: Dict[str, Any] = None) -> Dict[str, Any]:
+        """设备操作
+
+        对指定设备执行操作
+
+        Args:
+            device_id (str): 设备ID
+            operation (str): 操作类型
+            parameters (Dict[str, Any]): 操作参数
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"执行设备操作: 设备ID={device_id}, 操作={operation}")
+            result = self.hardware_interface.device_operation(
+                device_id=device_id,
+                operation=operation,
+                parameters=parameters or {}
+            )
+
+            if result:
+                logger.info("设备操作成功")
+                return {
+                    "status": "success",
+                    "message": f"设备操作成功: {operation}",
+                    "data": result
+                }
+            else:
+                logger.error("设备操作失败")
+                return {
+                    "status": "failed",
+                    "message": "设备操作失败"
+                }
+
+        except Exception as e:
+            logger.error(f"设备操作异常: {e}")
+            return {
+                "status": "error",
+                "message": f"设备操作异常: {str(e)}"
+            }
+
+    def add_material(self, material_data: Dict[str, Any]) -> Dict[str, Any]:
+        """添加物料
+
+        向系统中添加新的物料信息
+
+        Args:
+            material_data (Dict[str, Any]): 物料数据
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"添加物料: {material_data.get('name', 'Unknown')}")
+            result = self.hardware_interface.add_material(material_data)
+
+            if result:
+                logger.info("物料添加成功")
+                return {
+                    "status": "success",
+                    "message": "物料添加成功",
+                    "data": result
+                }
+            else:
+                logger.error("物料添加失败")
+                return {
+                    "status": "failed",
+                    "message": "物料添加失败"
+                }
+
+        except Exception as e:
+            logger.error(f"添加物料异常: {e}")
+            return {
+                "status": "error",
+                "message": f"添加物料异常: {str(e)}"
+            }
+
+    def stock_material(self, material_id: str, location: str,
+                      quantity: int) -> Dict[str, Any]:
+        """库存物料
+
+        更新物料库存信息
+
+        Args:
+            material_id (str): 物料ID
+            location (str): 位置
+            quantity (int): 数量
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info(f"更新物料库存: 物料ID={material_id}, 位置={location}, 数量={quantity}")
+            result = self.hardware_interface.stock_material(
+                material_id=material_id,
+                location=location,
+                quantity=quantity
+            )
+
+            if result:
+                logger.info("物料库存更新成功")
+                return {
+                    "status": "success",
+                    "message": "物料库存更新成功",
+                    "data": result
+                }
+            else:
+                logger.error("物料库存更新失败")
+                return {
+                    "status": "failed",
+                    "message": "物料库存更新失败"
+                }
+
+        except Exception as e:
+            logger.error(f"物料库存更新异常: {e}")
+            return {
+                "status": "error",
+                "message": f"物料库存更新异常: {str(e)}"
+            }
+
+    # ============ 工作站状态管理 ============
+
+    def get_workstation_status(self) -> Dict[str, Any]:
+        """获取工作站状态
+
+        Returns:
+            Dict[str, Any]: 工作站状态信息
+        """
+        try:
+            # 获取基础状态信息
+            base_status = {
+                "is_busy": self.is_busy,
+                "workflow_status": self.workflow_status,
+                "workflow_runtime": self.workflow_runtime
+            }
+
+            # 获取调度器状态
+            scheduler_status = self.get_scheduler_status()
+
+            # 获取设备列表
+            device_list = self.get_device_list()
+
+            return {
+                "status": "success",
+                "message": "工作站状态获取成功",
+                "data": {
+                    "base_status": base_status,
+                    "scheduler_status": scheduler_status.get("data"),
+                    "device_list": device_list.get("data"),
+                    "config": {
+                        "api_host": self.config.get("api_host"),
+                        "workflow_mappings": self.config.get("workflow_mappings", {}),
+                        "material_type_mappings": self.config.get("material_type_mappings", {})
+                    }
+                }
+            }
+
+        except Exception as e:
+            logger.error(f"获取工作站状态异常: {e}")
+            return {
+                "status": "error",
+                "message": f"获取工作站状态异常: {str(e)}"
+            }
+
+    def get_bioyond_status(self) -> Dict[str, Any]:
+        """获取完整的 Bioyond 状态信息
+
+        这个方法提供了比 bioyond_status 属性更详细的状态信息，
+        包括错误处理和格式化的响应结构
+
+        Returns:
+            Dict[str, Any]: 格式化的 Bioyond 状态响应
+        """
+        try:
+            # 获取 bioyond_status 属性的数据
+            status_data = self.bioyond_status
+
+            return {
+                "status": "success",
+                "message": "Bioyond 状态获取成功",
+                "data": status_data
+            }
+
+        except Exception as e:
+            logger.error(f"获取 Bioyond 状态异常: {e}")
+            return {
+                "status": "error",
+                "message": f"获取 Bioyond 状态异常: {str(e)}",
+                "data": {
+                    "station_info": {
+                        "station_name": getattr(self, 'station_name', 'BioyondWorkstation'),
+                        "station_type": getattr(self, 'station_type', 'unknown'),
+                        "enable_reaction_station": getattr(self, 'enable_reaction_station', False),
+                        "enable_dispensing_station": getattr(self, 'enable_dispensing_station', False)
+                    },
+                    "interface_status": {
+                        "reaction_interface_connected": False,
+                        "dispensing_interface_connected": False,
+                        "last_sync_time": 0,
+                        "sync_interval": 60
+                    },
+                    "sync_status": {
+                        "last_sync_success": False,
+                        "total_resources": 0,
+                        "warehouse_count": 0
+                    },
+                    "timestamp": __import__('time').time(),
+                    "status": "error",
+                    "error_message": str(e)
+                }
+            }
+
+    def reset_workstation(self) -> Dict[str, Any]:
+        """重置工作站
+
+        重置工作站到初始状态
+
+        Returns:
+            Dict[str, Any]: 操作结果
+        """
+        try:
+            logger.info("开始重置工作站")
+
+            # 停止当前工作流（如果有）
+            if self.is_busy:
+                self.stop_workflow()
+
+            # 停止调度器
+            self.stop_scheduler()
+
+            # 重新启动调度器
+            start_result = self.start_scheduler()
+
+            if start_result.get("status") == "success":
+                logger.info("工作站重置成功")
+                return {
+                    "status": "success",
+                    "message": "工作站重置成功"
+                }
+            else:
+                logger.error("工作站重置失败")
+                return {
+                    "status": "failed",
+                    "message": "工作站重置失败"
+                }
+
+        except Exception as e:
+            logger.error(f"工作站重置异常: {e}")
+            return {
+                "status": "error",
+                "message": f"工作站重置异常: {str(e)}"
+            }
+
+    async def execute_bioyond_update_workflow(self, parameters: Dict[str, Any]) -> Dict[str, Any]:
+        """执行Bioyond更新工作流"""
+        try:
+            material_ids = parameters.get("material_ids", [])
+            sync_all = parameters.get("sync_all", True)
+
+            logger.info(f"开始执行Bioyond更新工作流: sync_all={sync_all}")
+
+            # 获取物料管理模块
+            material_manager = self.material_management
+
+            if sync_all:
+                # 同步所有物料
+                success_count = 0
+                for resource in material_manager.plr_resources.values():
+                    success = await material_manager.sync_to_bioyond(resource)
+                    if success:
+                        success_count += 1
+            else:
+                # 同步指定物料
+                success_count = 0
+                for material_id in material_ids:
+                    resource = material_manager.find_material_by_id(material_id)
+                    if resource:
+                        success = await material_manager.sync_to_bioyond(resource)
+                        if success:
+                            success_count += 1
+
+            result = {
+                "status": "success",
+                "message": f"Bioyond更新完成",
+                "updated_resources": success_count,
+                "total_resources": len(material_ids) if not sync_all else len(material_manager.plr_resources)
+            }
+
+            logger.info(f"Bioyond更新工作流执行完成: {result['status']}")
+            return result
+
+        except Exception as e:
+            logger.error(f"Bioyond更新工作流执行失败: {e}")
+            return {
+                "status": "error",
+                "message": str(e)
+            }
+
+    def load_bioyond_data_from_file(self, file_path: str) -> bool:
+        """从文件加载Bioyond数据（用于测试）"""
+        try:
+            with open(file_path, 'r', encoding='utf-8') as f:
+                bioyond_data = json.load(f)
+
+            # 获取物料管理模块
+            material_manager = self.material_management
+
+            # 转换为UniLab格式
+            if isinstance(bioyond_data, dict) and "data" in bioyond_data:
+                unilab_resources = material_manager.resource_bioyond_container_to_ulab(bioyond_data)
+            else:
+                unilab_resources = material_manager.resource_bioyond_to_ulab(bioyond_data)
+
+            # 分配到Deck
+            import asyncio
+            asyncio.create_task(material_manager._assign_resources_to_deck(unilab_resources))
+
+            logger.info(f"从文件 {file_path} 加载了 {len(unilab_resources)} 个Bioyond资源")
+            return True
+
+        except Exception as e:
+            logger.error(f"从文件加载Bioyond数据失败: {e}")
+            return False
+
+
+# 使用示例
+def create_bioyond_workstation_example():
+    """创建Bioyond工作站示例"""
+
+    # 配置参数
+    device_id = "bioyond_workstation_001"
+
+    # 子资源配置
+    children = {
+        "plate_1": {
+            "name": "plate_1",
+            "type": "plate",
+            "position": {"x": 100, "y": 100, "z": 0},
+            "config": {
+                "size_x": 127.76,
+                "size_y": 85.48,
+                "size_z": 14.35,
+                "model": "Generic 96 Well Plate"
+            }
+        }
+    }
+
+    # Bioyond配置
+    bioyond_config = {
+        "base_url": "http://bioyond.example.com/api",
+        "api_key": "your_api_key_here",
+        "sync_interval": 60,  # 60秒同步一次
+        "timeout": 30
+    }
+
+    # Deck配置
+    deck_config = {
+        "size_x": 1000.0,
+        "size_y": 1000.0,
+        "size_z": 100.0,
+        "model": "BioyondDeck"
+    }
+
+    # 创建工作站
+    workstation = BioyondWorkstation(
+        station_resource=deck_config,
+        bioyond_config=bioyond_config,
+        deck_config=deck_config,
+    )
+
+    return workstation
+
+
+if __name__ == "__main__":
+    # 创建示例工作站
+    #workstation = create_bioyond_workstation_example()
+
+    # 从文件加载测试数据
+    #workstation.load_bioyond_data_from_file("bioyond_test_yibin.json")
+
+    # 获取状态
+    #status = workstation.get_bioyond_status()
+    #print("Bioyond工作站状态:", status)
+
+    # 创建测试数据 - 使用resource_bioyond_container_to_ulab函数期望的格式
+
+  # 读取 bioyond_resources_unilab_output3 copy.json 文件
+    from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
+    from Bioyond_wuliao import *
+    from typing import List
+    from pylabrobot.resources import Resource as PLRResource
+    import json
+    from pylabrobot.resources.deck import Deck
+    from pylabrobot.resources.coordinate import Coordinate
+
+    with open("./bioyond_test_yibin3_unilab_result_corr.json", "r", encoding="utf-8") as f:
+        bioyond_resources_unilab = json.load(f)
+    print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
+    ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
+    print(f"转换结果类型: {type(ulab_resources)}")
+    print(f"转换结果长度: {len(ulab_resources) if ulab_resources else 0}")
+    deck = Deck(size_x=2000,
+                size_y=653.5,
+                size_z=900)
+
+    Stack0 = Stack(name="Stack0", location=Coordinate(0, 100, 0))
+    Stack1 = Stack(name="Stack1", location=Coordinate(100, 100, 0))
+    Stack2 = Stack(name="Stack2", location=Coordinate(200, 100, 0))
+    Stack3 = Stack(name="Stack3", location=Coordinate(300, 100, 0))
+    Stack4 = Stack(name="Stack4", location=Coordinate(400, 100, 0))
+    Stack5 = Stack(name="Stack5", location=Coordinate(500, 100, 0))
+
+    deck.assign_child_resource(Stack1, Stack1.location)
+    deck.assign_child_resource(Stack2, Stack2.location)
+    deck.assign_child_resource(Stack3, Stack3.location)
+    deck.assign_child_resource(Stack4, Stack4.location)
+    deck.assign_child_resource(Stack5, Stack5.location)
+
+    Stack0.assign_child_resource(ulab_resources[0], Stack0.location)
+    Stack1.assign_child_resource(ulab_resources[1], Stack1.location)
+    Stack2.assign_child_resource(ulab_resources[2], Stack2.location)
+    Stack3.assign_child_resource(ulab_resources[3], Stack3.location)
+    Stack4.assign_child_resource(ulab_resources[4], Stack4.location)
+    Stack5.assign_child_resource(ulab_resources[5], Stack5.location)
+
+    from unilabos.resources.graphio import convert_resources_from_type
+    from unilabos.app.web.client import http_client
+
+    resources = convert_resources_from_type([deck], [PLRResource])
+
+
+    print(resources)
+    http_client.remote_addr = "https://uni-lab.bohrium.com/api/v1"
+    #http_client.auth = "9F05593C"
+    http_client.auth = "ED634D1C"
+    http_client.resource_add(resources, database_process_later=False)
diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
new file mode 100644
index 00000000..f663a217
--- /dev/null
+++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
@@ -0,0 +1,1289 @@
+"""
+纽扣电池组装工作站物料类定义
+Button Battery Assembly Station Resource Classes
+"""
+
+from __future__ import annotations
+
+from collections import OrderedDict
+from typing import Any, Dict, List, Optional, TypedDict, Union, cast
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources.container import Container
+from pylabrobot.resources.deck import Deck
+from pylabrobot.resources.itemized_resource import ItemizedResource
+from pylabrobot.resources.resource import Resource
+from pylabrobot.resources.resource_stack import ResourceStack
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.trash import Trash
+from pylabrobot.resources.utils import create_ordered_items_2d
+
+
+class ElectrodeSheetState(TypedDict):
+    diameter: float  # 直径 (mm)
+    thickness: float  # 厚度 (mm)
+    mass: float  # 质量 (g)
+    material_type: str  # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
+    info: Optional[str]  # 附加信息
+
+class ElectrodeSheet(Resource):
+    """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
+
+    def __init__(
+        self,
+        name: str = "极片",
+        size_x=10,
+        size_y=10,
+        size_z=10,
+        category: str = "electrode_sheet",
+        model: Optional[str] = None,
+    ):
+        """初始化极片
+
+        Args:
+            name: 极片名称
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
+            diameter=14,
+            thickness=0.1,
+            mass=0.5,
+            material_type="copper",
+            info=None
+        )
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+    #序列化
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+# TODO: 这个应该只能放一个极片
+class MaterialHoleState(TypedDict):
+    diameter: int
+    depth: int
+    max_sheets: int
+    info: Optional[str]  # 附加信息
+
+class MaterialHole(Resource):
+    """料板洞位类"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "material_hole",
+        **kwargs
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+        )
+        self._unilabos_state: MaterialHoleState = MaterialHoleState(
+            diameter=20,
+            depth=10,
+            max_sheets=1,
+            info=None
+        )
+
+    def get_all_sheet_info(self):
+        info_list = []
+        for sheet in self.children:
+            info_list.append(sheet._unilabos_state["info"])
+        return info_list
+    
+    #这个函数函数好像没用，一般不会集中赋值质量
+    def set_all_sheet_mass(self):
+        for sheet in self.children:
+            sheet._unilabos_state["mass"] = 0.5  # 示例：设置质量为0.5g
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    #移动极片前先取出对象
+    def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
+        for sheet in self.children:
+            if sheet.name == name:
+                return sheet
+        return None
+
+    def has_electrode_sheet(self) -> bool:
+        """检查洞位是否有极片"""
+        return len(self.children) > 0
+
+    def assign_child_resource(
+        self,
+        resource: ElectrodeSheet,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
+        if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
+            raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
+        if len(self.children) >= self._unilabos_state["max_sheets"]:
+            raise ValueError(f"洞位已满，无法放置更多极片")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
+        return self.children[index]
+
+
+
+class MaterialPlateState(TypedDict):
+    hole_spacing_x: float
+    hole_spacing_y: float
+    hole_diameter: float
+    info: Optional[str]  # 附加信息
+
+
+
+class MaterialPlate(ItemizedResource[MaterialHole]):
+    """料板类 - 4x4个洞位，每个洞位放1个极片"""
+    
+    children: List[MaterialHole]
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, MaterialHole]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        category: str = "material_plate",
+        model: Optional[str] = None,
+        fill: bool = False
+    ):
+        """初始化料板
+
+        Args:
+            name: 料板名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing_x: X方向洞位间距 (mm)
+            hole_spacing_y: Y方向洞位间距 (mm)
+            number: 编号
+            category: 类别
+            model: 型号
+        """
+        self._unilabos_state: MaterialPlateState = MaterialPlateState(
+            hole_spacing_x=24.0,
+            hole_spacing_y=24.0,
+            hole_diameter=20.0,
+            info="",
+        )
+        # 创建4x4的洞位
+        # TODO: 这里要改，对应不同形状
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 16,
+            size_y = 16,
+            size_z = 16,
+        )
+        if fill:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=holes,
+                category=category,
+                model=model,
+            )
+        else:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=ordered_items,
+                ordering=ordering,
+                category=category,
+                model=model,
+            )
+
+    def update_locations(self):
+        # TODO:调多次相加
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=self._size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 1,
+            size_y = 1,
+            size_z = 1,
+        )
+        for item, original_item in zip(holes.items(), self.children):
+            original_item.location = item[1].location
+
+
+class PlateSlot(ResourceStack):
+    """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        max_plates: int = 8,
+        category: str = "plate_slot",
+        model: Optional[str] = None
+    ):
+        """初始化板槽位
+
+        Args:
+            name: 槽位名称
+            max_plates: 最大板数量
+            category: 类别
+        """
+        super().__init__(
+            name=name,
+            direction="z",  # Z方向堆叠
+            resources=[],
+        )
+        self.max_plates = max_plates
+        self.category = category
+
+    def can_add_plate(self) -> bool:
+        """检查是否可以添加板"""
+        return len(self.children) < self.max_plates
+
+    def add_plate(self, plate: MaterialPlate) -> None:
+        """添加料板"""
+        if not self.can_add_plate():
+            raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
+        self.assign_child_resource(plate)
+
+    def get_top_plate(self) -> MaterialPlate:
+        """获取最上方的板"""
+        if len(self.children) == 0:
+            raise ValueError(f"槽位 {self.name} 为空")
+        return cast(MaterialPlate, self.get_top_item())
+
+    def take_top_plate(self) -> MaterialPlate:
+        """取出最上方的板"""
+        top_plate = self.get_top_plate()
+        self.unassign_child_resource(top_plate)
+        return top_plate
+
+    def can_access_for_picking(self) -> bool:
+        """检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
+        return len(self.children) > 0
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "max_plates": self.max_plates,
+        }
+
+
+class ClipMagazineHole(Container):
+    """子弹夹洞位类"""
+    children: List[ElectrodeSheet] = []
+    def __init__(
+        self,
+        name: str,
+        diameter: float,
+        depth: float,
+        category: str = "clip_magazine_hole",
+    ):
+        """初始化子弹夹洞位
+
+        Args:
+            name: 洞位名称
+            diameter: 洞直径 (mm)
+            depth: 洞深度 (mm)
+            category: 类别
+        """
+        super().__init__(
+            name=name,
+            size_x=diameter,
+            size_y=diameter,
+            size_z=depth,
+            category=category,
+        )
+        self.diameter = diameter
+        self.depth = depth
+
+    def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
+        """检查是否可以添加极片
+        
+        根据洞的深度和极片的厚度来判断是否可以添加极片
+        """
+        # 检查极片直径是否适合洞的直径
+        if sheet._unilabos_state["diameter"] > self.diameter:
+            return False
+        
+        # 计算当前已添加极片的总厚度
+        current_thickness = sum(s._unilabos_state["thickness"] for s in self.children)
+        
+        # 检查添加新极片后总厚度是否超过洞的深度
+        if current_thickness + sheet._unilabos_state["thickness"] > self.depth:
+            return False
+        
+        return True
+
+
+    def assign_child_resource(
+        self,
+        resource: ElectrodeSheet,
+        location: Optional[Coordinate] = None,
+        reassign: bool = True,
+    ):
+        """放置极片到洞位中
+        
+        Args:
+            resource: 要放置的极片
+            location: 极片在洞位中的位置（对于洞位，通常为None）
+            reassign: 是否允许重新分配
+        """
+        # 检查是否可以添加极片
+        if not self.can_add_sheet(resource):
+            raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配")
+        
+        # 调用父类方法实际执行分配
+        super().assign_child_resource(resource, location, reassign)
+
+    def unassign_child_resource(self, resource: ElectrodeSheet):
+        """从洞位中移除极片
+        
+        Args:
+            resource: 要移除的极片
+        """
+        if resource not in self.children:
+            raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中")
+        
+        # 调用父类方法实际执行移除
+        super().unassign_child_resource(resource)
+
+
+
+    def serialize_state(self) -> Dict[str, Any]:
+        return {
+            "sheet_count": len(self.children),
+            "sheets": [sheet.serialize() for sheet in self.children],
+        }
+class ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
+    """子弹夹类 - 有4个洞位，每个洞位放多个极片"""
+    children: List[ClipMagazineHole]
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        hole_diameter: float = 14.0,
+        hole_depth: float = 10.0,
+        hole_spacing: float = 25.0,
+        max_sheets_per_hole: int = 100,
+        category: str = "clip_magazine_four",
+        model: Optional[str] = None,
+    ):
+        """初始化子弹夹
+
+        Args:
+            name: 子弹夹名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing: 洞位间距 (mm)
+            max_sheets_per_hole: 每个洞位最大极片数量
+            category: 类别
+            model: 型号
+        """
+        # 创建4个洞位，排成2x2布局
+        holes = create_ordered_items_2d(
+            klass=ClipMagazineHole,
+            num_items_x=2,
+            num_items_y=2,
+            dx=(size_x - 2 * hole_spacing) / 2,  # 居中
+            dy=(size_y - hole_spacing) / 2,     # 居中
+            dz=size_z - 0,
+            item_dx=hole_spacing,
+            item_dy=hole_spacing,
+            diameter=hole_diameter,
+            depth=hole_depth,
+        )
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=holes,
+            category=category,
+            model=model,
+        )
+
+        # 保存洞位的直径和深度
+        self.hole_diameter = hole_diameter
+        self.hole_depth = hole_depth
+        self.max_sheets_per_hole = max_sheets_per_hole
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "hole_diameter": self.hole_diameter,
+            "hole_depth": self.hole_depth,
+            "max_sheets_per_hole": self.max_sheets_per_hole,
+        }
+# TODO: 这个要改
+class ClipMagazine(ItemizedResource[ClipMagazineHole]):
+    """子弹夹类 - 有6个洞位，每个洞位放多个极片"""
+    children: List[ClipMagazineHole]
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        hole_diameter: float = 14.0,
+        hole_depth: float = 10.0,
+        hole_spacing: float = 25.0,
+        max_sheets_per_hole: int = 100,
+        category: str = "clip_magazine",
+        model: Optional[str] = None,
+    ):
+        """初始化子弹夹
+
+        Args:
+            name: 子弹夹名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing: 洞位间距 (mm)
+            max_sheets_per_hole: 每个洞位最大极片数量
+            category: 类别
+            model: 型号
+        """
+        # 创建6个洞位，排成2x3布局
+        holes = create_ordered_items_2d(
+            klass=ClipMagazineHole,
+            num_items_x=3,
+            num_items_y=2,
+            dx=(size_x - 2 * hole_spacing) / 2,  # 居中
+            dy=(size_y - hole_spacing) / 2,     # 居中
+            dz=size_z - 0,
+            item_dx=hole_spacing,
+            item_dy=hole_spacing,
+            diameter=hole_diameter,
+            depth=hole_depth,
+        )
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=holes,
+            category=category,
+            model=model,
+        )
+
+        # 保存洞位的直径和深度
+        self.hole_diameter = hole_diameter
+        self.hole_depth = hole_depth
+        self.max_sheets_per_hole = max_sheets_per_hole
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "hole_diameter": self.hole_diameter,
+            "hole_depth": self.hole_depth,
+            "max_sheets_per_hole": self.max_sheets_per_hole,
+        }
+#是一种类型注解，不用self
+class BatteryState(TypedDict):
+    """电池状态字典"""
+    diameter: float
+    height: float
+
+    electrolyte_name: str
+    electrolyte_volume: float
+
+class Battery(Resource):
+    """电池类 - 可容纳极片"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        category: str = "battery",
+    ):
+        """初始化电池
+
+        Args:
+            name: 电池名称
+            diameter: 直径 (mm)
+            height: 高度 (mm)
+            max_volume: 最大容量 (μL)
+            barcode: 二维码编号
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=1,
+            size_y=1,
+            size_z=1,
+            category=category,
+        )
+        self._unilabos_state: BatteryState = BatteryState()
+
+    def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
+        to_add_name = bottle._unilabos_state["electrolyte_name"]
+        if bottle.aspirate_electrolyte(10):
+            if self.add_electrolyte(to_add_name, 10):
+                pass
+            else:
+                bottle._unilabos_state["electrolyte_volume"] += 10
+
+    def set_electrolyte(self, name: str, volume: float) -> None:
+        """设置电解液信息"""
+        self._unilabos_state["electrolyte_name"] = name
+        self._unilabos_state["electrolyte_volume"] = volume
+    #这个应该没用，不会有加了后再加的事情
+    def add_electrolyte(self, name: str, volume: float) -> bool:
+        """添加电解液信息"""
+        if name != self._unilabos_state["electrolyte_name"]:
+            return False
+        self._unilabos_state["electrolyte_volume"] += volume
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+# 电解液作为属性放进去
+
+class BatteryPressSlotState(TypedDict):
+    """电池状态字典"""
+    diameter: float =20.0
+    depth: float = 4.0
+
+class BatteryPressSlot(Resource):
+    """电池压制槽类 - 设备，可容纳一个电池"""
+    children: List[Battery] = []
+
+    def __init__(
+        self,
+        name: str = "BatteryPressSlot",
+        category: str = "battery_press_slot",
+    ):
+        """初始化电池压制槽
+
+        Args:
+            name: 压制槽名称
+            diameter: 直径 (mm)
+            depth: 深度 (mm)
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=10,
+            size_y=12,
+            size_z=13,
+            category=category,
+        )
+        self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
+
+    def has_battery(self) -> bool:
+        """检查是否有电池"""
+        return len(self.children) > 0
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    
+    def assign_child_resource(
+        self,
+        resource: Battery,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        if self.has_battery():
+            raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_battery_info(self, index: int) -> Battery:
+        return self.children[0]
+
+class TipBox64State(TypedDict):
+    """电池状态字典"""
+    tip_diameter: float = 5.0
+    tip_length: float = 50.0
+    with_tips: bool = True
+
+class TipBox64(TipRack):
+    """64孔枪头盒类"""
+
+    children: List[TipSpot] = []
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        category: str = "tip_box_64",
+        model: Optional[str] = None,
+    ):
+        """初始化64孔枪头盒
+
+        Args:
+            name: 枪头盒名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            tip_diameter: 枪头直径 (mm)
+            tip_length: 枪头长度 (mm)
+            category: 类别
+            model: 型号
+            with_tips: 是否带枪头
+        """
+        from pylabrobot.resources.tip import Tip
+
+        # 创建8x8=64个枪头位
+        def make_tip():
+            return Tip(
+                has_filter=False,
+                total_tip_length=20.0,
+                maximal_volume=1000,  # 1mL
+                fitting_depth=8.0,
+            )
+
+        tip_spots = create_ordered_items_2d(
+            klass=TipSpot,
+            num_items_x=8,
+            num_items_y=8,
+            dx=8.0,
+            dy=8.0,
+            dz=0.0,
+            item_dx=9.0,
+            item_dy=9.0,
+            size_x=10,
+            size_y=10,
+            size_z=0.0,
+            make_tip=make_tip,
+        )
+        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
+        # 记录网格参数用于前端渲染
+        self._grid_params = {
+            "num_items_x": 8,
+            "num_items_y": 8,
+            "dx": 8.0,
+            "dy": 8.0,
+            "item_dx": 9.0,
+            "item_dy": 9.0,
+        }
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=tip_spots,
+            category=category,
+            model=model,
+            with_tips=True,
+        )
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            **self._grid_params,
+        }
+
+
+
+class WasteTipBoxstate(TypedDict):
+    """"废枪头盒状态字典"""
+    max_tips: int = 100
+    tip_count: int = 0
+
+#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
+class WasteTipBox(Trash):
+    """废枪头盒类 - 100个枪头容量"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        category: str = "waste_tip_box",
+        model: Optional[str] = None,
+    ):
+        """初始化废枪头盒
+
+        Args:
+            name: 废枪头盒名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            max_tips: 最大枪头容量
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
+
+    def add_tip(self) -> None:
+        """添加废枪头"""
+        if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
+            raise ValueError(f"废枪头盒 {self.name} 已满")
+        self._unilabos_state["tip_count"] += 1
+
+    def get_tip_count(self) -> int:
+        """获取枪头数量"""
+        return self._unilabos_state["tip_count"]
+
+    def empty(self) -> None:
+        """清空废枪头盒"""
+        self._unilabos_state["tip_count"] = 0
+
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+class BottleRackState(TypedDict):
+    """     bottle_diameter: 瓶子直径 (mm)
+            bottle_height: 瓶子高度 (mm)
+            position_spacing: 位置间距 (mm)"""
+    bottle_diameter: float
+    bottle_height: float
+    name_to_index: dict
+
+
+class BottleRackState(TypedDict):
+    """     bottle_diameter: 瓶子直径 (mm)
+            bottle_height: 瓶子高度 (mm)
+            position_spacing: 位置间距 (mm)"""
+    bottle_diameter: float
+    bottle_height: float
+    position_spacing: float
+    name_to_index: dict
+
+
+class BottleRack(Resource):
+    """瓶架类 - 12个待配位置+12个已配位置"""
+    children: List[Resource] = []
+
+    def __init__(
+            self,
+            name: str,
+            size_x: float,
+            size_y: float,
+            size_z: float,
+            category: str = "bottle_rack",
+            model: Optional[str] = None,
+            num_items_x: int = 3,
+            num_items_y: int = 4,
+            position_spacing: float = 35.0,
+            orientation: str = "horizontal",
+            padding_x: float = 20.0,
+            padding_y: float = 20.0,
+    ):
+        """初始化瓶架
+
+        Args:
+            name: 瓶架名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        # 初始化状态
+        self._unilabos_state: BottleRackState = BottleRackState(
+            bottle_diameter=30.0,
+            bottle_height=100.0,
+            position_spacing=position_spacing,
+            name_to_index={},
+        )
+        # 基于网格生成瓶位坐标映射（居中摆放）
+        # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥）
+        origin_x = padding_x
+        origin_y = padding_y
+        self.index_to_pos = {}
+        for j in range(num_items_y):
+            for i in range(num_items_x):
+                idx = j * num_items_x + i
+                if orientation == "vertical":
+                    # 纵向：沿 y 方向优先排列
+                    self.index_to_pos[idx] = Coordinate(
+                        x=origin_x + j * position_spacing,
+                        y=origin_y + i * position_spacing,
+                        z=0,
+                    )
+                else:
+                    # 横向（默认）：沿 x 方向优先排列
+                    self.index_to_pos[idx] = Coordinate(
+                        x=origin_x + i * position_spacing,
+                        y=origin_y + j * position_spacing,
+                        z=0,
+                    )
+        self.name_to_index = {}
+        self.name_to_pos = {}
+        self.num_items_x = num_items_x
+        self.num_items_y = num_items_y
+        self.orientation = orientation
+        self.padding_x = padding_x
+        self.padding_y = padding_y
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(
+            self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+    # TODO: 这里有些问题要重新写一下
+    def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
+        capacity = self.num_items_x * self.num_items_y
+        assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
+        index = len(self.children)
+        location = self.index_to_pos.get(index, Coordinate.zero())
+        self.name_to_pos[resource.name] = location
+        self.name_to_index[resource.name] = index
+        return super().assign_child_resource(resource, location, reassign)
+
+    def assign_child_resource(self, resource: Resource, index: int):
+        capacity = self.num_items_x * self.num_items_y
+        assert 0 <= index < capacity, "无效的瓶子索引"
+        self.name_to_index[resource.name] = index
+        location = self.index_to_pos[index]
+        return super().assign_child_resource(resource, location)
+
+    def unassign_child_resource(self, resource: Bottle):
+        super().unassign_child_resource(resource)
+        self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "num_items_x": self.num_items_x,
+            "num_items_y": self.num_items_y,
+            "position_spacing": self._unilabos_state.get("position_spacing", 35.0),
+            "orientation": self.orientation,
+            "padding_x": self.padding_x,
+            "padding_y": self.padding_y,
+        }
+
+
+class BottleState(TypedDict):
+    diameter: float
+    height: float
+    electrolyte_name: str
+    electrolyte_volume: float
+    max_volume: float
+
+class Bottle(Resource):
+    """瓶子类 - 容纳电解液"""
+
+    def __init__(
+        self,
+        name: str,
+        category: str = "bottle",
+    ):
+        """初始化瓶子
+
+        Args:
+            name: 瓶子名称
+            diameter: 直径 (mm)
+            height: 高度 (mm)
+            max_volume: 最大体积 (μL)
+            barcode: 二维码
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=1,
+            size_y=1,
+            size_z=1,
+            category=category,
+        )
+        self._unilabos_state: BottleState = BottleState()
+    
+    def aspirate_electrolyte(self, volume: float) -> bool:
+        current_volume = self._unilabos_state["electrolyte_volume"]
+        assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
+        self._unilabos_state["electrolyte_volume"] -= volume
+        return True
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+class CoincellDeck(Deck):
+    """纽扣电池组装工作站台面类"""
+
+    def __init__(
+        self,
+        name: str = "coin_cell_deck",
+        size_x: float = 1620.0,  # 3.66m
+        size_y: float = 1270.0,  # 1.23m
+        size_z: float = 500.0,
+        origin: Coordinate = Coordinate(0, 0, 0),
+        category: str = "coin_cell_deck",
+    ):
+        """初始化纽扣电池组装工作站台面
+
+        Args:
+            name: 台面名称
+            size_x: 长度 (mm) - 3.66m
+            size_y: 宽度 (mm) - 1.23m
+            size_z: 高度 (mm)
+            origin: 原点坐标
+            category: 类别
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            origin=origin,
+            category=category,
+        )
+
+#if __name__ == "__main__":
+#    # 转移极片的测试代码
+#    deck = CoincellDeck("coin_cell_deck")
+#    ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8)
+#    deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0))
+#
+#    plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True)
+#    for i, hole in enumerate(plate_1.children):
+#        sheet = ElectrodeSheet(f"hole_{i}_sheet_1")
+#        sheet._unilabos_state = {
+#            "diameter": 14,
+#            "info": "NMC",
+#            "mass": 5.0,
+#            "material_type": "positive_electrode",
+#            "thickness": 0.1
+#        }
+#        hole._unilabos_state = {
+#            "depth": 1.0,
+#            "diameter": 14,
+#            "info": "",
+#            "max_sheets": 1
+#        }
+#        hole.assign_child_resource(sheet, Coordinate.zero())
+#    plate_1._unilabos_state = {
+#        "hole_spacing_x": 20.0,
+#        "hole_spacing_y": 20.0,
+#        "hole_diameter": 5,
+#        "info": "这是第一块料板"
+#    }
+#    plate_1.update_locations()
+#    ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero())
+#    # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1)
+#    # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0))
+#
+#    from unilabos.resources.graphio import *
+#    A = tree_to_list([resource_plr_to_ulab(deck)])
+#    with open("test.json", "w") as f:
+#        json.dump(A, f)
+#
+#
+#def get_plate_with_14mm_hole(name=""):
+#    plate = MaterialPlate(name=name)
+#    for i in range(4):
+#        for j in range(4):
+#            hole = MaterialHole(f"{i+1}x{j+1}")
+#            hole._unilabos_state["diameter"] = 14
+#            hole._unilabos_state["max_sheets"] = 1
+#            plate.assign_child_resource(hole)
+#    return plate
+
+def create_a_liaopan():
+    liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
+    for i in range(16):
+        jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1)
+        liaopan1.children[i].assign_child_resource(jipian, location=None)
+    return liaopan
+
+def create_a_coin_cell_deck():
+    deck = Deck(size_x=1200,
+                size_y=800,
+                size_z=900)
+
+    #liaopan =  TipBox64(name="liaopan")
+
+    #创建一个4*4的物料板
+    liaopan1 =  MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
+    #把物料板放到桌子上
+    deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))
+    #创建一个极片
+    for i in range(16):
+        jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1)
+        liaopan1.children[i].assign_child_resource(jipian, location=None)
+    #创建一个4*4的物料板
+    liaopan2 =  MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
+    #把物料板放到桌子上
+    deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))
+
+    #创建一个4*4的物料板
+    liaopan3 =  MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
+    #把物料板放到桌子上
+    deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0))
+
+    print(deck)
+
+    return deck
+
+
+import json
+
+if __name__ == "__main__":
+    electrode1 = BatteryPressSlot()
+    #print(electrode1.get_size_x())
+    #print(electrode1.get_size_y())
+    #print(electrode1.get_size_z())
+    #jipian = ElectrodeSheet()
+    #jipian._unilabos_state["diameter"] = 18
+    #print(jipian.serialize())
+    #print(jipian.serialize_state())
+
+    deck = CoincellDeck()
+    """======================================子弹夹============================================"""
+    zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0))
+    zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0))
+    zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0))
+    zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0))
+    zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0))
+    zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0))
+    zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0))
+    zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10)
+    deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0))
+    for i in range(4):
+        jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
+    for i in range(4):
+        jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
+    for i in range(6):
+        jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
+    for i in range(6):
+        jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None)
+    for i in range(6):
+        jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None)
+    for i in range(6):
+        jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None)
+    for i in range(6):
+        jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None)
+    for i in range(6):
+        jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None)
+    """======================================子弹夹============================================"""
+    #liaopan =  TipBox64(name="liaopan")
+    """======================================物料板============================================"""
+    #创建一个4*4的物料板
+    liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
+    for i in range(16):
+        jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        liaopan1.children[i].assign_child_resource(jipian_1, location=None)
+
+    liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
+
+    liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0))
+
+    liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0))
+    for i in range(16):
+        jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        liaopan4.children[i].assign_child_resource(jipian_4, location=None)
+    liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0))
+    liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True)
+    deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0))
+    #liaopan.children[3].assign_child_resource(jipian, location=None)
+    """======================================物料板============================================"""
+    """======================================瓶架，移液枪============================================"""
+    # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
+    bottle_rack_3x4 = BottleRack(
+        name="bottle_rack_3x4",
+        size_x=210.0,
+        size_y=140.0,
+        size_z=100.0,
+        num_items_x=3,
+        num_items_y=4,
+        position_spacing=35.0,
+        orientation="vertical",
+    )
+    deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0))
+
+    bottle_rack_6x2 = BottleRack(
+        name="bottle_rack_6x2",
+        size_x=120.0,
+        size_y=250.0,
+        size_z=100.0,
+        num_items_x=6,
+        num_items_y=2,
+        position_spacing=35.0,
+        orientation="vertical",
+    )
+    deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0))
+
+    bottle_rack_6x2_2 = BottleRack(
+        name="bottle_rack_6x2_2",
+        size_x=120.0,
+        size_y=250.0,
+        size_z=100.0,
+        num_items_x=6,
+        num_items_y=2,
+        position_spacing=35.0,
+        orientation="vertical",
+    )
+    deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0))
+
+
+    # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位
+    for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y):
+        sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1)
+        bottle_rack_3x4.assign_child_resource(sheet, index=idx)
+
+    for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y):
+        sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1)
+        bottle_rack_6x2.assign_child_resource(sheet, index=idx)
+
+    tip_box = TipBox64(name="tip_box_64")
+    deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
+
+    waste_tip_box = WasteTipBox(name="waste_tip_box")
+    deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0))
+    """======================================瓶架，移液枪============================================"""
+    print(deck)
+
+
+    from unilabos.resources.graphio import convert_resources_from_type
+    from unilabos.config.config import BasicConfig 
+    BasicConfig.ak = "56bbed5b-6e30-438c-b06d-f69eaa63bb45"
+    BasicConfig.sk = "238222fe-0bf7-4350-a426-e5ced8011dcf"
+    from unilabos.app.web.client import http_client
+
+    resources = convert_resources_from_type([deck], [Resource])
+    
+    # 检查序列化后的资源
+
+    json.dump({"nodes": resources, "links": []}, open("button_battery_decks_unilab.json", "w"), indent=2)
+   
+      
+    #print(resources)
+    http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+ 
+    http_client.resource_add(resources)
\ No newline at end of file
diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
new file mode 100644
index 00000000..4758bdda
--- /dev/null
+++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
@@ -0,0 +1,1142 @@
+import csv
+import json
+import os
+import threading
+import time
+from datetime import datetime
+from typing import Any, Dict, Optional
+from pylabrobot.resources import Resource as PLRResource
+from unilabos_msgs.msg import Resource
+from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
+from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
+from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
+from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
+from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
+#构建物料系统
+
+class CoinCellAssemblyWorkstation(WorkstationBase):
+    def __init__(
+        self,
+        deck: CoincellDeck,
+        address: str = "192.168.1.20",
+        port: str = "502",
+        debug_mode: bool = True,
+        *args,
+        **kwargs,
+    ):
+        super().__init__(
+            #桌子
+            deck=deck,
+            *args,
+            **kwargs,
+        )
+        self.debug_mode = debug_mode
+        self.deck = deck
+        """ 连接初始化 """
+        modbus_client = TCPClient(addr=address, port=port)
+        print("modbus_client", modbus_client)
+        if not debug_mode:
+            modbus_client.client.connect()
+            count = 100
+            while count >0:
+                count -=1
+                if modbus_client.client.is_socket_open():
+                    break
+                time.sleep(2)
+            if not modbus_client.client.is_socket_open():
+                raise ValueError('modbus tcp connection failed')
+        else:
+            print("测试模式，跳过连接")
+
+        """ 工站的配置 """
+        self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
+        self.client  = modbus_client.register_node_list(self.nodes)
+        self.success = False
+        self.allow_data_read = False  #允许读取函数运行标志位
+        self.csv_export_thread = None
+        self.csv_export_running = False
+        self.csv_export_file = None
+        #创建一个物料台面，包含两个极片板
+        #self.deck = create_a_coin_cell_deck()
+        
+        #self._ros_node.update_resource(self.deck)
+        
+        #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+        #    "resources": [self.deck]
+        #})
+
+    
+    def post_init(self, ros_node: ROS2WorkstationNode):
+        self._ros_node = ros_node
+        #self.deck = create_a_coin_cell_deck()
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+
+    # 批量操作在这里写
+    async def change_hole_sheet_to_2(self, hole: MaterialHole):
+        hole._unilabos_state["max_sheets"] = 2
+        return await self._ros_node.update_resource(hole)
+
+    
+    async def fill_plate(self):
+        plate_1: MaterialPlate = self.deck.children[0].children[0]
+        #plate_1
+        return await self._ros_node.update_resource(plate_1)
+
+    #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"):
+    #    """启动工作流"""
+    #    self.current_workflow_status = WorkflowStatus.RUNNING
+    #    logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}")
+#
+    #    # TODO: 实现工作流逻辑
+#
+    #    anode_sheet = self.deck.get_resource("anode_sheet")
+        
+    """ Action逻辑代码 """
+    def _sys_start_cmd(self, cmd=None):
+        """设备启动命令 (可读写)"""
+        if cmd is not None:  # 写入模式
+            self.success = False
+            node = self.client.use_node('COIL_SYS_START_CMD')
+            ret = node.write(cmd)
+            print(ret)
+            self.success = True
+            return self.success
+        else:  # 读取模式
+            cmd_feedback, read_err =  self.client.use_node('COIL_SYS_START_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _sys_stop_cmd(self, cmd=None):
+        """设备停止命令 (可读写)"""
+        if cmd is not None:  # 写入模式
+            self.success = False
+            node = self.client.use_node('COIL_SYS_STOP_CMD')
+            node.write(cmd)
+            self.success = True
+            return self.success
+        else:  # 读取模式
+            cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _sys_reset_cmd(self, cmd=None):
+        """设备复位命令 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_SYS_RESET_CMD').write(cmd)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _sys_hand_cmd(self, cmd=None):
+        """手动模式命令 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_SYS_HAND_CMD').write(cmd)
+            self.success = True
+            print("步骤0")
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _sys_auto_cmd(self, cmd=None):
+        """自动模式命令 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _sys_init_cmd(self, cmd=None):
+        """初始化命令 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_SYS_INIT_CMD').write(cmd)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _unilab_send_msg_succ_cmd(self, cmd=None):
+        """UNILAB发送配方完毕 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _unilab_rec_msg_succ_cmd(self, cmd=None):
+        """UNILAB接收测试电池数据完毕 (可读写)"""
+        if cmd is not None:
+            self.success = False
+            self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1)
+            return cmd_feedback
+
+
+  # ====================== 命令类指令（REG_x_） ======================
+    def _unilab_send_msg_electrolyte_num(self, num=None):
+        """UNILAB写电解液使用瓶数(可读写)"""
+        if num is not None:
+            self.success = False
+            ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num)
+            print(ret)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1)
+            return cmd_feedback[0]
+
+    def _unilab_send_msg_electrolyte_use_num(self, use_num=None):
+        """UNILAB写单次电解液使用瓶数(可读写)"""
+        if use_num is not None:
+            self.success = False
+            self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num)
+            self.success = True
+            return self.success
+        else:
+            return False
+
+    def _unilab_send_msg_assembly_type(self, num=None):
+        """UNILAB写组装参数"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1)
+            return cmd_feedback[0]
+
+    def _unilab_send_msg_electrolyte_vol(self, vol=None):
+        """UNILAB写电解液吸取量参数"""
+        if vol is not None:
+            self.success = False
+            self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE)
+            return cmd_feedback[0]
+
+    def _unilab_send_msg_assembly_pressure(self, vol=None):
+        """UNILAB写电池压制力"""
+        if vol is not None:
+            self.success = False
+            self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE)
+            return cmd_feedback[0]
+        
+    # ==================== 0905新增内容（COIL_x_STATUS） ====================
+    def _unilab_send_electrolyte_bottle_num(self, num=None):
+        """UNILAB发送电解液瓶数完毕"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1)
+            return cmd_feedback[0]
+        
+    def _unilab_rece_electrolyte_bottle_num(self, num=None):
+        """设备请求接受电解液瓶数"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1)
+            return cmd_feedback[0]
+
+    def _reg_msg_electrolyte_num(self, num=None):
+        """电解液已使用瓶数"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1)
+            return cmd_feedback[0]
+
+    def _reg_data_electrolyte_use_num(self, num=None):
+        """单瓶电解液完成组装数"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1)
+            return cmd_feedback[0]
+        
+    def _unilab_send_finished_cmd(self, num=None):
+        """Unilab发送已知一组组装完成信号"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1)
+            return cmd_feedback[0]
+
+    def _unilab_rece_finished_cmd(self, num=None):
+        """Unilab接收已知一组组装完成信号"""
+        if num is not None:
+            self.success = False
+            self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num)
+            self.success = True
+            return self.success
+        else:
+            cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1)
+            return cmd_feedback[0]
+
+
+
+    # ==================== 状态类属性（COIL_x_STATUS） ====================
+    def _sys_start_status(self) -> bool:
+        """设备启动中( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1)
+        return status[0]
+
+    def _sys_stop_status(self) -> bool:
+        """设备停止中( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1)
+        return status[0]
+
+    def _sys_reset_status(self) -> bool:
+        """设备复位中( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1)
+        return status[0]
+
+    def _sys_init_status(self) -> bool:
+        """设备初始化完成( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1)
+        return status[0]
+    
+    # 查找资源
+    def modify_deck_name(self, resource_name: str):
+        # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name})
+        # print(f"!!! figure_res: {type(figure_res)}")
+        self.deck.children[1]
+        return
+
+    @property
+    def sys_status(self) -> str:
+        if self.debug_mode:
+            return "设备调试模式"
+        if self._sys_start_status():
+            return "设备启动中"
+        elif self._sys_stop_status():
+            return "设备停止中"
+        elif self._sys_reset_status():
+            return "设备复位中"
+        elif self._sys_init_status():
+            return "设备初始化中"
+        else:
+            return "未知状态"
+
+    def _sys_hand_status(self) -> bool:
+        """设备手动模式( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1)
+        return status[0]
+
+    def _sys_auto_status(self) -> bool:
+        """设备自动模式( BOOL)"""
+        status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1)
+        return status[0]
+
+    @property
+    def sys_mode(self) -> str:
+        if self.debug_mode:
+            return "设备调试模式"
+        if self._sys_hand_status():
+            return "设备手动模式"
+        elif self._sys_auto_status():
+            return "设备自动模式"
+        else:
+            return "未知模式"
+
+    @property
+    def request_rec_msg_status(self) -> bool:
+        """设备请求接受配方( BOOL)"""
+        if self.debug_mode:
+            return True
+        status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1)
+        return status[0]
+
+    @property
+    def request_send_msg_status(self) -> bool:
+        """设备请求发送测试数据( BOOL)"""
+        if self.debug_mode:
+            return True
+        status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1)
+        return status[0]
+
+    # ======================= 其他属性（特殊功能） ========================
+    '''
+    @property
+    def warning_1(self) -> bool:
+        status, read_err = self.client.use_node('COIL_WARNING_1').read(1)
+        return status[0]
+    '''
+    # ===================== 生产数据区 ======================
+    
+    @property
+    def data_assembly_coin_cell_num(self) -> int:
+        """已完成电池数量 (INT16)"""
+        if self.debug_mode:
+            return 0
+        num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1)
+        return num
+
+    @property
+    def data_assembly_time(self) -> float:
+        """单颗电池组装时间 (秒, REAL/FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        time, read_err =  self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE)
+        return time
+
+    @property
+    def data_open_circuit_voltage(self) -> float:
+        """开路电压值 (FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        vol, read_err =  self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE)
+        return vol
+
+    @property
+    def data_axis_x_pos(self) -> float:
+        """分液X轴当前位置 (FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        pos, read_err =  self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE)
+        return pos
+
+    @property
+    def data_axis_y_pos(self) -> float:
+        """分液Y轴当前位置 (FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        pos, read_err =  self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE)
+        return pos
+
+    @property
+    def data_axis_z_pos(self) -> float:
+        """分液Z轴当前位置 (FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        pos, read_err =  self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE)
+        return pos
+
+    @property
+    def data_pole_weight(self) -> float:
+        """当前电池正极片称重数据 (FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        weight, read_err =  self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE)
+        return weight
+
+    @property
+    def data_assembly_pressure(self) -> int:
+        """当前电池压制力 (INT16)"""
+        if self.debug_mode:
+            return 0
+        pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
+        return pressure
+
+    @property
+    def data_electrolyte_volume(self) -> int:
+        """当前电解液加注量 (INT16)"""
+        if self.debug_mode:
+            return 0
+        vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1)
+        return vol
+
+    @property
+    def data_coin_num(self) -> int:
+        """当前电池数量 (INT16)"""
+        if self.debug_mode:
+            return 0
+        num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1)
+        return num
+
+    @property
+    def data_coin_cell_code(self) -> str:
+        """电池二维码序列号 (STRING)"""
+        try:
+            # 尝试不同的字节序读取
+            code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE)
+            print(code_little)
+            clean_code = code_little[-8:][::-1]
+            return clean_code
+        except Exception as e:
+            print(f"读取电池二维码失败: {e}")
+            return "N/A"
+
+
+    @property
+    def data_electrolyte_code(self) -> str:
+        try:
+            # 尝试不同的字节序读取
+            code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE)
+            print(code_little)
+            clean_code = code_little[-8:][::-1]
+            return clean_code
+        except Exception as e:
+            print(f"读取电解液二维码失败: {e}")
+            return "N/A"
+
+    # ===================== 环境监控区 ======================
+    @property
+    def data_glove_box_pressure(self) -> float:
+        """手套箱压力 (bar, FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE)
+        return status
+
+    @property
+    def data_glove_box_o2_content(self) -> float:
+        """手套箱氧含量 (ppm, FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE)
+        return value
+
+    @property
+    def data_glove_box_water_content(self) -> float:
+        """手套箱水含量 (ppm, FLOAT32)"""
+        if self.debug_mode:
+            return 0
+        value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE)
+        return value
+
+#    @property
+#    def data_stack_vision_code(self) -> int:
+#        """物料堆叠复检图片编码 (INT16)"""
+#        if self.debug_mode:
+#            return 0
+#        code, read_err =  self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1)
+#        #code, _ =  self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type
+#        print(f"读取物料堆叠复检图片编码", {code}, "error", type(code))
+#        #print(code.type)
+#        # print(read_err)
+#        return int(code)
+
+    def func_pack_device_init(self):
+        #切换手动模式
+        print("切换手动模式")
+        self._sys_hand_cmd(True)
+        time.sleep(1)
+        while (self._sys_hand_status()) == False:
+            print("waiting for hand_cmd")
+            time.sleep(1)
+        #设备初始化
+        self._sys_init_cmd(True)
+        time.sleep(1)
+        #sys_init_status为bool值，不加括号
+        while (self._sys_init_status())== False:
+            print("waiting for init_cmd")
+            time.sleep(1)
+        #手动按钮置回False
+        self._sys_hand_cmd(False)
+        time.sleep(1)
+        while (self._sys_hand_cmd()) == True:
+            print("waiting for hand_cmd to False")
+            time.sleep(1)
+        #初始化命令置回False
+        self._sys_init_cmd(False)
+        time.sleep(1)
+        while (self._sys_init_cmd()) == True:
+            print("waiting for init_cmd to False")
+            time.sleep(1)
+
+    def func_pack_device_auto(self):
+        #切换自动
+        print("切换自动模式")
+        self._sys_auto_cmd(True)
+        time.sleep(1)
+        while (self._sys_auto_status()) == False:
+            print("waiting for auto_status")
+            time.sleep(1)
+        #自动按钮置False
+        self._sys_auto_cmd(False)
+        time.sleep(1)
+        while (self._sys_auto_cmd()) == True:
+            print("waiting for auto_cmd")
+            time.sleep(1)
+
+    def func_pack_device_start(self):
+        #切换自动
+        print("启动")
+        self._sys_start_cmd(True)
+        time.sleep(1)
+        while (self._sys_start_status()) == False:
+            print("waiting for start_status")
+            time.sleep(1)
+        #自动按钮置False
+        self._sys_start_cmd(False)
+        time.sleep(1)
+        while (self._sys_start_cmd()) == True:
+            print("waiting for start_cmd")
+            time.sleep(1)      
+
+    def func_pack_send_bottle_num(self, bottle_num: int):
+        #发送电解液平台数
+        print("启动")
+        while (self._unilab_rece_electrolyte_bottle_num()) == False:
+            print("waiting for rece_electrolyte_bottle_num to True")
+            # self.client.use_node('8520').write(True)
+            time.sleep(1)     
+        #发送电解液瓶数为2
+        self._reg_msg_electrolyte_num(bottle_num)
+        time.sleep(1)
+        #完成信号置True
+        self._unilab_send_electrolyte_bottle_num(True)
+        time.sleep(1)
+        #检测到依华已接收
+        while (self._unilab_rece_electrolyte_bottle_num()) == True:
+            print("waiting for rece_electrolyte_bottle_num to False")
+            time.sleep(1)    
+        #完成信号置False
+        self._unilab_send_electrolyte_bottle_num(False) 
+        time.sleep(1) 
+        #自动按钮置False
+
+
+    # 下发参数
+    #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool:
+    #    """UNILAB写参数"""
+    #    while (self.request_rec_msg_status) == False: 
+    #        print("wait for res_msg")
+    #        time.sleep(1)
+    #    self.success = False
+    #    self._unilab_send_msg_electrolyte_num(elec_num)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_electrolyte_use_num(elec_use_num)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_electrolyte_vol(elec_vol)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_assembly_type(assembly_type)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_assembly_pressure(assembly_pressure)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_succ_cmd(True)
+    #    time.sleep(1)
+    #    self._unilab_send_msg_succ_cmd(False)
+    #    #将允许读取标志位置True
+    #    self.allow_data_read = True
+    #    self.success = True
+    #    return self.success
+
+    def func_pack_send_msg_cmd(self, elec_use_num) -> bool:
+        """UNILAB写参数"""    
+        while (self.request_rec_msg_status) == False: 
+            print("wait for request_rec_msg_status to True")
+            time.sleep(1)
+        self.success = False
+        #self._unilab_send_msg_electrolyte_num(elec_num)
+        time.sleep(1)
+        self._unilab_send_msg_electrolyte_use_num(elec_use_num)
+        time.sleep(1)
+        self._unilab_send_msg_succ_cmd(True)
+        time.sleep(1)
+        while (self.request_rec_msg_status) == True: 
+            print("wait for request_rec_msg_status to False")
+            time.sleep(1)
+        self._unilab_send_msg_succ_cmd(False)
+        #将允许读取标志位置True
+        self.allow_data_read = True
+        self.success = True
+        return self.success
+
+    def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool:
+        """UNILAB读参数"""    
+        while self.request_send_msg_status == False:
+            print("waiting for send_read_msg_status to True")
+            time.sleep(1)
+        data_open_circuit_voltage = self.data_open_circuit_voltage
+        data_pole_weight = self.data_pole_weight
+        data_assembly_time = self.data_assembly_time
+        data_assembly_pressure = self.data_assembly_pressure
+        data_electrolyte_volume = self.data_electrolyte_volume
+        data_coin_num = self.data_coin_num
+        data_electrolyte_code = self.data_electrolyte_code
+        data_coin_cell_code = self.data_coin_cell_code
+        print("data_open_circuit_voltage", data_open_circuit_voltage)
+        print("data_pole_weight", data_pole_weight)
+        print("data_assembly_time", data_assembly_time)
+        print("data_assembly_pressure", data_assembly_pressure)
+        print("data_electrolyte_volume", data_electrolyte_volume)
+        print("data_coin_num", data_coin_num)
+        print("data_electrolyte_code", data_electrolyte_code)
+        print("data_coin_cell_code", data_coin_cell_code)
+        #接收完信息后，读取完毕标志位置True
+        self._unilab_rec_msg_succ_cmd(True)
+        time.sleep(1)
+        #等待允许读取标志位置False
+        while self.request_send_msg_status == True:
+            print("waiting for send_msg_status to False")
+            time.sleep(1)
+        self._unilab_rec_msg_succ_cmd(False)
+        time.sleep(1)
+        #将允许读取标志位置True
+        time_date = datetime.now().strftime("%Y%m%d")
+            #秒级时间戳用于标记每一行电池数据
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            #生成输出文件的变量
+        self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")   
+        #将数据存入csv文件
+        if not os.path.exists(self.csv_export_file):
+            #创建一个表头
+            with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile:
+                writer = csv.writer(csvfile)
+                writer.writerow([
+                    'Time', 'open_circuit_voltage', 'pole_weight', 
+                    'assembly_time', 'assembly_pressure', 'electrolyte_volume', 
+                    'coin_num', 'electrolyte_code', 'coin_cell_code'
+                ])
+                #立刻写入磁盘
+                csvfile.flush()
+        #开始追加电池信息
+        with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile:
+            writer = csv.writer(csvfile)
+            writer.writerow([
+                timestamp, data_open_circuit_voltage, data_pole_weight,
+                data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
+                data_coin_num, data_electrolyte_code, data_coin_cell_code
+            ])
+            #立刻写入磁盘
+            csvfile.flush()
+        self.success = True
+        return self.success
+
+
+
+    def func_pack_send_finished_cmd(self) -> bool:
+        """UNILAB写参数"""    
+        while (self._unilab_rece_finished_cmd()) == False: 
+            print("wait for rece_finished_cmd to True")
+            time.sleep(1)
+        self.success = False
+        self._unilab_send_finished_cmd(True)
+        time.sleep(1)
+        while (self._unilab_rece_finished_cmd()) == True: 
+            print("wait for rece_finished_cmd to False")
+            time.sleep(1)
+        self._unilab_send_finished_cmd(False)
+        #将允许读取标志位置True
+        self.success = True
+        return self.success
+
+
+
+    def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool:
+        summary_csv_file = os.path.join(file_path, "duandian.csv")
+        # 如果断点文件存在，先读取之前的进度
+        if os.path.exists(summary_csv_file):
+            read_status_flag = True
+            with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile:
+                reader = csv.reader(csvfile)
+                header = next(reader)  # 跳过标题行
+                data_row = next(reader)  # 读取数据行
+                if len(data_row) >= 2:
+                    elec_num_r = int(data_row[0])
+                    elec_use_num_r = int(data_row[1])
+                    elec_num_N = int(data_row[2])
+                    elec_use_num_N = int(data_row[3])
+                    coin_num_N = int(data_row[4])
+                    if elec_num_r == elec_num and elec_use_num_r == elec_use_num:
+                        print("断点文件与当前任务匹配，继续")
+                    else:
+                        print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件")
+                        return False
+                    print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}")
+                     
+        else:
+            read_status_flag = False
+            print("未找到断点文件，从头开始")
+            elec_num_N = 0
+            elec_use_num_N = 0
+            coin_num_N = 0
+
+        print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}")
+
+        
+        #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。
+        if read_status_flag == False:
+            #初始化
+            self.func_pack_device_init()
+            #切换自动
+            self.func_pack_device_auto()
+            #启动，小车收回
+            self.func_pack_device_start()
+            #发送电解液瓶数量，启动搬运,多搬运没事
+            self.func_pack_send_bottle_num(elec_num)
+        last_i = elec_num_N
+        last_j = elec_use_num_N
+        for i in range(last_i, elec_num):
+            print(f"开始第{last_i+i+1}瓶电解液的组装")
+            #第一个循环从上次断点继续，后续循环从0开始
+            j_start = last_j if i == last_i else 0
+            self.func_pack_send_msg_cmd(elec_use_num-j_start)
+
+            for j in range(j_start, elec_use_num):
+                print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")
+                #读取电池组装数据并存入csv
+                self.func_pack_get_msg_cmd(file_path)
+                time.sleep(1)
+
+                #这里定义物料系统
+                # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
+                liaopan1 = self.deck.get_resource("liaopan1")
+                liaopan4 = self.deck.get_resource("liaopan4")
+                jipian1 = liaopan1.children[coin_num_N].children[0]
+                jipian4 = liaopan4.children[coin_num_N].children[0]
+                #print(jipian1)
+                #从料盘上去物料解绑后放到另一盘上
+                jipian1.parent.unassign_child_resource(jipian1)
+                jipian4.parent.unassign_child_resource(jipian4)
+                
+                #print(jipian2.parent)
+                battery = Battery(name = f"battery_{coin_num_N}")
+                battery.assign_child_resource(jipian1, location=None)
+                battery.assign_child_resource(jipian4, location=None)
+                
+                zidanjia6 = self.deck.get_resource("zi_dan_jia6")
+
+                zidanjia6.children[0].assign_child_resource(battery, location=None)
+               
+
+                # 生成断点文件
+                # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件
+                timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+                with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile:
+                    writer = csv.writer(csvfile)
+                    writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp'])
+                    writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp])
+                    csvfile.flush()
+                coin_num_N += 1
+                elec_use_num_N += 1
+            elec_num_N += 1
+            elec_use_num_N = 0
+
+        #循环正常结束，则删除断点文件
+        os.remove(summary_csv_file)
+        #全部完成后等待依华发送完成信号
+        self.func_pack_send_finished_cmd()
+
+
+    def func_pack_device_stop(self) -> bool:
+        """打包指令：设备停止"""
+        for i in range(3):
+            time.sleep(2)
+            print(f"输出{i}")
+        #print("_sys_hand_cmd", self._sys_hand_cmd())
+        #time.sleep(1)  
+        #print("_sys_hand_status", self._sys_hand_status())
+        #time.sleep(1)  
+        #print("_sys_init_cmd", self._sys_init_cmd())
+        #time.sleep(1)  
+        #print("_sys_init_status", self._sys_init_status())
+        #time.sleep(1)  
+        #print("_sys_auto_status", self._sys_auto_status())
+        #time.sleep(1)  
+        #print("data_axis_y_pos", self.data_axis_y_pos)
+        #time.sleep(1)  
+        #self.success = False
+        #with open('action_device_stop.json', 'r', encoding='utf-8') as f:
+        #    action_json = json.load(f)
+        #self.client.execute_procedure_from_json(action_json)
+        #self.success = True
+        #return self.success
+    
+    def fun_wuliao_test(self) -> bool: 
+        #找到data_init中构建的2个物料盘
+        #liaopan1 = self.deck.get_resource("liaopan1")
+        #liaopan4 = self.deck.get_resource("liaopan4")
+        #for coin_num_N in range(16):
+        #    liaopan1 = self.deck.get_resource("liaopan1")
+        #    liaopan4 = self.deck.get_resource("liaopan4")
+        #    jipian1 = liaopan1.children[coin_num_N].children[0]
+        #    jipian4 = liaopan4.children[coin_num_N].children[0]
+        #    #print(jipian1)
+        #    #从料盘上去物料解绑后放到另一盘上
+        #    jipian1.parent.unassign_child_resource(jipian1)
+        #    jipian4.parent.unassign_child_resource(jipian4)
+        #    
+        #    #print(jipian2.parent)
+        #    battery = Battery(name = f"battery_{coin_num_N}")
+        #    battery.assign_child_resource(jipian1, location=None)
+        #    battery.assign_child_resource(jipian4, location=None)
+        #    
+        #    zidanjia6 = self.deck.get_resource("zi_dan_jia6")
+        #    zidanjia6.children[0].assign_child_resource(battery, location=None)
+        #    ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+        #        "resources": [self.deck]
+        #    })
+        #    time.sleep(2)
+        for i in range(20):
+            print(f"输出{i}")
+            time.sleep(2)
+
+            
+    # 数据读取与输出
+    def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
+        # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
+        if self.csv_export_running:
+            return False, "读取已在运行中"
+        
+        #若不存在该目录则创建
+        if not os.path.exists(file_path):
+            os.makedirs(file_path)
+            print(f"创建目录: {file_path}")
+
+        # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件
+        while self.allow_data_read:
+
+            #函数运行标志位，确保只同时启动一个导出函数
+            self.csv_export_running = True
+
+            #等待接收结果标志位置True
+            while self.request_send_msg_status == False:
+                print("waiting for send_msg_status to True")
+                time.sleep(1)
+            #日期时间戳用于按天存放csv文件
+            time_date = datetime.now().strftime("%Y%m%d")
+            #秒级时间戳用于标记每一行电池数据
+            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            #生成输出文件的变量
+            self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")   
+            
+            #接收信息
+            data_open_circuit_voltage = self.data_open_circuit_voltage
+            data_pole_weight = self.data_pole_weight
+            data_assembly_time = self.data_assembly_time
+            data_assembly_pressure = self.data_assembly_pressure
+            data_electrolyte_volume = self.data_electrolyte_volume
+            data_coin_num = self.data_coin_num
+            data_electrolyte_code = self.data_electrolyte_code
+            data_coin_cell_code = self.data_coin_cell_code
+            # 电解液瓶位置
+            elec_bottle_site = 2
+            # 极片夹取位置(应当通过寄存器读光标)
+            Pos_elec_site = 0
+            Al_elec_site = 0
+            Gasket_site = 0
+
+            #接收完信息后，读取完毕标志位置True
+            self._unilab_rec_msg_succ_cmd()# = True
+            #等待允许读取标志位置False
+            while self.request_send_msg_status == True:
+                print("waiting for send_msg_status to False")
+                time.sleep(1)
+            self._unilab_rec_msg_succ_cmd()# = False
+
+            #此处操作物料信息（如果中途报错停止，如何）
+            #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料）
+            #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可）
+            
+            #物料读取操作写在这里
+            #在这里进行物料调取
+            #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取）
+        #    transfer_bottle(deck, elec_bottle_site)
+        #    #找到电解液瓶的对象
+        #    electrolyte_rack = deck.get_resource("electrolyte_rack")
+        #    pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site]
+        #    # TODO: 瓶子取液体操作需要加入
+#
+#
+        #    #找到压制工站对应的对象
+        #    battery_press_slot = deck.get_resource("battery_press_1")
+        #    #创建一个新电池
+        #    test_battery = Battery(
+        #        name=f"test_battery_{data_coin_num}",
+        #        diameter=20.0,  # 与压制槽直径匹配
+        #        height=3.0,     # 电池高度
+        #        max_volume=100.0,  # 100μL容量
+        #        barcode=data_coin_cell_code,  # 电池条码
+        #    )
+        #    if battery_press_slot.has_battery():
+        #        return False, "压制工站已有电池，无法放置新电池"
+        #    #在压制位放置电池
+        #    battery_press_slot.place_battery(test_battery)
+        #    #从第一个子弹夹中取料
+        #    clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site)
+        #    clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site)
+        #    clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site)
+        #    
+        #    if clip_magazine_1_hole.get_sheet_count() > 0:   # 检查洞位是否有极片
+        #        electrode_sheet_1 = clip_magazine_1_hole.take_sheet()  # 从洞位取出极片
+        #        test_battery.add_electrode_sheet(electrode_sheet_1)  # 添加到电池中
+        #        print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池")
+        #    else:
+        #        print("子弹夹洞位0没有极片")
+#
+        #    if clip_magazine_2_hole.get_sheet_count() > 0:   # 检查洞位是否有极片
+        #        electrode_sheet_2 = clip_magazine_2_hole.take_sheet()  # 从洞位取出极片
+        #        test_battery.add_electrode_sheet(electrode_sheet_2)  # 添加到电池中
+        #        print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池")
+        #    else:
+        #        print("子弹夹洞位0没有极片")
+#
+        #    if clip_magazine_3_hole.get_sheet_count() > 0:   # 检查洞位是否有极片
+        #        electrode_sheet_3 = clip_magazine_3_hole.take_sheet()  # 从洞位取出极片
+        #        test_battery.add_electrode_sheet(electrode_sheet_3)  # 添加到电池中
+        #        print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池")
+        #    else:
+        #        print("子弹夹洞位0没有极片")
+        #  
+        #    #把电解液从瓶中取到电池夹子中
+        #    battery_site = deck.get_resource("battery_press_1")
+        #    clip_magazine_battery = deck.get_resource("clip_magazine_battery")
+        #    if battery_site.has_battery():
+        #        battery = battery_site.take_battery() #从压制槽取出电池
+        #        clip_magazine_battery.add_battery(battery) #从压制槽取出电池
+#
+#
+#
+#
+        #    # 保存配置到文件
+        #    self.deck.save("button_battery_station_layout.json", indent=2)
+        #    print("\n台面配置已保存到: button_battery_station_layout.json")
+        #
+        #    # 保存状态到文件
+        #    self.deck.save_state_to_file("button_battery_station_state.json", indent=2)
+        #    print("台面状态已保存到: button_battery_station_state.json")
+
+
+
+
+
+
+            #将数据写入csv中
+            #如当前目录下无同名文件则新建一个csv用于存放数据
+            if not os.path.exists(self.csv_export_file):
+                #创建一个表头
+                with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile:
+                    writer = csv.writer(csvfile)
+                    writer.writerow([
+                        'Time', 'open_circuit_voltage', 'pole_weight', 
+                        'assembly_time', 'assembly_pressure', 'electrolyte_volume', 
+                        'coin_num', 'electrolyte_code', 'coin_cell_code'
+                    ])
+                    #立刻写入磁盘
+                    csvfile.flush()
+            #开始追加电池信息
+            with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile:
+                writer = csv.writer(csvfile)
+                writer.writerow([
+                    timestamp, data_open_circuit_voltage, data_pole_weight,
+                    data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
+                    data_coin_num, data_electrolyte_code, data_coin_cell_code
+                ])
+                #立刻写入磁盘
+                csvfile.flush()
+
+            # 只要不在自动模式运行中，就将允许标志位置False
+            if self.sys_auto_status  == False or self.sys_start_status == False:
+                self.allow_data_read = False
+                self.csv_export_running = False
+            time.sleep(1)
+
+    def func_stop_read_data(self):
+        """停止CSV导出"""
+        if not self.csv_export_running:
+            return False, "read data未在运行"
+        
+        self.csv_export_running = False
+        self.allow_data_read = False
+        
+        if self.csv_export_thread and self.csv_export_thread.is_alive():
+            self.csv_export_thread.join(timeout=5)
+
+    def func_get_csv_export_status(self):
+        """获取CSV导出状态"""
+        return {
+            'allow_read': self.allow_data_read,
+            'running': self.csv_export_running,
+            'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False
+        }
+
+    
+    '''
+    # ===================== 物料管理区 ======================
+    @property
+    def data_material_inventory(self) -> int:
+        """主物料库存 (数量, INT16)"""
+        inventory, read_err =  self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1)
+        return inventory
+
+    @property
+    def data_tips_inventory(self) -> int:
+        """移液枪头库存 (数量, INT16)"""
+        inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1)
+        return inventory
+        
+    '''
+
+
+if __name__ == "__main__":
+    from pylabrobot.resources import Resource
+    Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
+    #Coin_Cell.func_pack_device_init()  
+    #Coin_Cell.func_pack_device_auto()
+    #Coin_Cell.func_pack_device_start()
+    #Coin_Cell.func_pack_send_bottle_num(2)
+    #Coin_Cell.func_pack_send_msg_cmd(2)
+    #Coin_Cell.func_pack_get_msg_cmd()
+    #Coin_Cell.func_pack_get_msg_cmd()
+    #Coin_Cell.func_pack_send_finished_cmd()
+#
+    #Coin_Cell.func_allpack_cmd(3, 2)
+    #print(Coin_Cell.data_stack_vision_code)
+    #print("success")
+    #创建一个物料台面
+
+    #deck = create_a_coin_cell_deck()
+
+    ##在台面上找到料盘和极片
+    #liaopan1 = deck.get_resource("liaopan1")
+    #liaopan2 = deck.get_resource("liaopan2")
+    #jipian1 = liaopan1.children[1].children[0]
+#
+    ##print(jipian1)
+    ##把物料解绑后放到另一盘上
+    #jipian1.parent.unassign_child_resource(jipian1)
+    #liaopan2.children[1].assign_child_resource(jipian1, location=None)
+    ##print(jipian2.parent)
+    from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
+
+    with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f:
+        bioyond_resources_unilab = json.load(f)
+    print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
+    ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
+    print(f"转换结果类型: {type(ulab_resources)}")
+    print(ulab_resources)
+
diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
new file mode 100644
index 00000000..7e371327
--- /dev/null
+++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
@@ -0,0 +1,14472 @@
+{
+  "nodes": [
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "children": [
+          "coin_cell_deck"
+      ],
+      "parent": null,
+      "type": "device",
+      "class": "bettery_station_registry",
+      "position": {
+          "x": 600,
+          "y": 400,
+          "z": 0
+      },
+      "config": {
+          "debug_mode": false,
+          "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定",
+          "protocol_type": [],
+          "deck": {
+              "data": {
+                  "_resource_child_name": "coin_cell_deck",
+                  "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
+              }
+          },
+          
+          "address": "192.168.1.20",
+          "port": 502
+      },
+      "data": {}
+    },
+    {
+      "id": "coin_cell_deck",
+      "name": "coin_cell_deck",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia",
+        "zi_dan_jia2",
+        "zi_dan_jia3",
+        "zi_dan_jia4",
+        "zi_dan_jia5",
+        "zi_dan_jia6",
+        "zi_dan_jia7",
+        "zi_dan_jia8",
+        "liaopan1",
+        "liaopan2",
+        "liaopan3",
+        "liaopan4",
+        "liaopan5",
+        "liaopan6",
+        "bottle_rack_3x4",
+        "bottle_rack_6x2",
+        "bottle_rack_6x2_2",
+        "tip_box_64",
+        "waste_tip_box"
+      ],
+      "parent": null,
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "size_x": 1620.0,
+        "size_y": 1270.0,
+        "size_z": 500.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "coin_cell_deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "zi_dan_jia",
+      "name": "zi_dan_jia",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia_clipmagazinehole_0_0",
+        "zi_dan_jia_clipmagazinehole_0_1",
+        "zi_dan_jia_clipmagazinehole_1_0",
+        "zi_dan_jia_clipmagazinehole_1_1"
+      ],
+      "parent": "coin_cell_deck",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 1400,
+        "y": 50,
+        "z": 0
+      },
+      "config": {
+        "type": "ClipMagazine_four",
+        "size_x": 80,
+        "size_y": 80,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "clip_magazine_four",
+        "model": null,
+        "barcode": null,
+        "ordering": {
+          "A1": "zi_dan_jia_clipmagazinehole_0_0",
+          "B1": "zi_dan_jia_clipmagazinehole_0_1",
+          "A2": "zi_dan_jia_clipmagazinehole_1_0",
+          "B2": "zi_dan_jia_clipmagazinehole_1_1"
+        },
+        "hole_diameter": 14.0,
+        "hole_depth": 10.0,
+        "max_sheets_per_hole": 100
+      },
+      "data": {}
+    },
+    {
+      "id": "zi_dan_jia_clipmagazinehole_0_0",
+      "name": "zi_dan_jia_clipmagazinehole_0_0",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia2_jipian_0"
+      ],
+      "parent": "zi_dan_jia",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 15.0,
+        "y": 52.5,
+        "z": 10
+      },
+      "config": {
+        "type": "ClipMagazineHole",
+        "size_x": 14.0,
+        "size_y": 14.0,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "clip_magazine_hole",
+        "model": null,
+        "barcode": null,
+        "max_volume": 1960.0,
+        "material_z_thickness": null,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "sheet_count": 1,
+        "sheets": [
+          {
+            "name": "zi_dan_jia2_jipian_0",
+            "type": "ElectrodeSheet",
+            "size_x": 12,
+            "size_y": 12,
+            "size_z": 0.1,
+            "location": null,
+            "rotation": {
+              "x": 0,
+              "y": 0,
+              "z": 0,
+              "type": "Rotation"
+            },
+            "category": "electrode_sheet",
+            "model": null,
+            "barcode": null,
+            "children": [],
+            "parent_name": "zi_dan_jia_clipmagazinehole_0_0"
+          }
+        ]
+      }
+    },
+    {
+      "id": "zi_dan_jia2_jipian_0",
+      "name": "zi_dan_jia2_jipian_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "zi_dan_jia_clipmagazinehole_0_0",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "ElectrodeSheet",
+        "size_x": 12,
+        "size_y": 12,
+        "size_z": 0.1,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "electrode_sheet",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 14,
+        "thickness": 0.1,
+        "mass": 0.5,
+        "material_type": "copper",
+        "info": null
+      }
+    },
+    {
+      "id": "zi_dan_jia_clipmagazinehole_0_1",
+      "name": "zi_dan_jia_clipmagazinehole_0_1",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia2_jipian_1"
+      ],
+      "parent": "zi_dan_jia",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 15.0,
+        "y": 27.5,
+        "z": 10
+      },
+      "config": {
+        "type": "ClipMagazineHole",
+        "size_x": 14.0,
+        "size_y": 14.0,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "clip_magazine_hole",
+        "model": null,
+        "barcode": null,
+        "max_volume": 1960.0,
+        "material_z_thickness": null,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "sheet_count": 1,
+        "sheets": [
+          {
+            "name": "zi_dan_jia2_jipian_1",
+            "type": "ElectrodeSheet",
+            "size_x": 12,
+            "size_y": 12,
+            "size_z": 0.1,
+            "location": null,
+            "rotation": {
+              "x": 0,
+              "y": 0,
+              "z": 0,
+              "type": "Rotation"
+            },
+            "category": "electrode_sheet",
+            "model": null,
+            "barcode": null,
+            "children": [],
+            "parent_name": "zi_dan_jia_clipmagazinehole_0_1"
+          }
+        ]
+      }
+    },
+    {
+      "id": "zi_dan_jia2_jipian_1",
+      "name": "zi_dan_jia2_jipian_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "zi_dan_jia_clipmagazinehole_0_1",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "ElectrodeSheet",
+        "size_x": 12,
+        "size_y": 12,
+        "size_z": 0.1,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "electrode_sheet",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 14,
+        "thickness": 0.1,
+        "mass": 0.5,
+        "material_type": "copper",
+        "info": null
+      }
+    },
+    {
+      "id": "zi_dan_jia_clipmagazinehole_1_0",
+      "name": "zi_dan_jia_clipmagazinehole_1_0",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia2_jipian_2"
+      ],
+      "parent": "zi_dan_jia",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 40.0,
+        "y": 52.5,
+        "z": 10
+      },
+      "config": {
+        "type": "ClipMagazineHole",
+        "size_x": 14.0,
+        "size_y": 14.0,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "clip_magazine_hole",
+        "model": null,
+        "barcode": null,
+        "max_volume": 1960.0,
+        "material_z_thickness": null,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "sheet_count": 1,
+        "sheets": [
+          {
+            "name": "zi_dan_jia2_jipian_2",
+            "type": "ElectrodeSheet",
+            "size_x": 12,
+            "size_y": 12,
+            "size_z": 0.1,
+            "location": null,
+            "rotation": {
+              "x": 0,
+              "y": 0,
+              "z": 0,
+              "type": "Rotation"
+            },
+            "category": "electrode_sheet",
+            "model": null,
+            "barcode": null,
+            "children": [],
+            "parent_name": "zi_dan_jia_clipmagazinehole_1_0"
+          }
+        ]
+      }
+    },
+    {
+      "id": "zi_dan_jia2_jipian_2",
+      "name": "zi_dan_jia2_jipian_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "zi_dan_jia_clipmagazinehole_1_0",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "ElectrodeSheet",
+        "size_x": 12,
+        "size_y": 12,
+        "size_z": 0.1,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "electrode_sheet",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 14,
+        "thickness": 0.1,
+        "mass": 0.5,
+        "material_type": "copper",
+        "info": null
+      }
+    },
+    {
+      "id": "zi_dan_jia_clipmagazinehole_1_1",
+      "name": "zi_dan_jia_clipmagazinehole_1_1",
+      "sample_id": null,
+      "children": [
+        "zi_dan_jia2_jipian_3"
+      ],
+      "parent": "zi_dan_jia",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 40.0,
+        "y": 27.5,
+        "z": 10
+      },
+      "config": {
+        "type": "ClipMagazineHole",
+        "size_x": 14.0,
+        "size_y": 14.0,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "clip_magazine_hole",
+        "model": null,
+        "barcode": null,
+        "max_volume": 1960.0,
+        "material_z_thickness": null,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "sheet_count": 1,
+        "sheets": [
+          {
+            "name": "zi_dan_jia2_jipian_3",
+            "type": "ElectrodeSheet",
+            "size_x": 12,
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+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_1",
+      "name": "tip_box_64_tipspot_7_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 62.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_2",
+      "name": "tip_box_64_tipspot_7_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 53.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_3",
+      "name": "tip_box_64_tipspot_7_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 44.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_4",
+      "name": "tip_box_64_tipspot_7_4",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 35.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_5",
+      "name": "tip_box_64_tipspot_7_5",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 26.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_6",
+      "name": "tip_box_64_tipspot_7_6",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 17.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "tip_box_64_tipspot_7_7",
+      "name": "tip_box_64_tipspot_7_7",
+      "sample_id": null,
+      "children": [],
+      "parent": "tip_box_64",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 71.0,
+        "y": 8.0,
+        "z": 0.0
+      },
+      "config": {
+        "type": "TipSpot",
+        "size_x": 10,
+        "size_y": 10,
+        "size_z": 0.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "tip_spot",
+        "model": null,
+        "barcode": null,
+        "prototype_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      },
+      "data": {
+        "tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        },
+        "tip_state": {
+          "liquids": [],
+          "pending_liquids": [],
+          "liquid_history": []
+        },
+        "pending_tip": {
+          "type": "Tip",
+          "total_tip_length": 20.0,
+          "has_filter": false,
+          "maximal_volume": 1000,
+          "fitting_depth": 8.0
+        }
+      }
+    },
+    {
+      "id": "waste_tip_box",
+      "name": "waste_tip_box",
+      "sample_id": null,
+      "children": [],
+      "parent": "coin_cell_deck",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 300,
+        "y": 200,
+        "z": 0
+      },
+      "config": {
+        "type": "WasteTipBox",
+        "size_x": 127.8,
+        "size_y": 85.5,
+        "size_z": 60.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "waste_tip_box",
+        "model": null,
+        "barcode": null,
+        "max_volume": "Infinity",
+        "material_z_thickness": 0,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "liquids": [],
+        "pending_liquids": [],
+        "liquid_history": []
+      }
+    }
+  ],
+  "links": []
+}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/workflow_executors.py b/unilabos/devices/workstation/workflow_executors.py
new file mode 100644
index 00000000..41a51c14
--- /dev/null
+++ b/unilabos/devices/workstation/workflow_executors.py
@@ -0,0 +1,649 @@
+"""
+工作流执行器模块
+Workflow Executors Module
+
+基于单一硬件接口的工作流执行器实现
+支持Modbus、HTTP、PyLabRobot和代理模式
+"""
+import time
+import json
+import asyncio
+from typing import Dict, Any, List, Optional, TYPE_CHECKING
+from abc import ABC, abstractmethod
+
+if TYPE_CHECKING:
+    from unilabos.devices.work_station.workstation_base import WorkstationBase
+
+from unilabos.utils.log import logger
+
+
+class WorkflowExecutor(ABC):
+    """工作流执行器基类 - 基于单一硬件接口"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        self.workstation = workstation
+        self.hardware_interface = workstation.hardware_interface
+        self.material_management = workstation.material_management
+    
+    @abstractmethod
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+    
+    @abstractmethod
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        pass
+    
+    def call_device(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        return self.workstation.call_device_method(method, *args, **kwargs)
+    
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return self.workstation.get_device_status()
+
+
+class ModbusWorkflowExecutor(WorkflowExecutor):
+    """Modbus工作流执行器 - 适配 coin_cell_assembly_system"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证Modbus接口
+        if not (hasattr(self.hardware_interface, 'write_register') and 
+                hasattr(self.hardware_interface, 'read_register')):
+            raise RuntimeError("工作站硬件接口不是有效的Modbus客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行Modbus工作流"""
+        if workflow_name == "battery_manufacturing":
+            return self._execute_battery_manufacturing(parameters)
+        elif workflow_name == "material_loading":
+            return self._execute_material_loading(parameters)
+        elif workflow_name == "quality_check":
+            return self._execute_quality_check(parameters)
+        else:
+            logger.warning(f"不支持的Modbus工作流: {workflow_name}")
+            return False
+    
+    def _execute_battery_manufacturing(self, parameters: Dict[str, Any]) -> bool:
+        """执行电池制造工作流"""
+        try:
+            # 1. 物料准备检查
+            available_slot = self._find_available_press_slot()
+            if not available_slot:
+                raise RuntimeError("没有可用的压制槽")
+            
+            logger.info(f"找到可用压制槽: {available_slot}")
+            
+            # 2. 设置工艺参数（直接调用Modbus接口）
+            if "electrolyte_num" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_NUM', parameters["electrolyte_num"])
+                logger.info(f"设置电解液编号: {parameters['electrolyte_num']}")
+            
+            if "electrolyte_volume" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_VOLUME', 
+                                                      parameters["electrolyte_volume"], 
+                                                      data_type="FLOAT32")
+                logger.info(f"设置电解液体积: {parameters['electrolyte_volume']}")
+            
+            if "assembly_pressure" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ASSEMBLY_PRESSURE',
+                                                      parameters["assembly_pressure"],
+                                                      data_type="FLOAT32")
+                logger.info(f"设置装配压力: {parameters['assembly_pressure']}")
+            
+            # 3. 启动制造流程
+            self.hardware_interface.write_register('COIL_SYS_START_CMD', True)
+            logger.info("启动电池制造流程")
+            
+            # 4. 确认启动成功
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_START_STATUS', count=1)
+            success = status[0] if status else False
+            
+            if success:
+                logger.info(f"电池制造工作流启动成功，参数: {parameters}")
+            else:
+                logger.error("电池制造工作流启动失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行电池制造工作流失败: {e}")
+            return False
+    
+    def _execute_material_loading(self, parameters: Dict[str, Any]) -> bool:
+        """执行物料装载工作流"""
+        try:
+            material_type = parameters.get('material_type', 'cathode')
+            position = parameters.get('position', 'A1')
+            
+            logger.info(f"开始物料装载: {material_type} -> {position}")
+            
+            # 设置物料类型和位置
+            self.hardware_interface.write_register('REG_MATERIAL_TYPE', material_type)
+            self.hardware_interface.write_register('REG_MATERIAL_POSITION', position)
+            
+            # 启动装载
+            self.hardware_interface.write_register('COIL_LOAD_START', True)
+            
+            # 等待装载完成
+            timeout = parameters.get('timeout', 30)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_LOAD_COMPLETE', count=1)
+                if status and status[0]:
+                    logger.info(f"物料装载完成: {material_type} -> {position}")
+                    return True
+                time.sleep(0.5)
+            
+            logger.error(f"物料装载超时: {material_type} -> {position}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行物料装载失败: {e}")
+            return False
+    
+    def _execute_quality_check(self, parameters: Dict[str, Any]) -> bool:
+        """执行质量检测工作流"""
+        try:
+            check_type = parameters.get('check_type', 'dimensional')
+            
+            logger.info(f"开始质量检测: {check_type}")
+            
+            # 启动质量检测
+            self.hardware_interface.write_register('REG_QC_TYPE', check_type)
+            self.hardware_interface.write_register('COIL_QC_START', True)
+            
+            # 等待检测完成
+            timeout = parameters.get('timeout', 60)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_QC_COMPLETE', count=1)
+                if status and status[0]:
+                    # 读取检测结果
+                    result = self.hardware_interface.read_register('REG_QC_RESULT', count=1)
+                    passed = result[0] if result else False
+                    
+                    if passed:
+                        logger.info(f"质量检测通过: {check_type}")
+                        return True
+                    else:
+                        logger.warning(f"质量检测失败: {check_type}")
+                        return False
+                        
+                time.sleep(1.0)
+            
+            logger.error(f"质量检测超时: {check_type}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行质量检测失败: {e}")
+            return False
+    
+    def _find_available_press_slot(self) -> Optional[str]:
+        """查找可用压制槽"""
+        try:
+            press_slots = self.material_management.find_by_category("battery_press_slot")
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            return None
+        except:
+            # 如果物料管理系统不可用，返回默认槽位
+            return "A1"
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                self.hardware_interface.write_register('COIL_SYS_RESET_CMD', True)
+                logger.warning("执行紧急停止")
+            else:
+                self.hardware_interface.write_register('COIL_SYS_STOP_CMD', True)
+                logger.info("执行正常停止")
+            
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_STOP_STATUS', count=1)
+            return status[0] if status else False
+            
+        except Exception as e:
+            logger.error(f"停止Modbus工作流失败: {e}")
+            return False
+
+
+class HttpWorkflowExecutor(WorkflowExecutor):
+    """HTTP工作流执行器 - 适配 reaction_station_bioyong"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证HTTP接口
+        if not (hasattr(self.hardware_interface, 'post') or 
+                hasattr(self.hardware_interface, 'get')):
+            raise RuntimeError("工作站硬件接口不是有效的HTTP客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行HTTP工作流"""
+        try:
+            if workflow_name == "reaction_synthesis":
+                return self._execute_reaction_synthesis(parameters)
+            elif workflow_name == "liquid_feeding":
+                return self._execute_liquid_feeding(parameters)
+            elif workflow_name == "temperature_control":
+                return self._execute_temperature_control(parameters)
+            else:
+                logger.warning(f"不支持的HTTP工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行HTTP工作流失败: {e}")
+            return False
+    
+    def _execute_reaction_synthesis(self, parameters: Dict[str, Any]) -> bool:
+        """执行反应合成工作流"""
+        try:
+            # 1. 设置工作流序列
+            sequence = self._build_reaction_sequence(parameters)
+            self._call_rpc_method('set_workflow_sequence', json.dumps(sequence))
+            
+            # 2. 设置反应参数
+            if parameters.get('temperature'):
+                self._call_rpc_method('set_temperature', parameters['temperature'])
+            
+            if parameters.get('pressure'):
+                self._call_rpc_method('set_pressure', parameters['pressure'])
+            
+            if parameters.get('stirring_speed'):
+                self._call_rpc_method('set_stirring_speed', parameters['stirring_speed'])
+            
+            # 3. 执行工作流
+            result = self._call_rpc_method('execute_current_sequence', {
+                "task_name": "reaction_synthesis"
+            })
+            
+            success = result.get('success', False)
+            if success:
+                logger.info("反应合成工作流执行成功")
+            else:
+                logger.error(f"反应合成工作流执行失败: {result.get('error', '未知错误')}")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行反应合成工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_feeding(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体投料工作流"""
+        try:
+            reagents = parameters.get('reagents', [])
+            volumes = parameters.get('volumes', [])
+            
+            if len(reagents) != len(volumes):
+                raise ValueError("试剂列表和体积列表长度不匹配")
+            
+            # 执行投料序列
+            for reagent, volume in zip(reagents, volumes):
+                result = self._call_rpc_method('feed_liquid', {
+                    'reagent': reagent,
+                    'volume': volume
+                })
+                
+                if not result.get('success', False):
+                    logger.error(f"投料失败: {reagent} {volume}mL")
+                    return False
+                
+                logger.info(f"投料成功: {reagent} {volume}mL")
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行液体投料失败: {e}")
+            return False
+    
+    def _execute_temperature_control(self, parameters: Dict[str, Any]) -> bool:
+        """执行温度控制工作流"""
+        try:
+            target_temp = parameters.get('temperature', 25)
+            hold_time = parameters.get('hold_time', 300)  # 秒
+            
+            # 设置目标温度
+            result = self._call_rpc_method('set_temperature', target_temp)
+            if not result.get('success', False):
+                logger.error(f"设置温度失败: {target_temp}°C")
+                return False
+            
+            # 等待温度稳定
+            logger.info(f"等待温度稳定到 {target_temp}°C")
+            
+            # 保持温度指定时间
+            if hold_time > 0:
+                logger.info(f"保持温度 {hold_time} 秒")
+                time.sleep(hold_time)
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行温度控制失败: {e}")
+            return False
+    
+    def _build_reaction_sequence(self, parameters: Dict[str, Any]) -> List[str]:
+        """构建反应合成工作流序列"""
+        sequence = []
+        
+        # 添加预处理步骤
+        if parameters.get('purge_with_inert'):
+            sequence.append("purge_inert_gas")
+        
+        # 添加温度设置
+        if parameters.get('temperature'):
+            sequence.append(f"set_temperature_{parameters['temperature']}")
+        
+        # 添加压力设置
+        if parameters.get('pressure'):
+            sequence.append(f"set_pressure_{parameters['pressure']}")
+        
+        # 添加搅拌设置
+        if parameters.get('stirring_speed'):
+            sequence.append(f"set_stirring_{parameters['stirring_speed']}")
+        
+        # 添加反应步骤
+        sequence.extend([
+            "start_reaction",
+            "monitor_progress", 
+            "complete_reaction"
+        ])
+        
+        # 添加后处理步骤
+        if parameters.get('cooling_required'):
+            sequence.append("cool_down")
+        
+        return sequence
+    
+    def _call_rpc_method(self, method: str, params: Any = None) -> Dict[str, Any]:
+        """调用RPC方法"""
+        try:
+            if hasattr(self.hardware_interface, method):
+                # 直接方法调用
+                if isinstance(params, dict):
+                    params = json.dumps(params)
+                elif params is None:
+                    params = ""
+                return getattr(self.hardware_interface, method)(params)
+            else:
+                # HTTP请求调用
+                if hasattr(self.hardware_interface, 'post'):
+                    response = self.hardware_interface.post(f"/api/{method}", json=params)
+                    return response.json()
+                else:
+                    raise AttributeError(f"HTTP接口不支持方法: {method}")
+        except Exception as e:
+            logger.error(f"调用RPC方法失败 {method}: {e}")
+            return {'success': False, 'error': str(e)}
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                result = self._call_rpc_method('scheduler_reset')
+            else:
+                result = self._call_rpc_method('scheduler_stop')
+            
+            return result.get('success', False)
+            
+        except Exception as e:
+            logger.error(f"停止HTTP工作流失败: {e}")
+            return False
+
+
+class PyLabRobotWorkflowExecutor(WorkflowExecutor):
+    """PyLabRobot工作流执行器 - 适配 prcxi.py"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证PyLabRobot接口
+        if not (hasattr(self.hardware_interface, 'transfer_liquid') or 
+                hasattr(self.hardware_interface, 'pickup_tips')):
+            raise RuntimeError("工作站硬件接口不是有效的PyLabRobot设备")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行PyLabRobot工作流"""
+        try:
+            if workflow_name == "liquid_transfer":
+                return self._execute_liquid_transfer(parameters)
+            elif workflow_name == "tip_pickup_drop":
+                return self._execute_tip_operations(parameters)
+            elif workflow_name == "plate_handling":
+                return self._execute_plate_handling(parameters)
+            else:
+                logger.warning(f"不支持的PyLabRobot工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行PyLabRobot工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_transfer(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体转移工作流"""
+        try:
+            # 1. 解析物料引用
+            sources = self._resolve_containers(parameters.get('sources', []))
+            targets = self._resolve_containers(parameters.get('targets', []))
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not sources or not targets:
+                raise ValueError("液体转移需要指定源容器和目标容器")
+            
+            if not tip_racks:
+                logger.warning("未指定枪头架，将尝试自动查找")
+                tip_racks = self._find_available_tip_racks()
+            
+            # 2. 执行液体转移
+            volumes = parameters.get('volumes', [])
+            if not volumes:
+                volumes = [100.0] * len(sources)  # 默认体积
+            
+            # 如果是同步接口
+            if hasattr(self.hardware_interface, 'transfer_liquid'):
+                result = self.hardware_interface.transfer_liquid(
+                    sources=sources,
+                    targets=targets,
+                    tip_racks=tip_racks,
+                    asp_vols=volumes,
+                    dis_vols=volumes,
+                    **parameters.get('options', {})
+                )
+            else:
+                # 异步接口需要特殊处理
+                asyncio.run(self._async_liquid_transfer(sources, targets, tip_racks, volumes, parameters))
+                result = True
+            
+            if result:
+                logger.info(f"液体转移工作流完成: {len(sources)}个源 -> {len(targets)}个目标")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行液体转移失败: {e}")
+            return False
+    
+    async def _async_liquid_transfer(self, sources, targets, tip_racks, volumes, parameters):
+        """异步液体转移"""
+        await self.hardware_interface.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=tip_racks,
+            asp_vols=volumes,
+            dis_vols=volumes,
+            **parameters.get('options', {})
+        )
+    
+    def _execute_tip_operations(self, parameters: Dict[str, Any]) -> bool:
+        """执行枪头操作工作流"""
+        try:
+            operation = parameters.get('operation', 'pickup')
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not tip_racks:
+                raise ValueError("枪头操作需要指定枪头架")
+            
+            if operation == 'pickup':
+                result = self.hardware_interface.pickup_tips(tip_racks[0])
+                logger.info("枪头拾取完成")
+            elif operation == 'drop':
+                result = self.hardware_interface.drop_tips()
+                logger.info("枪头丢弃完成")
+            else:
+                raise ValueError(f"不支持的枪头操作: {operation}")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行枪头操作失败: {e}")
+            return False
+    
+    def _execute_plate_handling(self, parameters: Dict[str, Any]) -> bool:
+        """执行板类处理工作流"""
+        try:
+            operation = parameters.get('operation', 'move')
+            source_position = parameters.get('source_position')
+            target_position = parameters.get('target_position')
+            
+            if operation == 'move' and source_position and target_position:
+                # 移动板类
+                result = self.hardware_interface.move_plate(source_position, target_position)
+                logger.info(f"板类移动完成: {source_position} -> {target_position}")
+            else:
+                logger.warning(f"不支持的板类操作或参数不完整: {operation}")
+                return False
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行板类处理失败: {e}")
+            return False
+    
+    def _resolve_containers(self, container_names: List[str]):
+        """解析容器名称为实际容器对象"""
+        containers = []
+        for name in container_names:
+            try:
+                container = self.material_management.find_material_by_id(name)
+                if container:
+                    containers.append(container)
+                else:
+                    logger.warning(f"未找到容器: {name}")
+            except:
+                logger.warning(f"解析容器失败: {name}")
+        return containers
+    
+    def _resolve_tip_racks(self, tip_rack_names: List[str]):
+        """解析枪头架名称为实际对象"""
+        tip_racks = []
+        for name in tip_rack_names:
+            try:
+                tip_rack = self.material_management.find_by_category("tip_rack")
+                matching_racks = [rack for rack in tip_rack if rack.name == name]
+                if matching_racks:
+                    tip_racks.extend(matching_racks)
+                else:
+                    logger.warning(f"未找到枪头架: {name}")
+            except:
+                logger.warning(f"解析枪头架失败: {name}")
+        return tip_racks
+    
+    def _find_available_tip_racks(self):
+        """查找可用的枪头架"""
+        try:
+            tip_racks = self.material_management.find_by_category("tip_rack")
+            available_racks = [rack for rack in tip_racks if hasattr(rack, 'has_tips') and rack.has_tips()]
+            return available_racks[:1]  # 返回第一个可用的枪头架
+        except:
+            return []
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                if hasattr(self.hardware_interface, 'emergency_stop'):
+                    return self.hardware_interface.emergency_stop()
+                else:
+                    logger.warning("设备不支持紧急停止")
+                    return False
+            else:
+                if hasattr(self.hardware_interface, 'graceful_stop'):
+                    return self.hardware_interface.graceful_stop()
+                elif hasattr(self.hardware_interface, 'stop'):
+                    return self.hardware_interface.stop()
+                else:
+                    logger.warning("设备不支持优雅停止")
+                    return False
+                
+        except Exception as e:
+            logger.error(f"停止PyLabRobot工作流失败: {e}")
+            return False
+
+
+class ProxyWorkflowExecutor(WorkflowExecutor):
+    """代理工作流执行器 - 处理代理模式的工作流"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证代理接口
+        if not isinstance(self.hardware_interface, str) or not self.hardware_interface.startswith("proxy:"):
+            raise RuntimeError("工作站硬件接口不是有效的代理字符串")
+        
+        self.device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行代理工作流"""
+        try:
+            # 通过协议节点调用目标设备的工作流
+            if self.workstation._workstation_node:
+                return self.workstation._workstation_node.call_device_method(
+                    self.device_id, 'execute_workflow', workflow_name, parameters
+                )
+            else:
+                logger.error("代理模式需要workstation_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行代理工作流失败: {e}")
+            return False
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止代理工作流"""
+        try:
+            if self.workstation._workstation_node:
+                return self.workstation._workstation_node.call_device_method(
+                    self.device_id, 'stop_workflow', emergency
+                )
+            else:
+                logger.error("代理模式需要workstation_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"停止代理工作流失败: {e}")
+            return False
+
+
+# 辅助函数
+def get_executor_for_interface(hardware_interface) -> str:
+    """根据硬件接口类型获取执行器类型名称"""
+    if isinstance(hardware_interface, str) and hardware_interface.startswith("proxy:"):
+        return "ProxyWorkflowExecutor"
+    elif hasattr(hardware_interface, 'write_register') and hasattr(hardware_interface, 'read_register'):
+        return "ModbusWorkflowExecutor"
+    elif hasattr(hardware_interface, 'post') or hasattr(hardware_interface, 'get'):
+        return "HttpWorkflowExecutor"
+    elif hasattr(hardware_interface, 'transfer_liquid') or hasattr(hardware_interface, 'pickup_tips'):
+        return "PyLabRobotWorkflowExecutor"
+    else:
+        return "UnknownExecutor"
diff --git a/unilabos/devices/workstation/workstation_base.py b/unilabos/devices/workstation/workstation_base.py
new file mode 100644
index 00000000..1988249f
--- /dev/null
+++ b/unilabos/devices/workstation/workstation_base.py
@@ -0,0 +1,354 @@
+"""
+工作站基类
+Workstation Base Class - 简化版
+
+基于PLR Deck的简化工作站架构
+专注于核心物料系统和工作流管理
+"""
+
+import collections
+import time
+from typing import Dict, Any, List, Optional, Union
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from enum import Enum
+from pylabrobot.resources import Deck, Plate, Resource as PLRResource
+
+from pylabrobot.resources.coordinate import Coordinate
+from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
+from unilabos.utils.log import logger
+
+
+class WorkflowStatus(Enum):
+    """工作流状态"""
+
+    IDLE = "idle"
+    INITIALIZING = "initializing"
+    RUNNING = "running"
+    PAUSED = "paused"
+    STOPPING = "stopping"
+    STOPPED = "stopped"
+    ERROR = "error"
+    COMPLETED = "completed"
+
+
+@dataclass
+class WorkflowInfo:
+    """工作流信息"""
+
+    name: str
+    description: str
+    estimated_duration: float  # 预估持续时间（秒）
+    required_materials: List[str]  # 所需物料类型
+    output_product: str  # 输出产品类型
+    parameters_schema: Dict[str, Any]  # 参数架构
+
+
+class WorkStationContainer(Plate):
+    """
+    WorkStation 专用 Container 类，继承自 Plate和TipRack
+    注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
+    """
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str,
+        ordering: collections.OrderedDict,
+        model: Optional[str] = None,
+    ):
+        """
+        这里的初始化入参要和plr的保持一致
+        """
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        self._unilabos_state = {}  # 必须有此行，自己的类描述的是物料的
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """从给定的状态加载工作台信息。"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        data = super().serialize_state()
+        data.update(
+            self._unilabos_state
+        )  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+def get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个返回plr的方法
+    """
+    用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
+    可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
+    :param name: 资源名称
+    :return: Resource对象
+    """
+    plate = WorkStationContainer(
+        name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
+    )
+    tip_rack = WorkStationContainer(
+        "tip_rack_inside_plate",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict(),
+    )
+    plate.assign_child_resource(tip_rack, Coordinate.zero())
+    return plate
+
+
+class ResourceSynchronizer(ABC):
+    """资源同步器基类
+
+    负责与外部物料系统的同步，并对 self.deck 做修改
+    """
+
+    def __init__(self, workstation: "WorkstationBase"):
+        self.workstation = workstation
+
+    @abstractmethod
+    def sync_from_external(self) -> bool:
+        """从外部系统同步物料到本地deck"""
+        pass
+
+    @abstractmethod
+    def sync_to_external(self, plr_resource: PLRResource) -> bool:
+        """将本地物料同步到外部系统"""
+        pass
+
+    @abstractmethod
+    def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
+        """处理外部系统的变更通知"""
+        pass
+
+
+class WorkstationBase(ABC):
+    """工作站基类 - 简化版
+
+    核心功能：
+    1. 基于 PLR Deck 的物料系统，支持格式转换
+    2. 可选的资源同步器支持外部物料系统
+    3. 简化的工作流管理
+    """
+
+    _ros_node: ROS2WorkstationNode
+
+    @property
+    def _children(self) -> Dict[str, Any]:  # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别
+        return self._ros_node.children
+
+    async def update_resource_example(self):
+        return await self._ros_node.update_resource([get_workstation_plate_resource("test")])
+
+    def __init__(
+        self,
+        deck: Deck,
+        *args,
+        **kwargs,  # 必须有kwargs
+    ):
+        # PLR 物料系统
+        self.deck: Optional[Deck] = deck
+        self.plr_resources: Dict[str, PLRResource] = {}
+
+        self.resource_synchronizer = None  # type: Optional[ResourceSynchronizer]
+        # 硬件接口
+        self.hardware_interface: Union[Any, str] = None
+
+        # 工作流状态
+        self.current_workflow_status = WorkflowStatus.IDLE
+        self.current_workflow_info = None
+        self.workflow_start_time = None
+        self.workflow_parameters = {}
+
+        # 支持的工作流（静态预定义）
+        self.supported_workflows: Dict[str, WorkflowInfo] = {}
+
+    def post_init(self, ros_node: ROS2WorkstationNode) -> None:
+        # 初始化物料系统
+        self._ros_node = ros_node
+        self._ros_node.update_resource([self.deck])
+
+    def _build_resource_mappings(self, deck: Deck):
+        """递归构建资源映射"""
+
+        def add_resource_recursive(resource: PLRResource):
+            if hasattr(resource, "name"):
+                self.plr_resources[resource.name] = resource
+
+            if hasattr(resource, "children"):
+                for child in resource.children:
+                    add_resource_recursive(child)
+
+        add_resource_recursive(deck)
+
+    # ============ 硬件接口管理 ============
+
+    def set_hardware_interface(self, hardware_interface: Union[Any, str]):
+        """设置硬件接口"""
+        self.hardware_interface = hardware_interface
+        logger.info(f"工作站 {self._ros_node.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
+
+    def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"):
+        """设置协议节点引用（用于代理模式）"""
+        self._ros_node = workstation_node
+        logger.info(f"工作站 {self._ros_node.device_id} 关联协议节点")
+
+    # ============ 设备操作接口 ============
+
+    def call_device_method(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        # 1. 代理模式：通过协议节点转发
+        if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
+            if not self._ros_node:
+                raise RuntimeError("代理模式需要设置workstation_node")
+
+            device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+            return self._ros_node.call_device_method(device_id, method, *args, **kwargs)
+
+        # 2. 直接模式：直接调用硬件接口方法
+        elif self.hardware_interface and hasattr(self.hardware_interface, method):
+            return getattr(self.hardware_interface, method)(*args, **kwargs)
+
+        else:
+            raise AttributeError(f"硬件接口不支持方法: {method}")
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        try:
+            return self.call_device_method("get_status")
+        except AttributeError:
+            # 如果设备不支持get_status方法，返回基础状态
+            return {
+                "status": "unknown",
+                "interface_type": type(self.hardware_interface).__name__,
+                "timestamp": time.time(),
+            }
+
+    def is_device_available(self) -> bool:
+        """检查设备是否可用"""
+        try:
+            self.get_device_status()
+            return True
+        except:
+            return False
+
+    # ============ 物料系统接口 ============
+
+    def get_deck(self) -> Deck:
+        """获取主 Deck"""
+        return self.deck
+
+    def get_all_resources(self) -> Dict[str, PLRResource]:
+        """获取所有 PLR 资源"""
+        return self.plr_resources.copy()
+
+    def find_resource_by_name(self, name: str) -> Optional[PLRResource]:
+        """按名称查找资源"""
+        return self.plr_resources.get(name)
+
+    def find_resources_by_type(self, resource_type: type) -> List[PLRResource]:
+        """按类型查找资源"""
+        return [res for res in self.plr_resources.values() if isinstance(res, resource_type)]
+
+    def sync_with_external_system(self) -> bool:
+        """与外部物料系统同步"""
+        if not self.resource_synchronizer:
+            logger.info(f"工作站 {self._ros_node.device_id} 没有配置资源同步器")
+            return True
+
+        try:
+            success = self.resource_synchronizer.sync_from_external()
+            if success:
+                logger.info(f"工作站 {self._ros_node.device_id} 外部同步成功")
+            else:
+                logger.warning(f"工作站 {self._ros_node.device_id} 外部同步失败")
+            return success
+        except Exception as e:
+            logger.error(f"工作站 {self._ros_node.device_id} 外部同步异常: {e}")
+            return False
+
+    # ============ 简化的工作流控制 ============
+
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        try:
+            # 设置工作流状态
+            self.current_workflow_status = WorkflowStatus.INITIALIZING
+            self.workflow_parameters = parameters
+            self.workflow_start_time = time.time()
+
+            # 委托给子类实现
+            success = self._execute_workflow_impl(workflow_name, parameters)
+
+            if success:
+                self.current_workflow_status = WorkflowStatus.RUNNING
+                logger.info(f"工作站 {self._ros_node.device_id} 工作流 {workflow_name} 启动成功")
+            else:
+                self.current_workflow_status = WorkflowStatus.ERROR
+                logger.error(f"工作站 {self._ros_node.device_id} 工作流 {workflow_name} 启动失败")
+
+            return success
+
+        except Exception as e:
+            self.current_workflow_status = WorkflowStatus.ERROR
+            logger.error(f"工作站 {self._ros_node.device_id} 执行工作流失败: {e}")
+            return False
+
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
+                logger.warning(f"工作站 {self._ros_node.device_id} 没有正在运行的工作流")
+                return True
+
+            self.current_workflow_status = WorkflowStatus.STOPPING
+
+            # 委托给子类实现
+            success = self._stop_workflow_impl(emergency)
+
+            if success:
+                self.current_workflow_status = WorkflowStatus.STOPPED
+                logger.info(f"工作站 {self._ros_node.device_id} 工作流停止成功 (紧急: {emergency})")
+            else:
+                self.current_workflow_status = WorkflowStatus.ERROR
+                logger.error(f"工作站 {self._ros_node.device_id} 工作流停止失败")
+
+            return success
+
+        except Exception as e:
+            self.current_workflow_status = WorkflowStatus.ERROR
+            logger.error(f"工作站 {self._ros_node.device_id} 停止工作流失败: {e}")
+            return False
+
+    # ============ 状态属性 ============
+
+    @property
+    def workflow_status(self) -> WorkflowStatus:
+        """获取当前工作流状态"""
+        return self.current_workflow_status
+
+    @property
+    def is_busy(self) -> bool:
+        """检查工作站是否忙碌"""
+        return self.current_workflow_status in [
+            WorkflowStatus.INITIALIZING,
+            WorkflowStatus.RUNNING,
+            WorkflowStatus.STOPPING,
+        ]
+
+    @property
+    def workflow_runtime(self) -> float:
+        """获取工作流运行时间（秒）"""
+        if self.workflow_start_time is None:
+            return 0.0
+        return time.time() - self.workflow_start_time
+
+
+class ProtocolNode(WorkstationBase):
+    def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
+        super().__init__(deck, *args, **kwargs)
diff --git a/unilabos/devices/workstation/workstation_http_service.py b/unilabos/devices/workstation/workstation_http_service.py
new file mode 100644
index 00000000..4565edea
--- /dev/null
+++ b/unilabos/devices/workstation/workstation_http_service.py
@@ -0,0 +1,712 @@
+"""
+工作站HTTP服务模块
+Workstation HTTP Service Module
+
+统一的工作站报送接收服务，基于LIMS协议规范：
+1. 步骤完成报送 - POST /report/step_finish
+2. 通量完成报送 - POST /report/sample_finish  
+3. 任务完成报送 - POST /report/order_finish
+4. 批量更新报送 - POST /report/batch_update
+5. 物料变更报送 - POST /report/material_change
+6. 错误处理报送 - POST /report/error_handling
+7. 健康检查和状态查询
+
+统一使用LIMS协议字段规范，简化接口避免功能重复
+"""
+import json
+import threading
+import time
+import traceback
+from typing import Dict, Any, Optional, List
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from urllib.parse import urlparse
+from dataclasses import dataclass, asdict
+from datetime import datetime
+
+from unilabos.utils.log import logger
+
+
+@dataclass
+class WorkstationReportRequest:
+    """统一工作站报送请求（基于LIMS协议规范）"""
+    token: str                     # 授权令牌
+    request_time: str              # 请求时间，格式：2024-12-12 12:12:12.xxx
+    data: Dict[str, Any]           # 报送数据
+
+
+@dataclass
+class MaterialUsage:
+    """物料使用记录"""
+    materialId: str                # 物料Id（GUID）
+    locationId: str                # 库位Id（GUID）
+    typeMode: str                  # 物料类型（样品1、试剂2、耗材0）
+    usedQuantity: float            # 使用的数量（数字）
+
+
+@dataclass
+class HttpResponse:
+    """HTTP响应"""
+    success: bool
+    message: str
+    data: Optional[Dict[str, Any]] = None
+    acknowledgment_id: Optional[str] = None
+
+
+class WorkstationHTTPHandler(BaseHTTPRequestHandler):
+    """工作站HTTP请求处理器"""
+    
+    def __init__(self, workstation_instance, *args, **kwargs):
+        self.workstation = workstation_instance
+        super().__init__(*args, **kwargs)
+    
+    def do_POST(self):
+        """处理POST请求 - 统一的工作站报送接口"""
+        try:
+            # 解析请求路径
+            parsed_path = urlparse(self.path)
+            endpoint = parsed_path.path
+            
+            # 读取请求体
+            content_length = int(self.headers.get('Content-Length', 0))
+            if content_length > 0:
+                post_data = self.rfile.read(content_length)
+                request_data = json.loads(post_data.decode('utf-8'))
+            else:
+                request_data = {}
+            
+            logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
+            
+            # 统一的报送端点路由（基于LIMS协议规范）
+            if endpoint == '/report/step_finish':
+                response = self._handle_step_finish_report(request_data)
+            elif endpoint == '/report/sample_finish':
+                response = self._handle_sample_finish_report(request_data)
+            elif endpoint == '/report/order_finish':
+                response = self._handle_order_finish_report(request_data)
+            elif endpoint == '/report/batch_update':
+                response = self._handle_batch_update_report(request_data)
+            # 扩展报送端点
+            elif endpoint == '/report/material_change':
+                response = self._handle_material_change_report(request_data)
+            elif endpoint == '/report/error_handling':
+                response = self._handle_error_handling_report(request_data)
+            # 保留LIMS协议端点以兼容现有系统
+            elif endpoint == '/LIMS/step_finish':
+                response = self._handle_step_finish_report(request_data)
+            elif endpoint == '/LIMS/preintake_finish':
+                response = self._handle_sample_finish_report(request_data)
+            elif endpoint == '/LIMS/order_finish':
+                response = self._handle_order_finish_report(request_data)
+            else:
+                response = HttpResponse(
+                    success=False,
+                    message=f"不支持的报送端点: {endpoint}",
+                    data={"supported_endpoints": [
+                        "/report/step_finish", 
+                        "/report/sample_finish", 
+                        "/report/order_finish",
+                        "/report/batch_update",
+                        "/report/material_change",
+                        "/report/error_handling"
+                    ]}
+                )
+            
+            # 发送响应
+            self._send_response(response)
+            
+        except Exception as e:
+            logger.error(f"处理工作站报送失败: {e}\\n{traceback.format_exc()}")
+            error_response = HttpResponse(
+                success=False,
+                message=f"请求处理失败: {str(e)}"
+            )
+            self._send_response(error_response)
+    
+    def do_GET(self):
+        """处理GET请求 - 健康检查和状态查询"""
+        try:
+            parsed_path = urlparse(self.path)
+            endpoint = parsed_path.path
+            
+            if endpoint == '/status':
+                response = self._handle_status_check()
+            elif endpoint == '/health':
+                response = HttpResponse(success=True, message="服务健康")
+            else:
+                response = HttpResponse(
+                    success=False,
+                    message=f"不支持的查询端点: {endpoint}",
+                    data={"supported_endpoints": ["/status", "/health"]}
+                )
+            
+            self._send_response(response)
+            
+        except Exception as e:
+            logger.error(f"GET请求处理失败: {e}")
+            error_response = HttpResponse(
+                success=False,
+                message=f"GET请求处理失败: {str(e)}"
+            )
+            self._send_response(error_response)
+    
+    def do_OPTIONS(self):
+        """处理OPTIONS请求 - CORS预检请求"""
+        try:
+            # 发送CORS响应头
+            self.send_response(200)
+            self.send_header('Access-Control-Allow-Origin', '*')
+            self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+            self.send_header('Access-Control-Allow-Headers', 'Content-Type, Authorization')
+            self.send_header('Access-Control-Max-Age', '86400')
+            self.end_headers()
+            
+        except Exception as e:
+            logger.error(f"OPTIONS请求处理失败: {e}")
+            self.send_response(500)
+            self.end_headers()
+    
+    def _handle_step_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理步骤完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'stepName', 'stepId', 'sampleId', 'startTime', 'endTime']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_step_finish_report(report_request)
+            
+            return HttpResponse(
+                success=True,
+                message=f"步骤完成报送已处理: {data['stepName']} ({data['orderCode']})",
+                acknowledgment_id=f"STEP_{int(time.time() * 1000)}_{data['stepId']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理步骤完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"步骤完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_sample_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理通量完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'status']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_sample_finish_report(report_request)
+            
+            status_names = {
+                "0": "待生产", "2": "进样", "10": "开始", 
+                "20": "完成", "-2": "异常停止", "-3": "人工停止"
+            }
+            status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
+            
+            return HttpResponse(
+                success=True,
+                message=f"通量完成报送已处理: {data['sampleId']} ({data['orderCode']}) - {status_desc}",
+                acknowledgment_id=f"SAMPLE_{int(time.time() * 1000)}_{data['sampleId']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理通量完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"通量完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_order_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理任务完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'startTime', 'endTime', 'status']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 处理物料使用记录
+            used_materials = []
+            if 'usedMaterials' in data:
+                for material_data in data['usedMaterials']:
+                    material = MaterialUsage(
+                        materialId=material_data.get('materialId', ''),
+                        locationId=material_data.get('locationId', ''),
+                        typeMode=material_data.get('typeMode', ''),
+                        usedQuantity=material_data.get('usedQuantity', 0.0)
+                    )
+                    used_materials.append(material)
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_order_finish_report(report_request, used_materials)
+            
+            status_names = {"30": "完成", "-11": "异常停止", "-12": "人工停止"}
+            status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
+            
+            return HttpResponse(
+                success=True,
+                message=f"任务完成报送已处理: {data['orderName']} ({data['orderCode']}) - {status_desc}",
+                acknowledgment_id=f"ORDER_{int(time.time() * 1000)}_{data['orderCode']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理任务完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"任务完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_batch_update_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理批量报送"""
+        try:
+            step_updates = request_data.get('step_updates', [])
+            sample_updates = request_data.get('sample_updates', [])
+            order_updates = request_data.get('order_updates', [])
+            
+            results = {
+                'step_results': [],
+                'sample_results': [],
+                'order_results': [],
+                'total_processed': 0,
+                'total_failed': 0
+            }
+            
+            # 处理批量步骤更新
+            for step_data in step_updates:
+                try:
+                    step_data['token'] = request_data.get('token', step_data.get('token'))
+                    step_data['request_time'] = request_data.get('request_time', step_data.get('request_time'))
+                    result = self._handle_step_finish_report(step_data)
+                    results['step_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['step_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            # 处理批量通量更新
+            for sample_data in sample_updates:
+                try:
+                    sample_data['token'] = request_data.get('token', sample_data.get('token'))
+                    sample_data['request_time'] = request_data.get('request_time', sample_data.get('request_time'))
+                    result = self._handle_sample_finish_report(sample_data)
+                    results['sample_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['sample_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            # 处理批量任务更新
+            for order_data in order_updates:
+                try:
+                    order_data['token'] = request_data.get('token', order_data.get('token'))
+                    order_data['request_time'] = request_data.get('request_time', order_data.get('request_time'))
+                    result = self._handle_order_finish_report(order_data)
+                    results['order_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['order_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            return HttpResponse(
+                success=results['total_failed'] == 0,
+                message=f"批量报送处理完成: {results['total_processed']} 成功, {results['total_failed']} 失败",
+                acknowledgment_id=f"BATCH_{int(time.time() * 1000)}",
+                data=results
+            )
+            
+        except Exception as e:
+            logger.error(f"处理批量报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"批量报送处理失败: {str(e)}"
+            )
+    
+    def _handle_material_change_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理物料变更报送"""
+        try:
+            # 验证必需字段
+            if 'brand' in request_data:
+                if request_data['brand'] == "bioyond":  # 奔曜
+                    error_msg = request_data["text"]
+                    logger.info(f"收到奔曜错误处理报送: {error_msg}")
+                    return HttpResponse(
+                        success=True,
+                        message=f"错误处理报送已收到: {error_msg}",
+                        acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
+                        data=None
+                    )
+            else:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少厂家信息（brand字段）"
+                )
+            required_fields = ['workstation_id', 'timestamp', 'resource_id', 'change_type']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 调用工作站的处理方法
+            result = self.workstation.process_material_change_report(request_data)
+            
+            return HttpResponse(
+                success=True,
+                message=f"物料变更报送已处理: {request_data['resource_id']} ({request_data['change_type']})",
+                acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{request_data['resource_id']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理物料变更报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"物料变更报送处理失败: {str(e)}"
+            )
+    
+    def _handle_error_handling_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理错误处理报送"""
+        try:
+            # 检查是否为奔曜格式的错误报送
+            if 'brand' in request_data and str(request_data['brand']).lower() == "bioyond":
+                # 奔曜格式处理
+                if 'text' not in request_data:
+                    return HttpResponse(
+                        success=False,
+                        message="奔曜格式缺少text字段"
+                    )
+                
+                error_data = request_data["text"]
+                logger.info(f"收到奔曜错误处理报送: {error_data}")
+                
+                # 调用工作站的处理方法
+                result = self.workstation.handle_external_error(error_data)
+                
+                return HttpResponse(
+                    success=True,
+                    message=f"错误处理报送已收到: 任务{error_data.get('task', 'unknown')}, 错误代码{error_data.get('code', 'unknown')}",
+                    acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_data.get('task', 'unknown')}",
+                    data=result
+                )
+            else:
+                # 标准格式处理
+                required_fields = ['workstation_id', 'timestamp', 'error_type', 'error_message']
+                if missing_fields := [field for field in required_fields if field not in request_data]:
+                    return HttpResponse(
+                        success=False,
+                        message=f"缺少必要字段: {', '.join(missing_fields)}"
+                    )
+                
+                # 调用工作站的处理方法
+                result = self.workstation.handle_external_error(request_data)
+                
+                return HttpResponse(
+                    success=True,
+                    message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
+                    acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
+                    data=result
+                )
+                
+        except Exception as e:
+            logger.error(f"处理错误处理报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"错误处理报送处理失败: {str(e)}"
+            )
+    
+    def _handle_status_check(self) -> HttpResponse:
+        """处理状态查询"""
+        try:
+            return HttpResponse(
+                success=True,
+                message="工作站报送服务正常运行",
+                data={
+                    "workstation_id": self.workstation.device_id,
+                    "service_type": "unified_reporting_service",
+                    "uptime": time.time() - getattr(self.workstation, '_start_time', time.time()),
+                    "reports_received": getattr(self.workstation, '_reports_received_count', 0),
+                    "supported_endpoints": [
+                        "POST /report/step_finish",
+                        "POST /report/sample_finish", 
+                        "POST /report/order_finish",
+                        "POST /report/batch_update",
+                        "POST /report/material_change",
+                        "POST /report/error_handling",
+                        "GET /status",
+                        "GET /health"
+                    ]
+                }
+            )
+        except Exception as e:
+            logger.error(f"处理状态查询失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"状态查询失败: {str(e)}"
+            )
+    
+    def _send_response(self, response: HttpResponse):
+        """发送响应"""
+        try:
+            # 设置响应状态码
+            status_code = 200 if response.success else 400
+            self.send_response(status_code)
+            
+            # 设置响应头
+            self.send_header('Content-Type', 'application/json; charset=utf-8')
+            self.send_header('Access-Control-Allow-Origin', '*')
+            self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+            self.send_header('Access-Control-Allow-Headers', 'Content-Type')
+            self.end_headers()
+            
+            # 发送响应体
+            response_json = json.dumps(asdict(response), ensure_ascii=False, indent=2)
+            self.wfile.write(response_json.encode('utf-8'))
+            
+        except Exception as e:
+            logger.error(f"发送响应失败: {e}")
+    
+    def log_message(self, format, *args):
+        """重写日志方法"""
+        logger.debug(f"HTTP请求: {format % args}")
+
+
+class WorkstationHTTPService:
+    """工作站HTTP服务"""
+    
+    def __init__(self, workstation_instance, host: str = "127.0.0.1", port: int = 8080):
+        self.workstation = workstation_instance
+        self.host = host
+        self.port = port
+        self.server = None
+        self.server_thread = None
+        self.running = False
+        
+        # 初始化统计信息
+        self.workstation._start_time = time.time()
+        self.workstation._reports_received_count = 0
+    
+    def start(self):
+        """启动HTTP服务"""
+        try:
+            # 创建处理器工厂函数
+            def handler_factory(*args, **kwargs):
+                return WorkstationHTTPHandler(self.workstation, *args, **kwargs)
+            
+            # 创建HTTP服务器
+            self.server = HTTPServer((self.host, self.port), handler_factory)
+            
+            # 在单独线程中运行服务器
+            self.server_thread = threading.Thread(
+                target=self._run_server,
+                daemon=True,
+                name=f"WorkstationHTTP-{self.workstation.device_id}"
+            )
+            
+            self.running = True
+            self.server_thread.start()
+            
+            logger.info(f"工作站HTTP报送服务已启动: http://{self.host}:{self.port}")
+            logger.info("统一的报送端点 (基于LIMS协议规范):")
+            logger.info("  - POST /report/step_finish    # 步骤完成报送")
+            logger.info("  - POST /report/sample_finish  # 通量完成报送")
+            logger.info("  - POST /report/order_finish   # 任务完成报送")
+            logger.info("  - POST /report/batch_update   # 批量更新报送")
+            logger.info("扩展报送端点:")
+            logger.info("  - POST /report/material_change # 物料变更报送")
+            logger.info("  - POST /report/error_handling  # 错误处理报送")
+            logger.info("兼容端点:")
+            logger.info("  - POST /LIMS/step_finish      # 兼容LIMS步骤完成")
+            logger.info("  - POST /LIMS/preintake_finish # 兼容LIMS通量完成")
+            logger.info("  - POST /LIMS/order_finish     # 兼容LIMS任务完成")
+            logger.info("服务端点:")
+            logger.info("  - GET  /status                # 服务状态查询")
+            logger.info("  - GET  /health                # 健康检查")
+            
+        except Exception as e:
+            logger.error(f"启动HTTP服务失败: {e}")
+            raise
+    
+    def stop(self):
+        """停止HTTP服务"""
+        try:
+            if self.running and self.server:
+                logger.info("正在停止工作站HTTP报送服务...")
+                self.running = False
+                
+                # 停止serve_forever循环
+                self.server.shutdown()
+                
+                # 等待服务器线程结束
+                if self.server_thread and self.server_thread.is_alive():
+                    self.server_thread.join(timeout=5.0)
+                
+                # 关闭服务器套接字
+                self.server.server_close()
+                
+                logger.info("工作站HTTP报送服务已停止")
+                
+        except Exception as e:
+            logger.error(f"停止HTTP服务失败: {e}")
+    
+    def _run_server(self):
+        """运行HTTP服务器"""
+        try:
+            # 使用serve_forever()让服务持续运行
+            self.server.serve_forever()
+        except Exception as e:
+            if self.running:  # 只在非正常停止时记录错误
+                logger.error(f"HTTP服务运行错误: {e}")
+        finally:
+            logger.info("HTTP服务器线程已退出")
+    
+    @property
+    def is_running(self) -> bool:
+        """检查服务是否正在运行"""
+        return self.running and self.server_thread and self.server_thread.is_alive()
+    
+    @property
+    def service_url(self) -> str:
+        """获取服务URL"""
+        return f"http://{self.host}:{self.port}"
+
+
+# 导出主要类 - 保持向后兼容
+@dataclass
+class MaterialChangeReport:
+    """已废弃：物料变更报送，请使用统一的WorkstationReportRequest"""
+    pass
+
+
+@dataclass 
+class TaskExecutionReport:
+    """已废弃：任务执行报送，请使用统一的WorkstationReportRequest"""
+    pass
+
+
+# 导出列表
+__all__ = [
+    'WorkstationReportRequest',
+    'MaterialUsage',
+    'HttpResponse',
+    'WorkstationHTTPService',
+    # 向后兼容
+    'MaterialChangeReport',
+    'TaskExecutionReport'
+]
+
+
+if __name__ == "__main__":
+    # 简单测试HTTP服务
+    class DummyWorkstation:
+        device_id = "WS-001"
+        
+        def process_step_finish_report(self, report_request):
+            return {"processed": True}
+        
+        def process_sample_finish_report(self, report_request):
+            return {"processed": True}
+        
+        def process_order_finish_report(self, report_request, used_materials):
+            return {"processed": True}
+        
+        def process_material_change_report(self, report_data):
+            return {"processed": True}
+        
+        def handle_external_error(self, error_data):
+            return {"handled": True}
+    
+    workstation = DummyWorkstation()
+    http_service = WorkstationHTTPService(workstation)
+    
+    try:
+        http_service.start()
+        print(f"测试服务器已启动: {http_service.service_url}")
+        print("按 Ctrl+C 停止服务器")
+        print("服务将持续运行，等待接收HTTP请求...")
+        
+        # 保持服务器运行 - 使用更好的等待机制
+        try:
+            while http_service.is_running:
+                time.sleep(1)
+        except KeyboardInterrupt:
+            print("\n接收到停止信号...")
+            
+    except KeyboardInterrupt:
+        print("\n正在停止服务器...")
+        http_service.stop()
+        print("服务器已停止")
+    except Exception as e:
+        print(f"服务器运行错误: {e}")
+        http_service.stop()
+
diff --git a/unilabos/devices/workstation/workstation_material_management.py b/unilabos/devices/workstation/workstation_material_management.py
new file mode 100644
index 00000000..a9229130
--- /dev/null
+++ b/unilabos/devices/workstation/workstation_material_management.py
@@ -0,0 +1,583 @@
+"""
+工作站物料管理基类
+Workstation Material Management Base Class
+
+基于PyLabRobot的物料管理系统
+"""
+from typing import Dict, Any, List, Optional, Union, Type
+from abc import ABC, abstractmethod
+import json
+
+from pylabrobot.resources import (
+    Resource as PLRResource,
+    Container,
+    Deck,
+    Coordinate as PLRCoordinate,
+)
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
+
+
+class MaterialManagementBase(ABC):
+    """物料管理基类
+    
+    定义工作站物料管理的标准接口：
+    1. 物料初始化 - 根据配置创建物料资源
+    2. 物料追踪 - 实时跟踪物料位置和状态
+    3. 物料查找 - 按类型、位置、状态查找物料
+    4. 物料转换 - PyLabRobot与UniLab资源格式转换
+    """
+
+    def __init__(
+        self,
+        device_id: str,
+        deck_config: Dict[str, Any],
+        resource_tracker: DeviceNodeResourceTracker,
+        children_config: Dict[str, Dict[str, Any]] = None
+    ):
+        self.device_id = device_id
+        self.deck_config = deck_config
+        self.resource_tracker = resource_tracker
+        self.children_config = children_config or {}
+        
+        # 创建主台面
+        self.plr_deck = self._create_deck()
+        
+        # 扩展ResourceTracker
+        self._extend_resource_tracker()
+        
+        # 注册deck到resource tracker
+        self.resource_tracker.add_resource(self.plr_deck)
+        
+        # 初始化子资源
+        self.plr_resources = {}
+        self._initialize_materials()
+
+    def _create_deck(self) -> Deck:
+        """创建主台面"""
+        return Deck(
+            name=f"{self.device_id}_deck",
+            size_x=self.deck_config.get("size_x", 1000.0),
+            size_y=self.deck_config.get("size_y", 1000.0),
+            size_z=self.deck_config.get("size_z", 500.0),
+            origin=PLRCoordinate(0, 0, 0)
+        )
+
+    def _extend_resource_tracker(self):
+        """扩展ResourceTracker以支持PyLabRobot特定功能"""
+        
+        def find_by_type(resource_type):
+            """按类型查找资源"""
+            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
+        
+        def find_by_category(category: str):
+            """按类别查找资源"""
+            found = []
+            for resource in self._get_all_resources():
+                if hasattr(resource, 'category') and resource.category == category:
+                    found.append(resource)
+            return found
+        
+        def find_by_name_pattern(pattern: str):
+            """按名称模式查找资源"""
+            import re
+            found = []
+            for resource in self._get_all_resources():
+                if re.search(pattern, resource.name):
+                    found.append(resource)
+            return found
+        
+        # 动态添加方法到resource_tracker
+        self.resource_tracker.find_by_type = find_by_type
+        self.resource_tracker.find_by_category = find_by_category
+        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
+
+    def _find_resources_by_type_recursive(self, resource, target_type):
+        """递归查找指定类型的资源"""
+        found = []
+        if isinstance(resource, target_type):
+            found.append(resource)
+        
+        # 递归查找子资源
+        children = getattr(resource, "children", [])
+        for child in children:
+            found.extend(self._find_resources_by_type_recursive(child, target_type))
+        
+        return found
+
+    def _get_all_resources(self) -> List[PLRResource]:
+        """获取所有资源"""
+        all_resources = []
+        
+        def collect_resources(resource):
+            all_resources.append(resource)
+            children = getattr(resource, "children", [])
+            for child in children:
+                collect_resources(child)
+        
+        collect_resources(self.plr_deck)
+        return all_resources
+
+    def _initialize_materials(self):
+        """初始化物料"""
+        try:
+            # 确定创建顺序，确保父资源先于子资源创建
+            creation_order = self._determine_creation_order()
+            
+            # 按顺序创建资源
+            for resource_id in creation_order:
+                config = self.children_config[resource_id]
+                self._create_plr_resource(resource_id, config)
+            
+            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
+            
+        except Exception as e:
+            logger.error(f"物料初始化失败: {e}")
+
+    def _determine_creation_order(self) -> List[str]:
+        """确定资源创建顺序"""
+        order = []
+        visited = set()
+        
+        def visit(resource_id: str):
+            if resource_id in visited:
+                return
+            visited.add(resource_id)
+            
+            config = self.children_config.get(resource_id, {})
+            parent_id = config.get("parent")
+            
+            # 如果有父资源，先访问父资源
+            if parent_id and parent_id in self.children_config:
+                visit(parent_id)
+            
+            order.append(resource_id)
+        
+        for resource_id in self.children_config:
+            visit(resource_id)
+        
+        return order
+
+    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
+        """创建PyLabRobot资源"""
+        try:
+            resource_type = config.get("type", "unknown")
+            data = config.get("data", {})
+            location_config = config.get("location", {})
+            
+            # 创建位置坐标
+            location = PLRCoordinate(
+                x=location_config.get("x", 0.0),
+                y=location_config.get("y", 0.0),
+                z=location_config.get("z", 0.0)
+            )
+            
+            # 根据类型创建资源
+            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
+            
+            if resource:
+                # 设置父子关系
+                parent_id = config.get("parent")
+                if parent_id and parent_id in self.plr_resources:
+                    parent_resource = self.plr_resources[parent_id]
+                    parent_resource.assign_child_resource(resource, location)
+                else:
+                    # 直接放在deck上
+                    self.plr_deck.assign_child_resource(resource, location)
+                
+                # 保存资源引用
+                self.plr_resources[resource_id] = resource
+                
+                # 注册到resource tracker
+                self.resource_tracker.add_resource(resource)
+                
+                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
+            
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id}: {e}")
+
+    @abstractmethod
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建资源 - 子类必须实现"""
+        pass
+
+    # ============ 物料查找接口 ============
+    
+    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
+        """按材料类型查找物料"""
+        return self.resource_tracker.find_by_category(material_type)
+
+    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
+        """按ID查找物料"""
+        return self.plr_resources.get(resource_id)
+
+    def find_available_positions(self, position_type: str) -> List[PLRResource]:
+        """查找可用位置"""
+        positions = self.resource_tracker.find_by_category(position_type)
+        available = []
+        
+        for pos in positions:
+            if hasattr(pos, 'is_available') and pos.is_available():
+                available.append(pos)
+            elif hasattr(pos, 'children') and len(pos.children) == 0:
+                available.append(pos)
+        
+        return available
+
+    def get_material_inventory(self) -> Dict[str, int]:
+        """获取物料库存统计"""
+        inventory = {}
+        
+        for resource in self._get_all_resources():
+            if hasattr(resource, 'category'):
+                category = resource.category
+                inventory[category] = inventory.get(category, 0) + 1
+        
+        return inventory
+
+    # ============ 物料状态更新接口 ============
+    
+    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
+        """更新物料位置"""
+        try:
+            material = self.find_material_by_id(material_id)
+            if material:
+                material.location = new_location
+                return True
+            return False
+        except Exception as e:
+            logger.error(f"更新物料位置失败: {e}")
+            return False
+
+    def move_material(self, material_id: str, target_container_id: str) -> bool:
+        """移动物料到目标容器"""
+        try:
+            material = self.find_material_by_id(material_id)
+            target = self.find_material_by_id(target_container_id)
+            
+            if material and target:
+                # 从原位置移除
+                if material.parent:
+                    material.parent.unassign_child_resource(material)
+                
+                # 添加到新位置
+                target.assign_child_resource(material)
+                return True
+            
+            return False
+            
+        except Exception as e:
+            logger.error(f"移动物料失败: {e}")
+            return False
+
+    # ============ 资源转换接口 ============
+    
+    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
+        """将PyLabRobot资源转换为UniLab格式"""
+        return resource_plr_to_ulab(plr_resource)
+
+    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
+        """将UniLab格式转换为PyLabRobot资源"""
+        return resource_ulab_to_plr(unilab_resource)
+
+    def get_deck_state(self) -> Dict[str, Any]:
+        """获取Deck状态"""
+        try:
+            return {
+                "deck_info": {
+                    "name": self.plr_deck.name,
+                    "size": {
+                        "x": self.plr_deck.size_x,
+                        "y": self.plr_deck.size_y,
+                        "z": self.plr_deck.size_z
+                    },
+                    "children_count": len(self.plr_deck.children)
+                },
+                "resources": {
+                    resource_id: self.convert_to_unilab_format(resource)
+                    for resource_id, resource in self.plr_resources.items()
+                },
+                "inventory": self.get_material_inventory()
+            }
+        except Exception as e:
+            logger.error(f"获取Deck状态失败: {e}")
+            return {"error": str(e)}
+
+    # ============ 数据持久化接口 ============
+    
+    def save_state_to_file(self, file_path: str) -> bool:
+        """保存状态到文件"""
+        try:
+            state = self.get_deck_state()
+            with open(file_path, 'w', encoding='utf-8') as f:
+                json.dump(state, f, indent=2, ensure_ascii=False)
+            logger.info(f"状态已保存到: {file_path}")
+            return True
+        except Exception as e:
+            logger.error(f"保存状态失败: {e}")
+            return False
+
+    def load_state_from_file(self, file_path: str) -> bool:
+        """从文件加载状态"""
+        try:
+            with open(file_path, 'r', encoding='utf-8') as f:
+                state = json.load(f)
+            
+            # 重新创建资源
+            self._recreate_resources_from_state(state)
+            logger.info(f"状态已从文件加载: {file_path}")
+            return True
+            
+        except Exception as e:
+            logger.error(f"加载状态失败: {e}")
+            return False
+
+    def _recreate_resources_from_state(self, state: Dict[str, Any]):
+        """从状态重新创建资源"""
+        # 清除现有资源
+        self.plr_resources.clear()
+        self.plr_deck.children.clear()
+        
+        # 从状态重新创建
+        resources_data = state.get("resources", {})
+        for resource_id, resource_data in resources_data.items():
+            try:
+                plr_resource = self.convert_from_unilab_format(resource_data)
+                self.plr_resources[resource_id] = plr_resource
+                self.plr_deck.assign_child_resource(plr_resource)
+            except Exception as e:
+                logger.error(f"重新创建资源失败 {resource_id}: {e}")
+
+
+class CoinCellMaterialManagement(MaterialManagementBase):
+    """纽扣电池物料管理类
+    
+    从 button_battery_station 抽取的物料管理功能
+    """
+
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建纽扣电池相关资源"""
+        
+        # 导入纽扣电池资源类
+        from unilabos.device_comms.button_battery_station import (
+            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
+            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
+        )
+        
+        try:
+            if resource_type == "material_plate":
+                return self._create_material_plate(resource_id, config, data, location)
+            
+            elif resource_type == "plate_slot":
+                return self._create_plate_slot(resource_id, config, data, location)
+            
+            elif resource_type == "clip_magazine":
+                return self._create_clip_magazine(resource_id, config, data, location)
+            
+            elif resource_type == "battery_press_slot":
+                return self._create_battery_press_slot(resource_id, config, data, location)
+            
+            elif resource_type == "tip_box":
+                return self._create_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "waste_tip_box":
+                return self._create_waste_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "bottle_rack":
+                return self._create_bottle_rack(resource_id, config, data, location)
+            
+            elif resource_type == "battery":
+                return self._create_battery(resource_id, config, data, location)
+            
+            else:
+                logger.warning(f"未知的资源类型: {resource_type}")
+                return None
+                
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
+            return None
+
+    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
+        
+        plate = MaterialPlate(
+            name=resource_id,
+            size_x=config.get("size_x", 80.0),
+            size_y=config.get("size_y", 80.0),
+            size_z=config.get("size_z", 10.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 8.0),
+            hole_spacing_x=config.get("hole_spacing_x", 20.0),
+            hole_spacing_y=config.get("hole_spacing_y", 20.0),
+            number=data.get("number", "")
+        )
+        plate.location = location
+        
+        # 如果有预填充的极片数据，创建极片
+        electrode_sheets = data.get("electrode_sheets", [])
+        for i, sheet_data in enumerate(electrode_sheets):
+            if i < len(plate.children):  # 确保不超过洞位数量
+                hole = plate.children[i]
+                sheet = ElectrodeSheet(
+                    name=f"{resource_id}_sheet_{i}",
+                    diameter=sheet_data.get("diameter", 14.0),
+                    thickness=sheet_data.get("thickness", 0.1),
+                    mass=sheet_data.get("mass", 0.01),
+                    material_type=sheet_data.get("material_type", "cathode"),
+                    info=sheet_data.get("info", "")
+                )
+                hole.place_electrode_sheet(sheet)
+        
+        return plate
+
+    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        
+        slot = PlateSlot(
+            name=resource_id,
+            max_plates=config.get("max_plates", 8)
+        )
+        slot.location = location
+        return slot
+
+    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        
+        magazine = ClipMagazine(
+            name=resource_id,
+            size_x=config.get("size_x", 150.0),
+            size_y=config.get("size_y", 100.0),
+            size_z=config.get("size_z", 50.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 40.0),
+            hole_spacing=config.get("hole_spacing", 25.0),
+            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
+        )
+        magazine.location = location
+        return magazine
+
+    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        
+        slot = BatteryPressSlot(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            depth=config.get("depth", 15.0)
+        )
+        slot.location = location
+        return slot
+
+    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建枪头盒"""
+        from unilabos.device_comms.button_battery_station import TipBox64
+        
+        tip_box = TipBox64(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            with_tips=data.get("with_tips", True)
+        )
+        tip_box.location = location
+        return tip_box
+
+    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建废枪头盒"""
+        from unilabos.device_comms.button_battery_station import WasteTipBox
+        
+        waste_box = WasteTipBox(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            max_tips=config.get("max_tips", 100)
+        )
+        waste_box.location = location
+        return waste_box
+
+    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建瓶架"""
+        from unilabos.device_comms.button_battery_station import BottleRack
+        
+        rack = BottleRack(
+            name=resource_id,
+            size_x=config.get("size_x", 210.0),
+            size_y=config.get("size_y", 140.0),
+            size_z=config.get("size_z", 100.0),
+            bottle_diameter=config.get("bottle_diameter", 30.0),
+            bottle_height=config.get("bottle_height", 100.0),
+            position_spacing=config.get("position_spacing", 35.0)
+        )
+        rack.location = location
+        return rack
+
+    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        
+        battery = Battery(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            height=config.get("height", 3.2),
+            max_volume=config.get("max_volume", 100.0),
+            barcode=data.get("barcode", "")
+        )
+        battery.location = location
+        return battery
+
+    # ============ 纽扣电池特定查找方法 ============
+    
+    def find_material_plates(self):
+        """查找所有料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate
+        return self.resource_tracker.find_by_type(MaterialPlate)
+    
+    def find_batteries(self):
+        """查找所有电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        return self.resource_tracker.find_by_type(Battery)
+    
+    def find_electrode_sheets(self):
+        """查找所有极片"""
+        found = []
+        plates = self.find_material_plates()
+        for plate in plates:
+            for hole in plate.children:
+                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
+                    found.append(hole._electrode_sheet)
+        return found
+    
+    def find_plate_slots(self):
+        """查找所有板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        return self.resource_tracker.find_by_type(PlateSlot)
+    
+    def find_clip_magazines(self):
+        """查找所有子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        return self.resource_tracker.find_by_type(ClipMagazine)
+    
+    def find_press_slots(self):
+        """查找所有压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        return self.resource_tracker.find_by_type(BatteryPressSlot)
diff --git a/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md b/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md
new file mode 100644
index 00000000..74326c7a
--- /dev/null
+++ b/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md
@@ -0,0 +1,148 @@
+# 智达GCMS ROS2使用指南 / Zhida GCMS ROS2 User Guide
+
+## 概述 / Overview
+
+智达GCMS设备支持通过ROS2动作进行操作，包括CSV文件分析启动、设备状态查询等功能。
+
+The Zhida GCMS device supports operations through ROS2 actions, including CSV file analysis startup, device status queries, and other functions.
+
+## 主要功能 / Main Features
+
+### 1. CSV文件分析启动 / CSV File Analysis Startup (`start_with_csv_file`)
+
+- **功能 / Function**: 接收CSV文件路径，自动读取文件内容并启动分析 / Receives CSV file path, automatically reads file content and starts analysis
+- **输入 / Input**: CSV文件的绝对路径 / Absolute path of CSV file
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 2. 设备状态查询 / Device Status Query (`get_status`)
+
+- **功能 / Function**: 获取设备当前运行状态 / Get current device running status
+- **输出 / Output**: 设备状态字符串（如"RunSample"、"Idle"等）/ Device status string (e.g., "RunSample", "Idle", etc.)
+
+### 3. 方法列表查询 / Method List Query (`get_methods`)
+
+- **功能 / Function**: 获取设备支持的所有方法列表 / Get all method lists supported by the device
+- **输出 / Output**: 方法列表字典 / Method list dictionary
+
+### 4. 放盘操作 / Tray Operation (`put_tray`)
+
+- **功能 / Function**: 控制设备准备样品托盘 / Control device to prepare sample tray
+- **输出 / Output**: 操作结果信息 / Operation result information
+
+### 5. 停止运行 / Stop Operation (`abort`)
+
+- **功能 / Function**: 中止当前正在进行的分析任务 / Abort current analysis task in progress
+- **输出 / Output**: 操作结果信息 / Operation result information
+
+### 6. 获取版本信息 / Get Version Information (`get_version`)
+
+- **功能 / Function**: 查询设备接口版本和固件版本信息 / Query device interface version and firmware version information
+- **输出 / Output**: 版本信息字典 / Version information dictionary
+
+## 使用方法 / Usage Methods
+
+### ROS2命令行使用 / ROS2 Command Line Usage
+
+### 1. 查询设备状态 / Query Device Status
+
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_status unilabos_msgs/action/EmptyIn "{}"
+```
+
+### 2. 查询方法列表 / Query Method List
+
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_methods unilabos_msgs/action/EmptyIn "{}"
+```
+
+### 3. 启动分析 / Start Analysis
+
+使用CSV文件启动分析 / Start analysis using CSV file:
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start_with_csv_file unilabos_msgs/action/StrSingleInput "{string: 'D:/path/to/your/samples.csv'}"
+```
+
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start_with_csv_file unilabos_msgs/action/StrSingleInput "{string: 'd:/UniLab/Uni-Lab-OS/unilabos/devices/zhida_gcms/zhida_gcms-test_3.csv'}"
+
+使用Base64编码数据启动分析 / Start analysis using Base64 encoded data:
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start unilabos_msgs/action/StrSingleInput "{string: 'U2FtcGxlTmFtZSxBY3FNZXRob2QsUmFja0NvZGUsVmlhbFBvcyxTbXBsSW5qVm9sLE91dHB1dEZpbGU...'}"
+```
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start unilabos_msgs/action/StrSingleInput "{string: 'U2FtcGxlTmFtZSxBY3FNZXRob2QsUmFja0NvZGUsVmlhbFBvcyxTbXBsSW5qVm9sLE91dHB1dEZpbGUKU2FtcGxlMDAxLDIwMjUwNjA0LXRlc3QsUmFjayAxLDEsMSwvQ2hyb21lbGVvbkxvY2FsL++/veixuO+/vcSyxLzvv73vv73vv73vv73vv73vv73vv73vv73vv70vMjAyNTA2MDQK'}"
+
+### 4. 放盘操作 / Tray Operation
+
+**注意 / Note**: 放盘操作是特殊场景下使用的功能，比如机械臂比较短需要让开位置，或者盘支架是可移动的时候，这个指令让进样器也去做相应动作。在当前配置中，空间足够，不需要这个额外的控制组件。
+
+**Note**: The tray operation is used in special scenarios, such as when the robotic arm is relatively short and needs to make room, or when the tray bracket is movable, this command makes the injector perform corresponding actions. In the current configuration, the space is sufficient and this additional control component is not needed.
+
+准备样品托盘 / Prepare sample tray:
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/put_tray unilabos_msgs/action/EmptyIn "{}"
+```
+
+### 5. 停止运行 / Stop Operation
+
+中止当前分析任务（注意！运行中发现任务运行中止，需要人工在InLab Solution 二次点击确认）/ Abort current analysis task (Note! If task abortion is detected during operation, manual confirmation is required by clicking twice in InLab Solution):
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/abort unilabos_msgs/action/EmptyIn "{}"
+```
+
+### 6. 获取版本信息 / Get Version Information
+
+查询设备版本 / Query device version:
+```bash
+ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_version unilabos_msgs/action/EmptyIn "{}"
+```
+
+### Python代码使用 / Python Code Usage
+
+```python
+from unilabos.devices.zhida_gcms.zhida import ZhidaClient
+
+# 初始化客户端 / Initialize client
+client = ZhidaClient(host='192.168.3.184', port=5792)
+client.connect()
+
+# 使用CSV文件启动分析 / Start analysis using CSV file
+result = client.start_with_csv_file('/path/to/your/file.csv')
+print(f"成功 / Success: {result['success']}")
+print(f"信息 / Info: {result['return_info']}")
+
+# 查询设备状态 / Query device status
+status = client.get_status()
+print(f"设备状态 / Device Status: {status}")
+
+client.close()
+```
+
+## 使用注意事项 / Usage Notes
+
+1. **文件路径 / File Path**: 必须使用绝对路径 / Must use absolute path
+2. **文件格式 / File Format**: CSV文件必须是UTF-8编码 / CSV file must be UTF-8 encoded
+3. **设备连接 / Device Connection**: 确保智达GCMS设备已连接并可访问 / Ensure Zhida GCMS device is connected and accessible
+4. **权限 / Permissions**: 确保有读取CSV文件的权限 / Ensure you have permission to read CSV files
+
+## 故障排除 / Troubleshooting
+
+### 常见问题 / Common Issues
+
+1. **文件路径错误 / File Path Error**: 确保使用绝对路径且文件存在 / Ensure using absolute path and file exists
+2. **编码问题 / Encoding Issue**: 确保CSV文件是UTF-8编码 / Ensure CSV file is UTF-8 encoded
+3. **设备连接 / Device Connection**: 检查网络连接和设备状态 / Check network connection and device status
+4. **权限问题 / Permission Issue**: 确保有文件读取权限 / Ensure you have file read permissions
+
+### 设备状态说明 / Device Status Description
+
+- `"Idle"`: 设备空闲状态 / Device idle status
+- `"RunSample"`: 正在运行样品分析 / Running sample analysis
+- `"Error"`: 设备错误状态 / Device error status
+
+## 总结 / Summary
+
+智达GCMS设备现在支持 / Zhida GCMS device now supports:
+
+1. 直接通过ROS2命令输入CSV文件路径启动分析 / Direct CSV file path input via ROS2 commands to start analysis
+2. 按需查询设备状态和方法列表 / On-demand device status and method list queries
+3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
+4. 简化的操作流程 / Simplified operation workflow
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/__init__.py b/unilabos/devices/zhida_gcms/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unilabos/devices/zhida_gcms/device_test.json b/unilabos/devices/zhida_gcms/device_test.json
new file mode 100644
index 00000000..b9ca9516
--- /dev/null
+++ b/unilabos/devices/zhida_gcms/device_test.json
@@ -0,0 +1,24 @@
+{
+    "nodes": [
+        {
+            "id": "ZHIDA_GCMS_STATION",
+            "name": "ZHIDA_GCMS",
+            "parent": null,
+            "type": "device",
+            "class": "zhida_gcms",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "host": "192.168.3.184",
+                "port": 5792,
+                "timeout": 10.0
+            },
+            "data": {},
+            "children": []
+        }
+    ],
+    "links": []
+}
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/zhida.py b/unilabos/devices/zhida_gcms/zhida.py
new file mode 100644
index 00000000..7f0cd21e
--- /dev/null
+++ b/unilabos/devices/zhida_gcms/zhida.py
@@ -0,0 +1,400 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+智达GCMS设备驱动
+
+支持智达GCMS设备的TCP通信协议，包括状态查询、方法获取、样品分析等功能。
+通信协议版本：1.0.1
+"""
+
+import base64
+import json
+import socket
+import time
+import os
+from pathlib import Path
+
+
+class ZhidaClient:
+    def __init__(self, host='192.168.3.184', port=5792, timeout=10.0):
+        # 如果部署在智达GCMS上位机本地，可使用localhost: host='127.0.0.1'
+        """
+        初始化智达GCMS客户端
+        
+        Args:
+            host (str): 设备IP地址，本地部署时可使用'127.0.0.1'
+            port (int): 通信端口，默认5792
+            timeout (float): 超时时间，单位秒
+        """
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self.sock = None
+        self._ros_node = None  # ROS节点引用，由框架设置
+    
+    def post_init(self, ros_node):
+        """
+        ROS节点初始化后的回调方法，用于建立设备连接
+        
+        Args:
+            ros_node: ROS节点实例
+        """
+        self._ros_node = ros_node
+        try:
+            self.connect()
+            ros_node.lab_logger().info(f"智达GCMS设备连接成功: {self.host}:{self.port}")
+        except Exception as e:
+            ros_node.lab_logger().error(f"智达GCMS设备连接失败: {e}")
+            # 不抛出异常，允许节点继续运行，后续可以重试连接
+
+    def connect(self):
+        """
+        建立TCP连接到智达GCMS设备
+        
+        Raises:
+            ConnectionError: 连接失败时抛出
+        """
+        try:
+            self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
+            # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
+            self.sock.settimeout(self.timeout)
+        except Exception as e:
+            raise ConnectionError(f"Failed to connect to {self.host}:{self.port} - {str(e)}")
+
+    def close(self):
+        """
+        关闭与智达GCMS设备的TCP连接
+        """
+        if self.sock:
+            try:
+                self.sock.close()
+            except Exception:
+                pass  # 忽略关闭时的错误
+            finally:
+                self.sock = None
+
+    def _send_command(self, cmd: dict) -> dict:
+        """
+        发送命令到智达GCMS设备并接收响应
+        
+        Args:
+            cmd (dict): 要发送的命令字典
+            
+        Returns:
+            dict: 设备响应的JSON数据
+            
+        Raises:
+            ConnectionError: 连接错误
+            TimeoutError: 超时错误
+        """
+        if not self.sock:
+            raise ConnectionError("Not connected to device")
+
+        try:
+            # 发送JSON命令（UTF-8编码）
+            payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
+            self.sock.sendall(payload)
+
+            # 循环接收数据直到能成功解析完整JSON
+            buffer = bytearray()
+            start = time.time()
+            while True:
+                try:
+                    chunk = self.sock.recv(4096)
+                    if not chunk:
+                        # 对端关闭连接，尝试解析已接收的数据
+                        if buffer:
+                            try:
+                                text = buffer.decode('utf-8', errors='strict')
+                                return json.loads(text)
+                            except (UnicodeDecodeError, json.JSONDecodeError):
+                                pass
+                        break
+                    buffer.extend(chunk)
+                    
+                    # 尝试解码和解析JSON
+                    text = buffer.decode('utf-8', errors='strict')
+                    try:
+                        return json.loads(text)
+                    except json.JSONDecodeError:
+                        # JSON不完整，继续接收
+                        pass
+                        
+                except socket.timeout:
+                    # 超时时，尝试解析已接收的数据
+                    if buffer:
+                        try:
+                            text = buffer.decode('utf-8', errors='strict')
+                            return json.loads(text)
+                        except (UnicodeDecodeError, json.JSONDecodeError):
+                            pass
+                    raise TimeoutError(f"recv() timed out after {self.timeout:.1f}s")
+                
+                # 防止死循环，总时长超过2倍超时时间就报错
+                if time.time() - start > self.timeout * 2:
+                    # 最后尝试解析已接收的数据
+                    if buffer:
+                        try:
+                            text = buffer.decode('utf-8', errors='strict')
+                            return json.loads(text)
+                        except (UnicodeDecodeError, json.JSONDecodeError):
+                            pass
+                    raise TimeoutError(f"No complete JSON received after {time.time() - start:.1f}s")
+
+            # 连接关闭，如果有数据则尝试解析
+            if buffer:
+                try:
+                    text = buffer.decode('utf-8', errors='strict')
+                    return json.loads(text)
+                except (UnicodeDecodeError, json.JSONDecodeError):
+                    pass
+            
+            raise ConnectionError("Connection closed before JSON could be parsed")
+            
+        except Exception as e:
+            if isinstance(e, (ConnectionError, TimeoutError)):
+                raise
+            else:
+                raise ConnectionError(f"Command send failed: {str(e)}")
+
+    def get_status(self) -> str:
+        """
+        获取设备状态
+        
+        Returns:
+            str: 设备状态 (Idle|Offline|Error|Busy|RunSample|Unknown)
+        """
+        if not self.sock:
+            # 尝试重新连接
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
+                return "Offline"
+        
+        try:
+            response = self._send_command({"command": "getstatus"})
+            return response.get("result", "Unknown")
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(f"获取设备状态失败: {e}")
+            return "Error"
+    
+    def get_methods(self) -> dict:
+        """
+        获取当前Project的方法列表
+        
+        Returns:
+            dict: 包含方法列表的响应
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
+                return {"error": "Device not connected"}
+        
+        try:
+            return self._send_command({"command": "getmethods"})
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(f"获取方法列表失败: {e}")
+            return {"error": str(e)}
+
+
+    
+    def get_version(self) -> dict:
+        """
+        获取接口版本和InLabPAL固件版本
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "Interface:x.x.x;FW:x.x.x.xxx"}
+        """
+        return self._send_command({"command": "version"})
+    
+    def put_tray(self) -> dict:
+        """
+        放盘操作，准备InLabPAL进样器
+        
+        注意：此功能仅在特殊场景下使用，例如：
+        - 机械臂比较短，需要让开一个位置
+        - 盘支架是可移动的，需要进样器配合做动作
+        
+        对于宜宾深势这套配置，空间足够，不需要这个额外的控制组件。
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "ready_info|error_info"}
+        """
+        return self._send_command({"command": "puttray"})
+
+    def start_with_csv_file(self, string: str = None, csv_file_path: str = None) -> dict:
+        """
+        使用CSV文件启动分析（支持ROS2动作调用）
+        
+        Args:
+            string (str): CSV文件路径（ROS2参数名）
+            csv_file_path (str): CSV文件路径（兼容旧接口）
+            
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+            
+        Raises:
+            FileNotFoundError: CSV文件不存在
+            Exception: 文件读取或通信错误
+        """
+        try:
+            # 支持两种参数传递方式：ROS2的string参数和直接的csv_file_path参数
+            file_path = string if string is not None else csv_file_path
+            if file_path is None:
+                error_msg = "未提供CSV文件路径参数"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            # 使用Path对象进行更健壮的文件处理
+            csv_path = Path(file_path)
+            if not csv_path.exists():
+                error_msg = f"CSV文件不存在: {file_path}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            # 读取CSV文件内容（UTF-8编码，替换未知字符）
+            csv_content = csv_path.read_text(encoding="utf-8", errors="replace")
+            
+            # 转换为Base64编码
+            b64_content = base64.b64encode(csv_content.encode('utf-8')).decode('ascii')
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"正在发送CSV文件到智达GCMS: {file_path}")
+                self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
+            
+            # 发送start命令
+            response = self._send_command({
+                "command": "start",
+                "message": b64_content
+            })
+            
+            # 转换为ROS2动作结果格式
+            if response.get("result") == "OK":
+                success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(success_msg)
+                return {"return_info": success_msg, "success": True}
+            else:
+                error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+        except Exception as e:
+            error_msg = f"CSV文件处理失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def start(self, string: str = None, text: str = None) -> dict:
+        """
+        使用Base64编码数据启动分析（支持ROS2动作调用）
+        
+        Args:
+            string (str): Base64编码的CSV数据（ROS2参数名）
+            text (str): Base64编码的CSV数据（兼容旧接口）
+            
+        Returns:
+            dict: ROS2动作结果格式 {"return_info": str, "success": bool}
+        """
+        try:
+            # 支持两种参数传递方式：ROS2的string参数和原有的text参数
+            b64_content = string if string is not None else text
+            if b64_content is None:
+                error_msg = "未提供Base64编码数据参数"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"正在发送Base64数据到智达GCMS")
+                self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
+            
+            # 发送start命令
+            response = self._send_command({
+                "command": "start",
+                "message": b64_content
+            })
+            
+            # 转换为ROS2动作结果格式
+            if response.get("result") == "OK":
+                success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(success_msg)
+                return {"return_info": success_msg, "success": True}
+            else:
+                error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False}
+            
+        except Exception as e:
+            error_msg = f"Base64数据处理失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
+    def abort(self) -> dict:
+        """
+        停止当前运行的分析
+        
+        Returns:
+            dict: 响应格式 {"result": "OK|Error", "message": "error_info"}
+        """
+        return self._send_command({"command": "abort"})
+
+
+def test_zhida_client():
+    """
+    测试智达GCMS客户端功能
+    """
+    client = ZhidaClient()
+    
+    try:
+        # 连接设备
+        print("Connecting to Zhida GCMS...")
+        client.connect()
+        print("Connected successfully!")
+        
+        # 获取设备状态
+        print(f"Device status: {client.status}")
+        
+        # 获取版本信息
+        version_info = client.get_version()
+        print(f"Version info: {version_info}")
+        
+        # 获取方法列表
+        methods = client.get_methods()
+        print(f"Available methods: {methods}")
+        
+        # 测试CSV文件发送（如果文件存在）
+        csv_file = Path(__file__).parent / "zhida_gcms-test_1.csv"
+        if csv_file.exists():
+            print(f"Testing CSV file: {csv_file}")
+            result = client.start_with_csv_file(str(csv_file))
+            print(f"Start result: {result}")
+        
+    except Exception as e:
+        print(f"Error: {str(e)}")
+    
+    finally:
+        # 关闭连接
+        client.close()
+        print("Connection closed.")
+
+
+if __name__ == "__main__":
+    test_zhida_client()
diff --git a/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv b/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv
new file mode 100644
index 00000000..5e6452e9
--- /dev/null
+++ b/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv
@@ -0,0 +1,2 @@
+SampleName,AcqMethod,RackCode,VialPos,SmplInjVol,OutputFile
+Sample001,/ChromeleonLocal/�豸�IJļ���������/20250604/20231113.seq/20250604-test,Rack 1,1,1,/ChromeleonLocal/�豸�IJļ���������/20250604
diff --git a/unilabos/registry/device_comms/communication_devices.yaml b/unilabos/registry/device_comms/communication_devices.yaml
index 4b49cc99..ea3f1b61 100644
--- a/unilabos/registry/device_comms/communication_devices.yaml
+++ b/unilabos/registry/device_comms/communication_devices.yaml
@@ -9,7 +9,8 @@ serial:
         goal_default:
           request: null
           response: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: handle_serial_request的参数schema
@@ -35,7 +36,8 @@ serial:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: read_data的参数schema
@@ -56,7 +58,8 @@ serial:
         goal: {}
         goal_default:
           command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_command的参数schema
@@ -94,7 +97,7 @@ serial:
         port:
           type: string
         resource_tracker:
-          type: string
+          type: object
       required:
       - device_id
       - port
diff --git a/unilabos/registry/devices/balance.yaml b/unilabos/registry/devices/balance.yaml
new file mode 100644
index 00000000..0967ef42
--- /dev/null
+++ b/unilabos/registry/devices/balance.yaml
@@ -0,0 +1 @@
+{}
diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml
index 5f5b24bc..08c809cf 100644
--- a/unilabos/registry/devices/camera.yaml
+++ b/unilabos/registry/devices/camera.yaml
@@ -7,7 +7,8 @@ camera.USB:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
@@ -27,7 +28,8 @@ camera.USB:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
@@ -63,7 +65,7 @@ camera.USB:
           default: 0.1
           type: number
         resource_tracker:
-          type: string
+          type: object
       required: []
       type: object
     data:
diff --git a/unilabos/registry/devices/characterization_chromatic.yaml b/unilabos/registry/devices/characterization_chromatic.yaml
index 7132b4fb..f3059b58 100644
--- a/unilabos/registry/devices/characterization_chromatic.yaml
+++ b/unilabos/registry/devices/characterization_chromatic.yaml
@@ -7,7 +7,8 @@ hplc.agilent:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
@@ -28,7 +29,8 @@ hplc.agilent:
         goal: {}
         goal_default:
           file_path: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
@@ -54,7 +56,8 @@ hplc.agilent:
           params: null
           resource: null
           wf_name: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
@@ -82,7 +85,8 @@ hplc.agilent:
         goal: {}
         goal_default:
           device_name: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
@@ -105,7 +109,8 @@ hplc.agilent:
         goal: {}
         goal_default:
           device_name: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
@@ -129,7 +134,7 @@ hplc.agilent:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -170,7 +175,7 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: list
+      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -195,6 +200,8 @@ hplc.agilent:
         could_run:
           type: boolean
         data_file:
+          items:
+            type: string
           type: array
         device_status:
           type: string
@@ -228,7 +235,7 @@ hplc.agilent-zhida:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -260,7 +267,8 @@ hplc.agilent-zhida:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
@@ -280,7 +288,8 @@ hplc.agilent-zhida:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
@@ -300,7 +309,7 @@ hplc.agilent-zhida:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -334,7 +343,7 @@ hplc.agilent-zhida:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml
index 6ebdcbd3..80dcf93d 100644
--- a/unilabos/registry/devices/characterization_optic.yaml
+++ b/unilabos/registry/devices/characterization_optic.yaml
@@ -8,7 +8,8 @@ raman.home_made:
         goal: {}
         goal_default:
           int_time: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
@@ -32,7 +33,8 @@ raman.home_made:
         goal: {}
         goal_default:
           output_voltage_laser: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
@@ -57,7 +59,8 @@ raman.home_made:
         goal_default:
           int_time: null
           laser_power: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
@@ -87,7 +90,8 @@ raman.home_made:
           int_time: null
           laser_power: null
           sample_name: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
@@ -121,7 +125,7 @@ raman.home_made:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/dispensing_station_bioyond.yaml b/unilabos/registry/devices/dispensing_station_bioyond.yaml
new file mode 100644
index 00000000..11c234ef
--- /dev/null
+++ b/unilabos/registry/devices/dispensing_station_bioyond.yaml
@@ -0,0 +1,1582 @@
+dispensing_station.bioyond:
+  category:
+  - work_station
+  - dispensing_station_bioyond
+  class:
+    action_value_mappings:
+      auto-add_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: object
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_order:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_order参数
+          type: object
+        type: UniLabJsonCommand
+      auto-delete_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: delete_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-device_operation:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          operation: null
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_id:
+                  type: string
+                operation:
+                  type: string
+                parameters:
+                  type: object
+              required:
+              - device_id
+              - operation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: device_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: Reactor
+          temperature: 25.0
+          time: '0'
+          torque_variation: '1'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  default: Reactor
+                  type: string
+                temperature:
+                  default: 25.0
+                  type: number
+                time:
+                  default: '0'
+                  type: string
+                torque_variation:
+                  default: '1'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_bioyond_sync_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_sync_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-execute_bioyond_update_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_update_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-liquid_feeding_beaker:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_beaker参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_solvents:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_solvents参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          time: '120'
+          titration_type: '1'
+          torque_variation: '2'
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                time:
+                  default: '120'
+                  type: string
+                titration_type:
+                  default: '1'
+                  type: string
+                torque_variation:
+                  default: '2'
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_vials_non_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_vials_non_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_bioyond_data_from_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_bioyond_data_from_file参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+              required:
+              - material_id
+              - location_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location_name
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - name
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: merge_workflow_with_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          query_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                query_data:
+                  type: string
+              required:
+              - query_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_query参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          time: null
+          torque_variation: null
+          volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                time:
+                  type: string
+                torque_variation:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_liquid_feed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          time: null
+          titration_type: null
+          torque_variation: null
+          volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                time:
+                  type: string
+                titration_type:
+                  type: string
+                torque_variation:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - titration_type
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_liquid_feed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_process_execute:
+        feedback: {}
+        goal: {}
+        goal_default:
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_process_execute参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_reactor_taken_out:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  default: ''
+                  type: string
+                preintake_id:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_solid_feed_vial:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          material_id: null
+          time: null
+          torque_variation: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                material_id:
+                  type: string
+                time:
+                  type: string
+                torque_variation:
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_solid_feed_vial参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_take_in:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          cutoff: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                cutoff:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - cutoff
+              - temperature
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_take_in参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_in:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reactor_taken_in参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_out:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  default: ''
+                  type: string
+                preintake_id:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reset_workstation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset_workstation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-solid_feeding_vials:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: solid_feeding_vials参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stock_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stock_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_resource_to_another:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mount_device_id: null
+          mount_resource: null
+          resource: null
+          sites: null
+        handles: {}
+        placeholder_keys:
+          mount_device_id: unilabos_devices
+          mount_resource: unilabos_resources
+          resource: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mount_device_id:
+                  type: object
+                mount_resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: mount_resource
+                    type: object
+                  type: array
+                resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: resource
+                    type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - resource
+              - mount_resource
+              - sites
+              - mount_device_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_resource_to_another参数
+          type: object
+        type: UniLabJsonCommand
+      auto-validate_workflow_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: validate_workflow_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: '600'
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: '400'
+          temperature: '20'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建90%/10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                percent_10_1_assign_material_name:
+                  description: 10%组分1物料名称
+                  type: string
+                percent_10_1_liquid_material_name:
+                  description: 10%组分1液体物料名称
+                  type: string
+                percent_10_1_target_weigh:
+                  description: 10%组分1目标重量(g)
+                  type: string
+                percent_10_1_volume:
+                  description: 10%组分1液体体积(mL)
+                  type: string
+                percent_10_2_assign_material_name:
+                  description: 10%组分2物料名称
+                  type: string
+                percent_10_2_liquid_material_name:
+                  description: 10%组分2液体物料名称
+                  type: string
+                percent_10_2_target_weigh:
+                  description: 10%组分2目标重量(g)
+                  type: string
+                percent_10_2_volume:
+                  description: 10%组分2液体体积(mL)
+                  type: string
+                percent_90_1_assign_material_name:
+                  description: 90%组分1物料名称
+                  type: string
+                percent_90_1_target_weigh:
+                  description: 90%组分1目标重量(g)
+                  type: string
+                percent_90_2_assign_material_name:
+                  description: 90%组分2物料名称
+                  type: string
+                percent_90_2_target_weigh:
+                  description: 90%组分2目标重量(g)
+                  type: string
+                percent_90_3_assign_material_name:
+                  description: 90%组分3物料名称
+                  type: string
+                percent_90_3_target_weigh:
+                  description: 90%组分3目标重量(g)
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量90%10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量90%10%小瓶投料任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_diamine_solution_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量二胺溶液配制任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          material_name: ''
+          order_name: ''
+          speed: '400'
+          target_weigh: ''
+          temperature: '20'
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                hold_m_name:
+                  description: 库位名称(如ODA-1)
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体物料名称
+                  type: string
+                material_name:
+                  description: 固体物料名称
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                target_weigh:
+                  description: 固体目标重量(g)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+                volume:
+                  description: 液体体积(mL)
+                  type: string
+              required:
+              - material_name
+              - target_weigh
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_resource:
+        feedback: {}
+        goal:
+          resource_config: resource_config
+          resource_type: resource_type
+        goal_default:
+          resource_config: {}
+          resource_type: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建资源操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_config:
+                  description: 资源配置
+                  type: object
+                resource_type:
+                  description: 资源类型
+                  type: string
+              required:
+              - resource_type
+              - resource_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_inbound:
+        feedback: {}
+        goal:
+          location: location
+          material_id: material_id
+        goal_default:
+          location: ''
+          material_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料入库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  description: 存储位置
+                  type: string
+                material_id:
+                  description: 物料ID
+                  type: string
+              required:
+              - material_id
+              - location
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_outbound:
+        feedback: {}
+        goal:
+          material_id: material_id
+          quantity: quantity
+        goal_default:
+          material_id: ''
+          quantity: 0.0
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料出库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_id:
+                  description: 物料ID
+                  type: string
+                quantity:
+                  description: 出库数量
+                  type: number
+              required:
+              - material_id
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      sample_waste_removal:
+        feedback: {}
+        goal:
+          sample_id: sample_id
+          waste_type: waste_type
+        goal_default:
+          sample_id: ''
+          waste_type: general
+        handles: {}
+        result: {}
+        schema:
+          description: 样品废料移除操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                sample_id:
+                  description: 样品ID
+                  type: string
+                waste_type:
+                  description: 废料类型
+                  enum:
+                  - general
+                  - hazardous
+                  - organic
+                  - inorganic
+                  type: string
+              required:
+              - sample_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      device_list: dict
+      scheduler_status: dict
+      station_info: dict
+      workflow_parameter_template: dict
+      workstation_status: dict
+    type: python
+  config_info: []
+  description: Bioyond配液站 - 专门用于物料配制和管理的工作站
+  handles: []
+  icon: 配液站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          type: string
+        deck:
+          type: string
+        station_config:
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        bioyond_status:
+          type: object
+        device_list:
+          type: object
+        scheduler_status:
+          type: object
+        station_info:
+          type: object
+        workflow_parameter_template:
+          type: object
+        workstation_status:
+          type: object
+      required:
+      - station_info
+      - bioyond_status
+      - workflow_parameter_template
+      - scheduler_status
+      - device_list
+      - workstation_status
+      type: object
+  version: 1.0.0
diff --git a/unilabos/registry/devices/gas_handler.yaml b/unilabos/registry/devices/gas_handler.yaml
index 944675b1..65218619 100644
--- a/unilabos/registry/devices/gas_handler.yaml
+++ b/unilabos/registry/devices/gas_handler.yaml
@@ -7,7 +7,8 @@ gas_source.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -27,7 +28,8 @@ gas_source.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -47,7 +49,7 @@ gas_source.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -79,7 +81,7 @@ gas_source.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -113,7 +115,7 @@ gas_source.mock:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -187,7 +189,8 @@ vacuum_pump.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -207,7 +210,8 @@ vacuum_pump.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -227,7 +231,7 @@ vacuum_pump.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -259,7 +263,7 @@ vacuum_pump.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -293,7 +297,7 @@ vacuum_pump.mock:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml
new file mode 100644
index 00000000..98201a7d
--- /dev/null
+++ b/unilabos/registry/devices/laiyu_liquid.yaml
@@ -0,0 +1,1922 @@
+laiyu_liquid:
+  category:
+  - liquid_handler
+  - workstation
+  - laiyu_liquid
+  class:
+    action_value_mappings:
+      add_liquid:
+        feedback: {}
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          flow_rates: flow_rates
+          offsets: offsets
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+        goal_default:
+          asp_vols:
+          - 0.0
+          blow_out_air_volume:
+          - 0.0
+          dis_vols:
+          - 0.0
+          flow_rates:
+          - 0.0
+          is_96_well: false
+          liquid_height:
+          - 0.0
+          mix_liquid_height: 0.0
+          mix_rate: 0
+          mix_time: 0
+          mix_vol: 0
+          none_keys:
+          - ''
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          reagent_sources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          targets:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          use_channels:
+          - 0
+        handles: {}
+        placeholder_keys:
+          reagent_sources: unilabos_resources
+          targets: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerAdd_Feedback
+              type: object
+            goal:
+              properties:
+                asp_vols:
+                  items:
+                    type: number
+                  type: array
+                blow_out_air_volume:
+                  items:
+                    type: number
+                  type: array
+                dis_vols:
+                  items:
+                    type: number
+                  type: array
+                flow_rates:
+                  items:
+                    type: number
+                  type: array
+                is_96_well:
+                  type: boolean
+                liquid_height:
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+                    type: number
+                  type: array
+                mix_liquid_height:
+                  type: number
+                mix_rate:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                mix_time:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                mix_vol:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                none_keys:
+                  items:
+                    type: string
+                  type: array
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                reagent_sources:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: reagent_sources
+                    type: object
+                  type: array
+                spread:
+                  type: string
+                targets:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
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+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: targets
+                    type: object
+                  type: array
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - asp_vols
+              - dis_vols
+              - reagent_sources
+              - targets
+              - use_channels
+              - flow_rates
+              - offsets
+              - liquid_height
+              - blow_out_air_volume
+              - spread
+              - is_96_well
+              - mix_time
+              - mix_vol
+              - mix_rate
+              - mix_liquid_height
+              - none_keys
+              title: LiquidHandlerAdd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerAdd_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerAdd
+          type: object
+        type: LiquidHandlerAdd
+      aspirate:
+        feedback: {}
+        goal:
+          flow_rates: flow_rates
+          resources: resources
+          use_channels: use_channels
+          vols: vols
+        goal_default:
+          blow_out_air_volume:
+          - 0.0
+          flow_rates:
+          - 0.0
+          liquid_height:
+          - 0.0
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          resources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          use_channels:
+          - 0
+          vols:
+          - 0.0
+        handles: {}
+        placeholder_keys:
+          resources: unilabos_resources
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerAspirate_Feedback
+              type: object
+            goal:
+              properties:
+                blow_out_air_volume:
+                  items:
+                    type: number
+                  type: array
+                flow_rates:
+                  items:
+                    type: number
+                  type: array
+                liquid_height:
+                  items:
+                    type: number
+                  type: array
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                resources:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: resources
+                    type: object
+                  type: array
+                spread:
+                  type: string
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+                vols:
+                  items:
+                    type: number
+                  type: array
+              required:
+              - resources
+              - vols
+              - use_channels
+              - flow_rates
+              - offsets
+              - liquid_height
+              - blow_out_air_volume
+              - spread
+              title: LiquidHandlerAspirate_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerAspirate_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerAspirate
+          type: object
+        type: LiquidHandlerAspirate
+      auto-add_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          position: null
+          resource_type: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                position:
+                  items:
+                    type: number
+                  type: array
+                resource_type:
+                  type: string
+              required:
+              - name
+              - resource_type
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_resource参数
+          type: object
+        type: UniLabJsonCommand
+      dispense:
+        feedback: {}
+        goal:
+          flow_rates: flow_rates
+          resources: resources
+          use_channels: use_channels
+          vols: vols
+        goal_default:
+          blow_out_air_volume:
+          - 0
+          flow_rates:
+          - 0.0
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          resources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          use_channels:
+          - 0
+          vols:
+          - 0.0
+        handles: {}
+        placeholder_keys:
+          resources: unilabos_resources
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerDispense_Feedback
+              type: object
+            goal:
+              properties:
+                blow_out_air_volume:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+                flow_rates:
+                  items:
+                    type: number
+                  type: array
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                resources:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: resources
+                    type: object
+                  type: array
+                spread:
+                  type: string
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+                vols:
+                  items:
+                    type: number
+                  type: array
+              required:
+              - resources
+              - vols
+              - use_channels
+              - flow_rates
+              - offsets
+              - blow_out_air_volume
+              - spread
+              title: LiquidHandlerDispense_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerDispense_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerDispense
+          type: object
+        type: LiquidHandlerDispense
+      drop_tip:
+        feedback: {}
+        goal:
+          use_channels: use_channels
+        goal_default:
+          allow_nonzero_volume: false
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          tip_spots:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          use_channels:
+          - 0
+        handles: {}
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerDropTips_Feedback
+              type: object
+            goal:
+              properties:
+                allow_nonzero_volume:
+                  type: boolean
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                tip_spots:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: tip_spots
+                    type: object
+                  type: array
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - tip_spots
+              - use_channels
+              - offsets
+              - allow_nonzero_volume
+              title: LiquidHandlerDropTips_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerDropTips_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerDropTips
+          type: object
+        type: LiquidHandlerDropTips
+      move_to:
+        feedback: {}
+        goal:
+          channel: channel
+          dis_to_top: dis_to_top
+          well: well
+        goal_default:
+          channel: 0
+          dis_to_top: 0.0
+          well:
+            category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+        handles: {}
+        placeholder_keys:
+          well: unilabos_resources
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerMoveTo_Feedback
+              type: object
+            goal:
+              properties:
+                channel:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                dis_to_top:
+                  type: number
+                well:
+                  properties:
+                    category:
+                      type: string
+                    children:
+                      items:
+                        type: string
+                      type: array
+                    config:
+                      type: string
+                    data:
+                      type: string
+                    id:
+                      type: string
+                    name:
+                      type: string
+                    parent:
+                      type: string
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: orientation
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: position
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: pose
+                      type: object
+                    sample_id:
+                      type: string
+                    type:
+                      type: string
+                  required:
+                  - id
+                  - name
+                  - sample_id
+                  - children
+                  - parent
+                  - type
+                  - category
+                  - pose
+                  - config
+                  - data
+                  title: well
+                  type: object
+              required:
+              - well
+              - dis_to_top
+              - channel
+              title: LiquidHandlerMoveTo_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerMoveTo_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerMoveTo
+          type: object
+        type: LiquidHandlerMoveTo
+      pick_up_tip:
+        feedback: {}
+        goal:
+          tip_rack: tip_rack
+          use_channels: use_channels
+        goal_default:
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          tip_spots:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          use_channels:
+          - 0
+        handles: {}
+        placeholder_keys:
+          tip_rack: unilabos_resources
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerPickUpTips_Feedback
+              type: object
+            goal:
+              properties:
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                tip_spots:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: tip_spots
+                    type: object
+                  type: array
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - tip_spots
+              - use_channels
+              - offsets
+              title: LiquidHandlerPickUpTips_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerPickUpTips_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerPickUpTips
+          type: object
+        type: LiquidHandlerPickUpTips
+      setup:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: {}
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+      stop:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: {}
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+      transfer:
+        feedback: {}
+        goal:
+          source: source
+          target: target
+          tip_position: tip_position
+          tip_rack: tip_rack
+          volume: volume
+        goal_default:
+          asp_flow_rates:
+          - 0.0
+          asp_vols:
+          - 0.0
+          blow_out_air_volume:
+          - 0.0
+          delays:
+          - 0
+          dis_flow_rates:
+          - 0.0
+          dis_vols:
+          - 0.0
+          is_96_well: false
+          liquid_height:
+          - 0.0
+          mix_liquid_height: 0.0
+          mix_rate: 0
+          mix_stage: ''
+          mix_times:
+          - 0
+          mix_vol: 0
+          none_keys:
+          - ''
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          sources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          targets:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          tip_racks:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          touch_tip: false
+          use_channels:
+          - 0
+        handles: {}
+        placeholder_keys:
+          source: unilabos_resources
+          target: unilabos_resources
+          tip_rack: unilabos_resources
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerTransfer_Feedback
+              type: object
+            goal:
+              properties:
+                asp_flow_rates:
+                  items:
+                    type: number
+                  type: array
+                asp_vols:
+                  items:
+                    type: number
+                  type: array
+                blow_out_air_volume:
+                  items:
+                    type: number
+                  type: array
+                delays:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+                dis_flow_rates:
+                  items:
+                    type: number
+                  type: array
+                dis_vols:
+                  items:
+                    type: number
+                  type: array
+                is_96_well:
+                  type: boolean
+                liquid_height:
+                  items:
+                    type: number
+                  type: array
+                mix_liquid_height:
+                  type: number
+                mix_rate:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                mix_stage:
+                  type: string
+                mix_times:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+                mix_vol:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                none_keys:
+                  items:
+                    type: string
+                  type: array
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: offsets
+                    type: object
+                  type: array
+                sources:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: sources
+                    type: object
+                  type: array
+                spread:
+                  type: string
+                targets:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: targets
+                    type: object
+                  type: array
+                tip_racks:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: tip_racks
+                    type: object
+                  type: array
+                touch_tip:
+                  type: boolean
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - asp_vols
+              - dis_vols
+              - sources
+              - targets
+              - tip_racks
+              - use_channels
+              - asp_flow_rates
+              - dis_flow_rates
+              - offsets
+              - touch_tip
+              - liquid_height
+              - blow_out_air_volume
+              - spread
+              - is_96_well
+              - mix_stage
+              - mix_times
+              - mix_vol
+              - mix_rate
+              - mix_liquid_height
+              - delays
+              - none_keys
+              title: LiquidHandlerTransfer_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerTransfer_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerTransfer
+          type: object
+        type: LiquidHandlerTransfer
+    module: unilabos.devices.laiyu_liquid.core.laiyu_liquid_main:LaiYuLiquid
+    status_types:
+      current_position: String
+      current_volume: float
+      is_connected: bool
+      is_initialized: bool
+      status: dict
+      tip_attached: bool
+    type: python
+  config_info:
+  - default: /dev/cu.usbserial-3130
+    description: RS485转USB端口
+    name: port
+    type: string
+  - default: 1
+    description: 设备地址
+    name: address
+    type: integer
+  - default: 9600
+    description: 波特率
+    name: baudrate
+    type: integer
+  - default: 5.0
+    description: 通信超时时间 (秒)
+    name: timeout
+    type: number
+  - default: 340.0
+    description: 工作台宽度 (mm)
+    name: deck_width
+    type: number
+  - default: 250.0
+    description: 工作台高度 (mm)
+    name: deck_height
+    type: number
+  - default: 160.0
+    description: 工作台深度 (mm)
+    name: deck_depth
+    type: number
+  - default: 77000.0
+    description: 最大体积 (μL)
+    name: max_volume
+    type: number
+  - default: 0.1
+    description: 最小体积 (μL)
+    name: min_volume
+    type: number
+  - default: 100.0
+    description: 最大速度 (mm/s)
+    name: max_speed
+    type: number
+  - default: 50.0
+    description: 加速度 (mm/s²)
+    name: acceleration
+    type: number
+  - default: 50.0
+    description: 安全高度 (mm)
+    name: safe_height
+    type: number
+  - default: 10.0
+    description: 吸头拾取深度 (mm)
+    name: tip_pickup_depth
+    type: number
+  - default: true
+    description: 液面检测功能
+    name: liquid_detection
+    type: boolean
+  - default: 10.0
+    description: X轴最小安全边距 (mm)
+    name: safety_margin_x_min
+    type: number
+  - default: 10.0
+    description: X轴最大安全边距 (mm)
+    name: safety_margin_x_max
+    type: number
+  - default: 10.0
+    description: Y轴最小安全边距 (mm)
+    name: safety_margin_y_min
+    type: number
+  - default: 10.0
+    description: Y轴最大安全边距 (mm)
+    name: safety_margin_y_max
+    type: number
+  - default: 20.0
+    description: Z轴安全间隙 (mm)
+    name: safety_margin_z_clearance
+    type: number
+  description: LaiYu液体处理工作站，基于RS485通信协议的自动化液体处理设备。集成XYZ三轴运动平台和SOPA气动式移液器，支持精确的液体分配和转移操作。具备完整的硬件控制、资源管理和标准化接口，适用于实验室自动化液体处理、样品制备、试剂分配等应用场景。设备通过RS485总线控制步进电机和移液器，提供高精度的位置控制和液体处理能力。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        current_position:
+          items:
+            type: number
+          type: array
+        current_volume:
+          type: number
+        is_connected:
+          type: boolean
+        is_initialized:
+          type: boolean
+        status:
+          type: object
+        tip_attached:
+          type: boolean
+      required:
+      - current_position
+      - current_volume
+      - is_connected
+      - is_initialized
+      - tip_attached
+      - status
+      type: object
+  model:
+    mesh: laiyu_liquid_handler
+    type: device
+  version: 1.0.0
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 4c4e71b5..b21ccd7e 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -87,7 +87,7 @@ liquid_handler:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           reagent_sources: unilabos_resources
           targets: unilabos_resources
@@ -355,7 +355,6 @@ liquid_handler:
         feedback: {}
         goal:
           blow_out_air_volume: blow_out_air_volume
-          end_delay: end_delay
           flow_rates: flow_rates
           liquid_height: liquid_height
           offsets: offsets
@@ -398,7 +397,7 @@ liquid_handler:
           - 0
           vols:
           - 0.0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -564,7 +563,8 @@ liquid_handler:
           protocol_name: null
           protocol_type: null
           protocol_version: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 创建实验协议函数。用于建立新的液体处理实验协议，定义协议名称、描述、版本、作者、日期等基本信息。该函数支持协议模板化管理，便于实验流程的标准化和重复性。适用于实验设计、方法开发、标准操作程序建立等需要协议管理的应用场景。
@@ -607,7 +607,8 @@ liquid_handler:
         goal_default:
           msg: null
           seconds: 0
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 自定义延时函数。在实验流程中插入可配置的等待时间，用于满足特定的反应时间、孵育时间或设备稳定时间要求。支持自定义延时消息和秒数设置，提供流程控制和时间管理功能。适用于酶反应等待、温度平衡、样品孵育等需要时间控制的实验步骤。
@@ -633,7 +634,8 @@ liquid_handler:
         goal: {}
         goal_default:
           tip_racks: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
@@ -652,12 +654,46 @@ liquid_handler:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-set_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          group_name: null
+          volumes: null
+          wells: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                group_name:
+                  type: string
+                volumes:
+                  type: string
+                wells:
+                  type: string
+              required:
+              - group_name
+              - wells
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_group参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_tiprack:
         feedback: {}
         goal: {}
         goal_default:
           tip_racks: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
@@ -681,7 +717,8 @@ liquid_handler:
         goal: {}
         goal_default:
           targets: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 吸头碰触函数。控制移液器吸头轻触容器边缘或底部，用于去除吸头外壁附着的液滴，提高移液精度和减少污染。该函数支持多目标位置操作，可配置碰触参数和位置偏移。适用于精密移液、减少液体残留、防止交叉污染等需要提高移液质量的实验操作。
@@ -700,6 +737,39 @@ liquid_handler:
           title: touch_tip参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-transfer_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          source_group_name: null
+          target_group_name: null
+          unit_volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                source_group_name:
+                  type: string
+                target_group_name:
+                  type: string
+                unit_volume:
+                  type: number
+              required:
+              - source_group_name
+              - target_group_name
+              - unit_volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_group参数
+          type: object
+        type: UniLabJsonCommandAsync
       discard_tips:
         feedback: {}
         goal:
@@ -707,7 +777,7 @@ liquid_handler:
         goal_default:
           use_channels:
           - 0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -790,7 +860,7 @@ liquid_handler:
           - 0
           vols:
           - 0.0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -977,7 +1047,7 @@ liquid_handler:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           tip_spots: unilabos_resources
         result:
@@ -1146,7 +1216,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -1311,7 +1381,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -1527,7 +1597,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -1844,7 +1914,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -2156,7 +2226,7 @@ liquid_handler:
             x: 0.0
             y: 0.0
             z: 0.0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -2368,7 +2438,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -2514,7 +2584,7 @@ liquid_handler:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -2676,7 +2746,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -2876,7 +2946,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -3203,7 +3273,7 @@ liquid_handler:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         placeholder_keys:
           sources: unilabos_resources
           waste_liquid: unilabos_resources
@@ -3463,7 +3533,7 @@ liquid_handler:
           allow_nonzero_volume: false
           use_channels:
           - 0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -3511,7 +3581,7 @@ liquid_handler:
           allow_nonzero_volume: allow_nonzero_volume
         goal_default:
           allow_nonzero_volume: false
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -3598,7 +3668,7 @@ liquid_handler:
             sample_id: ''
             type: ''
           volume: 0.0
-        handles: []
+        handles: {}
         result:
           name: name
         schema:
@@ -3807,7 +3877,7 @@ liquid_handler:
           to_vessel: ''
           viscous: false
           volume: 0.0
-        handles: []
+        handles: {}
         schema:
           description: ''
           properties:
@@ -4431,7 +4501,8 @@ liquid_handler.biomek:
           resource_tracker: null
           resources: null
           slot_on_deck: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: create_resource的参数schema
@@ -4444,14 +4515,22 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  items:
+                    type: integer
                   type: array
                 liquid_type:
+                  items:
+                    type: string
                   type: array
                 liquid_volume:
+                  items:
+                    type: integer
                   type: array
                 resource_tracker:
-                  type: string
+                  type: object
                 resources:
+                  items:
+                    type: object
                   type: array
                 slot_on_deck:
                   type: integer
@@ -4482,7 +4561,8 @@ liquid_handler.biomek:
           liquid_volume: null
           parent: null
           slot_on_deck: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: instrument_setup_biomek的参数schema
@@ -4495,10 +4575,16 @@ liquid_handler.biomek:
                 id:
                   type: string
                 liquid_input_wells:
+                  items:
+                    type: string
                   type: array
                 liquid_type:
+                  items:
+                    type: string
                   type: array
                 liquid_volume:
+                  items:
+                    type: integer
                   type: array
                 parent:
                   type: string
@@ -4538,7 +4624,7 @@ liquid_handler.biomek:
           protocol_name: ''
           protocol_type: ''
           protocol_version: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -4766,7 +4852,7 @@ liquid_handler.biomek:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -5487,7 +5573,7 @@ liquid_handler.prcxi:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           reagent_sources: unilabos_resources
           targets: unilabos_resources
@@ -5755,7 +5841,6 @@ liquid_handler.prcxi:
         feedback: {}
         goal:
           blow_out_air_volume: blow_out_air_volume
-          end_delay: end_delay
           flow_rates: flow_rates
           liquid_height: liquid_height
           offsets: offsets
@@ -5798,7 +5883,7 @@ liquid_handler.prcxi:
           - 0
           vols:
           - 0.0
-        handles: []
+        handles: {}
         placeholder_keys:
           resources: unilabos_resources
         result: {}
@@ -5965,7 +6050,8 @@ liquid_handler.prcxi:
           protocol_name: ''
           protocol_type: ''
           protocol_version: ''
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: create_protocol的参数schema
@@ -5975,6 +6061,8 @@ liquid_handler.prcxi:
               properties:
                 none_keys:
                   default: []
+                  items:
+                    type: string
                   type: array
                 protocol_author:
                   default: ''
@@ -6008,7 +6096,8 @@ liquid_handler.prcxi:
         goal_default:
           msg: null
           seconds: 0
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: custom_delay的参数schema
@@ -6034,7 +6123,8 @@ liquid_handler.prcxi:
         goal: {}
         goal_default:
           tip_racks: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: iter_tips的参数schema
@@ -6060,7 +6150,8 @@ liquid_handler.prcxi:
           channel: 0
           dis_to_top: 0
           well: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: move_to的参数schema
@@ -6075,7 +6166,7 @@ liquid_handler.prcxi:
                   default: 0
                   type: number
                 well:
-                  type: string
+                  type: object
               required:
               - well
               type: object
@@ -6089,7 +6180,8 @@ liquid_handler.prcxi:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: run_protocol的参数schema
@@ -6105,12 +6197,50 @@ liquid_handler.prcxi:
           title: run_protocol参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-set_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          group_name: null
+          volumes: null
+          wells: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                group_name:
+                  type: string
+                volumes:
+                  items:
+                    type: number
+                  type: array
+                wells:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - group_name
+              - wells
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_group参数
+          type: object
+        type: UniLabJsonCommand
       auto-touch_tip:
         feedback: {}
         goal: {}
         goal_default:
           targets: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: touch_tip的参数schema
@@ -6129,6 +6259,39 @@ liquid_handler.prcxi:
           title: touch_tip参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-transfer_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          source_group_name: null
+          target_group_name: null
+          unit_volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                source_group_name:
+                  type: string
+                target_group_name:
+                  type: string
+                unit_volume:
+                  type: number
+              required:
+              - source_group_name
+              - target_group_name
+              - unit_volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_group参数
+          type: object
+        type: UniLabJsonCommandAsync
       discard_tips:
         feedback: {}
         goal:
@@ -6136,7 +6299,7 @@ liquid_handler.prcxi:
         goal_default:
           use_channels:
           - 0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -6218,7 +6381,7 @@ liquid_handler.prcxi:
           - 0
           vols:
           - 0.0
-        handles: []
+        handles: {}
         placeholder_keys:
           resources: unilabos_resources
         result: {}
@@ -6406,7 +6569,7 @@ liquid_handler.prcxi:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           tip_spots: unilabos_resources
         result: {}
@@ -6583,7 +6746,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         placeholder_keys:
           targets: unilabos_resources
         result: {}
@@ -6763,7 +6926,7 @@ liquid_handler.prcxi:
             type: ''
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           tip_spots: unilabos_resources
         result: {}
@@ -6975,7 +7138,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         placeholder_keys:
           sources: unilabos_resources
           waste_liquid: unilabos_resources
@@ -7257,7 +7420,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         placeholder_keys:
           wells: unilabos_resources
         result: {}
@@ -7398,7 +7561,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         placeholder_keys:
           tip_racks: unilabos_resources
         result: {}
@@ -7527,7 +7690,7 @@ liquid_handler.prcxi:
           to_vessel: ''
           viscous: false
           volume: 0.0
-        handles: []
+        handles: {}
         schema:
           description: ''
           properties:
@@ -7717,7 +7880,7 @@ liquid_handler.prcxi:
           touch_tip: false
           use_channels:
           - 0
-        handles: []
+        handles: {}
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -8099,9 +8262,12 @@ liquid_handler.prcxi:
           default: false
           type: string
         deck:
-          type: string
+          type: object
         host:
           type: string
+        is_9320:
+          default: false
+          type: string
         matrix_id:
           default: ''
           type: string
@@ -8164,7 +8330,7 @@ liquid_handler.revvity:
             sample_id: ''
             type: ''
           wf_name: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml
new file mode 100644
index 00000000..bfcbc43d
--- /dev/null
+++ b/unilabos/registry/devices/neware_battery_test_system.yaml
@@ -0,0 +1,347 @@
+neware_battery_test_system:
+  category:
+  - neware_battery_test_system
+  class:
+    action_value_mappings:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_status_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
+          type: object
+        type: UniLabJsonCommand
+      export_status_json:
+        feedback: {}
+        goal:
+          filepath: filepath
+        goal_default:
+          filepath: bts_status.json
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 导出当前状态数据到JSON文件
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                filepath:
+                  default: bts_status.json
+                  description: 输出JSON文件路径
+                  type: string
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 导出操作结果信息
+                  type: string
+                success:
+                  description: 导出是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_device_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 获取设备级别的摘要统计信息
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 设备摘要信息JSON格式
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_plate_status:
+        feedback: {}
+        goal:
+          plate_num: plate_num
+        goal_default:
+          plate_num: 1
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 获取指定盘(1或2)的电池状态信息
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                plate_num:
+                  description: 盘号 (1 或 2)
+                  maximum: 2
+                  minimum: 1
+                  type: integer
+              required:
+              - plate_num
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 盘状态信息JSON格式
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      print_status_summary_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 打印通道状态摘要信息到控制台
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 打印操作结果信息
+                  type: string
+                success:
+                  description: 打印是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      query_plate_action:
+        feedback: {}
+        goal:
+          string: plate_id
+        goal_default:
+          string: ''
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+      test_connection_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 测试与电池测试系统的TCP连接
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 连接测试结果信息
+                  type: string
+                success:
+                  description: 连接测试是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
+    status_types:
+      channel_status: dict
+      connection_info: dict
+      device_summary: dict
+      plate_status: dict
+      status: str
+      total_channels: int
+    type: python
+  config_info: []
+  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        devtype:
+          type: string
+        ip:
+          type: string
+        machine_id:
+          default: 1
+          type: integer
+        port:
+          type: integer
+        size_x:
+          default: 500.0
+          type: number
+        size_y:
+          default: 500.0
+          type: number
+        size_z:
+          default: 2000.0
+          type: number
+        timeout:
+          type: integer
+      required: []
+      type: object
+    data:
+      properties:
+        channel_status:
+          type: object
+        connection_info:
+          type: object
+        device_summary:
+          type: object
+        plate_status:
+          type: object
+        status:
+          type: string
+        total_channels:
+          type: integer
+      required:
+      - status
+      - channel_status
+      - connection_info
+      - total_channels
+      - plate_status
+      - device_summary
+      type: object
+  version: 1.0.0
diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml
index a830b219..3085c823 100644
--- a/unilabos/registry/devices/organic_miscellaneous.yaml
+++ b/unilabos/registry/devices/organic_miscellaneous.yaml
@@ -8,7 +8,8 @@ rotavap.one:
         goal: {}
         goal_default:
           cmd: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cmd_write的参数schema
@@ -31,7 +32,8 @@ rotavap.one:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: main_loop的参数schema
@@ -52,7 +54,8 @@ rotavap.one:
         goal: {}
         goal_default:
           time: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_pump_time的参数schema
@@ -76,7 +79,8 @@ rotavap.one:
         goal: {}
         goal_default:
           time: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_rotate_time的参数schema
@@ -101,7 +105,7 @@ rotavap.one:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -171,7 +175,8 @@ separator.homemade:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: read_sensor_loop的参数schema
@@ -193,7 +198,8 @@ separator.homemade:
         goal_default:
           condition: null
           value: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: valve_open的参数schema
@@ -220,7 +226,8 @@ separator.homemade:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: write的参数schema
@@ -273,7 +280,7 @@ separator.homemade:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -410,7 +417,7 @@ separator.homemade:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml
index 7fc3a20b..40fd9d3e 100644
--- a/unilabos/registry/devices/pump_and_valve.yaml
+++ b/unilabos/registry/devices/pump_and_valve.yaml
@@ -7,7 +7,8 @@ solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: close的参数schema
@@ -27,7 +28,8 @@ solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -47,7 +49,8 @@ solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -67,7 +70,8 @@ solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -87,7 +91,8 @@ solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: read_data的参数schema
@@ -108,7 +113,8 @@ solenoid_valve:
         goal: {}
         goal_default:
           command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_command的参数schema
@@ -133,7 +139,7 @@ solenoid_valve:
           string: position
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -204,7 +210,8 @@ solenoid_valve.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -224,7 +231,8 @@ solenoid_valve.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -245,7 +253,8 @@ solenoid_valve.mock:
         goal: {}
         goal_default:
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_valve_position的参数schema
@@ -268,7 +277,7 @@ solenoid_valve.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -300,7 +309,7 @@ solenoid_valve.mock:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -375,7 +384,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: close的参数schema
@@ -395,7 +405,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -416,7 +427,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: pull_plunger的参数schema
@@ -440,7 +452,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: push_plunger的参数schema
@@ -463,7 +476,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_aux_input_status_1的参数schema
@@ -483,7 +497,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_aux_input_status_2的参数schema
@@ -503,7 +518,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_backlash_position的参数schema
@@ -523,7 +539,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_command_buffer_status的参数schema
@@ -543,7 +560,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_software_version的参数schema
@@ -564,7 +582,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           full_command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_command的参数schema
@@ -588,7 +607,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           baudrate: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_baudrate的参数schema
@@ -612,7 +632,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_max_velocity的参数schema
@@ -637,7 +658,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal_default:
           max_velocity: null
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_position的参数schema
@@ -663,7 +685,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_valve_position的参数schema
@@ -687,7 +710,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_velocity_grade的参数schema
@@ -710,7 +734,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: stop_operation的参数schema
@@ -730,7 +755,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_error的参数schema
@@ -832,7 +858,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
           default: 25.0
           type: number
         mode:
-          type: string
+          type: object
         port:
           type: string
       required:
@@ -879,7 +905,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: close的参数schema
@@ -899,7 +926,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -920,7 +948,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: pull_plunger的参数schema
@@ -944,7 +973,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: push_plunger的参数schema
@@ -967,7 +997,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_aux_input_status_1的参数schema
@@ -987,7 +1018,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_aux_input_status_2的参数schema
@@ -1007,7 +1039,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_backlash_position的参数schema
@@ -1027,7 +1060,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_command_buffer_status的参数schema
@@ -1047,7 +1081,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: query_software_version的参数schema
@@ -1068,7 +1103,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           full_command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_command的参数schema
@@ -1092,7 +1128,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           baudrate: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_baudrate的参数schema
@@ -1116,7 +1153,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_max_velocity的参数schema
@@ -1141,7 +1179,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal_default:
           max_velocity: null
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_position的参数schema
@@ -1167,7 +1206,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_valve_position的参数schema
@@ -1191,7 +1231,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_velocity_grade的参数schema
@@ -1214,7 +1255,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: stop_operation的参数schema
@@ -1234,7 +1276,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_error的参数schema
@@ -1352,7 +1395,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
           default: 25.0
           type: number
         mode:
-          type: string
+          type: object
         port:
           type: string
       required:
diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml
new file mode 100644
index 00000000..712108bd
--- /dev/null
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
@@ -0,0 +1,1454 @@
+reaction_station.bioyond:
+  category:
+  - work_station
+  - reaction_station_bioyond
+  class:
+    action_value_mappings:
+      auto-add_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: object
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_90_10_vial_feeding_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          task_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_data:
+                  type: string
+              required:
+              - task_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          solution_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                solution_data:
+                  type: string
+              required:
+              - solution_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_order:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_order参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_data:
+                  type: string
+              required:
+              - resource_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      auto-delete_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: delete_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-device_operation:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          operation: null
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_id:
+                  type: string
+                operation:
+                  type: string
+                parameters:
+                  type: object
+              required:
+              - device_id
+              - operation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: device_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: Reactor
+          temperature: 25.0
+          time: '0'
+          torque_variation: '1'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  default: Reactor
+                  type: string
+                temperature:
+                  default: 25.0
+                  type: number
+                time:
+                  default: '0'
+                  type: string
+                torque_variation:
+                  default: '1'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_bioyond_sync_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_sync_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-execute_bioyond_update_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_update_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-liquid_feeding_beaker:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_beaker参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_solvents:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_solvents参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          time: '120'
+          titration_type: '1'
+          torque_variation: '2'
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                time:
+                  default: '120'
+                  type: string
+                titration_type:
+                  default: '1'
+                  type: string
+                torque_variation:
+                  default: '2'
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_vials_non_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_vials_non_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_bioyond_data_from_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_bioyond_data_from_file参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+              required:
+              - material_id
+              - location_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location_name
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - name
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: merge_workflow_with_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          query_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                query_data:
+                  type: string
+              required:
+              - query_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_query参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_in:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reactor_taken_in参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_out:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  default: ''
+                  type: string
+                preintake_id:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reset_workstation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset_workstation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-sample_waste_removal:
+        feedback: {}
+        goal: {}
+        goal_default:
+          waste_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                waste_data:
+                  type: string
+              required:
+              - waste_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+      auto-solid_feeding_vials:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: solid_feeding_vials参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stock_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stock_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_resource_to_another:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mount_device_id: null
+          mount_resource: null
+          resource: null
+          sites: null
+        handles: {}
+        placeholder_keys:
+          mount_device_id: unilabos_devices
+          mount_resource: unilabos_resources
+          resource: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mount_device_id:
+                  type: object
+                mount_resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: mount_resource
+                    type: object
+                  type: array
+                resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: resource
+                    type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - resource
+              - mount_resource
+              - sites
+              - mount_device_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_resource_to_another参数
+          type: object
+        type: UniLabJsonCommand
+      auto-validate_workflow_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: validate_workflow_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_drip_back:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站滴回操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_liquid_feed:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站液体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                titration_type:
+                  description: 滴定类型1否2是
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - titration_type
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_liquid_feed参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_process_execute:
+        feedback: {}
+        goal:
+          task_name: task_name
+          workflow_name: workflow_name
+        goal_default:
+          task_name: ''
+          workflow_name: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站流程执行
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_name:
+                  description: 任务名称
+                  type: string
+                workflow_name:
+                  description: 工作流名称
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_process_execute参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_reactor_taken_out:
+        feedback: {}
+        goal:
+          order_id: order_id
+          preintake_id: preintake_id
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站反应器取出操作 - 通过订单ID和预取样ID进行精确控制
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  description: 订单ID，用于标识要取出的订单
+                  type: string
+                preintake_id:
+                  description: 预取样ID，用于标识具体的取样任务
+                  type: string
+              required: []
+              type: object
+            result:
+              properties:
+                code:
+                  description: 操作结果代码（1表示成功，0表示失败）
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
+          required:
+          - goal
+          title: reaction_station_reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_solid_feed_vial:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          material_id: material_id
+          time: time
+          torque_variation: torque_variation
+        goal_default:
+          assign_material_name: ''
+          material_id: ''
+          time: ''
+          torque_variation: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站固体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 固体名称_粉末加样模块-投料
+                  type: string
+                material_id:
+                  description: 固体投料类型_粉末加样模块-投料
+                  type: string
+                time:
+                  description: 观察时间_反应模块-观察搅拌结果
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是_反应模块-观察搅拌结果
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_solid_feed_vial参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_take_in:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          cutoff: cutoff
+          temperature: temperature
+        goal_default:
+          assign_material_name: ''
+          cutoff: ''
+          temperature: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站取入操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                cutoff:
+                  description: 截止参数
+                  type: string
+                temperature:
+                  description: 温度
+                  type: string
+              required:
+              - cutoff
+              - temperature
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_take_in参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      device_list: dict
+      scheduler_status: dict
+      station_info: dict
+      workflow_parameter_template: dict
+      workstation_status: dict
+    type: python
+  config_info: []
+  description: Bioyond反应站 - 专门用于化学反应操作的工作站
+  handles: []
+  icon: 反应站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          type: string
+        deck:
+          type: string
+        station_config:
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        bioyond_status:
+          type: object
+        device_list:
+          type: object
+        scheduler_status:
+          type: object
+        station_info:
+          type: object
+        workflow_parameter_template:
+          type: object
+        workstation_status:
+          type: object
+      required:
+      - station_info
+      - bioyond_status
+      - workflow_parameter_template
+      - scheduler_status
+      - device_list
+      - workstation_status
+      type: object
+  version: 1.0.0
diff --git a/unilabos/registry/devices/robot_agv.yaml b/unilabos/registry/devices/robot_agv.yaml
index be4aa6c0..9f45bd5e 100644
--- a/unilabos/registry/devices/robot_agv.yaml
+++ b/unilabos/registry/devices/robot_agv.yaml
@@ -10,7 +10,8 @@ agv.SEER:
           cmd: null
           ex_data: ''
           obj: receive_socket
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: AGV底层通信命令发送函数。通过TCP socket连接向AGV发送底层控制命令，支持pose（位置）、status（状态）、nav（导航）等命令类型。用于获取AGV当前位置坐标、运行状态或发送导航指令。该函数封装了AGV的通信协议，将命令转换为十六进制数据包并处理响应解析。
@@ -41,7 +42,7 @@ agv.SEER:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml
index 61803d17..7c049ff7 100644
--- a/unilabos/registry/devices/robot_arm.yaml
+++ b/unilabos/registry/devices/robot_arm.yaml
@@ -7,7 +7,8 @@ robotic_arm.SCARA_with_slider.virtual:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: check_tf_update_actions的参数schema
@@ -32,7 +33,8 @@ robotic_arm.SCARA_with_slider.virtual:
           move_group: null
           retry: 10
           speed: 1
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: moveit_joint_task的参数schema
@@ -77,7 +79,8 @@ robotic_arm.SCARA_with_slider.virtual:
           retry: 10
           speed: 1
           target_link: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: moveit_task的参数schema
@@ -124,7 +127,8 @@ robotic_arm.SCARA_with_slider.virtual:
         goal: {}
         goal_default:
           ros_node: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: post_init的参数schema
@@ -133,7 +137,7 @@ robotic_arm.SCARA_with_slider.virtual:
             goal:
               properties:
                 ros_node:
-                  type: string
+                  type: object
               required:
               - ros_node
               type: object
@@ -149,7 +153,8 @@ robotic_arm.SCARA_with_slider.virtual:
         goal_default:
           parent_link: null
           resource: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: resource_manager的参数schema
@@ -175,7 +180,8 @@ robotic_arm.SCARA_with_slider.virtual:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_for_resource_action的参数schema
@@ -197,7 +203,7 @@ robotic_arm.SCARA_with_slider.virtual:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -240,7 +246,7 @@ robotic_arm.SCARA_with_slider.virtual:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -283,7 +289,7 @@ robotic_arm.SCARA_with_slider.virtual:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -359,7 +365,8 @@ robotic_arm.UR:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
@@ -380,7 +387,8 @@ robotic_arm.UR:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
@@ -404,7 +412,8 @@ robotic_arm.UR:
         goal: {}
         goal_default:
           file: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
@@ -427,7 +436,8 @@ robotic_arm.UR:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
@@ -449,7 +459,7 @@ robotic_arm.UR:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -535,7 +545,8 @@ robotic_arm.elite:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -555,7 +566,8 @@ robotic_arm.elite:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -578,7 +590,8 @@ robotic_arm.elite:
           quantity: null
           start_addr: null
           unit_id: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -608,7 +621,8 @@ robotic_arm.elite:
         goal: {}
         goal_default:
           job_id: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -634,7 +648,8 @@ robotic_arm.elite:
           register_addr: null
           unit_id: null
           value: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -664,7 +679,8 @@ robotic_arm.elite:
         goal: {}
         goal_default:
           response: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -688,7 +704,8 @@ robotic_arm.elite:
         goal: {}
         goal_default:
           command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -713,7 +730,7 @@ robotic_arm.elite:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -753,7 +770,7 @@ robotic_arm.elite:
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
       actual_joint_positions: String
-      arm_pose: list
+      arm_pose: String
     type: python
   config_info: []
   description: Elite robot arm
@@ -775,6 +792,8 @@ robotic_arm.elite:
         actual_joint_positions:
           type: string
         arm_pose:
+          items:
+            type: number
           type: array
       required:
       - arm_pose
diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml
index 5a8f62ee..295c48a0 100644
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ b/unilabos/registry/devices/robot_gripper.yaml
@@ -7,7 +7,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: data_loop的参数schema
@@ -27,7 +28,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: data_reader的参数schema
@@ -50,7 +52,8 @@ gripper.misumi_rz:
           force: null
           pos: null
           speed: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
@@ -79,7 +82,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
@@ -100,7 +104,8 @@ gripper.misumi_rz:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: modbus_crc的参数schema
@@ -129,7 +134,8 @@ gripper.misumi_rz:
           spin_F: null
           spin_pos: null
           spin_v: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: move_and_rotate的参数schema
@@ -168,7 +174,8 @@ gripper.misumi_rz:
         goal: {}
         goal_default:
           cmd: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
@@ -192,7 +199,8 @@ gripper.misumi_rz:
         goal: {}
         goal_default:
           cmd: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
@@ -218,7 +226,8 @@ gripper.misumi_rz:
           address: null
           data_len: null
           id: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: read_address的参数schema
@@ -250,7 +259,8 @@ gripper.misumi_rz:
           force: null
           pos: null
           speed: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
@@ -283,7 +293,8 @@ gripper.misumi_rz:
           data: null
           fun: null
           id: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_cmd的参数schema
@@ -315,7 +326,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_for_gripper的参数schema
@@ -335,7 +347,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_for_gripper_init的参数schema
@@ -355,7 +368,8 @@ gripper.misumi_rz:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_for_rotate的参数schema
@@ -377,7 +391,7 @@ gripper.misumi_rz:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -461,7 +475,8 @@ gripper.mock:
           resource:
             Gripper1: {}
           wf_name: gripper_run
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
@@ -498,7 +513,7 @@ gripper.mock:
           command:
             max_effort: 0.0
             position: 0.0
-        handles: []
+        handles: {}
         result:
           effort: torque
           position: position
diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml
index e4784594..0f8506e9 100644
--- a/unilabos/registry/devices/robot_linear_motion.yaml
+++ b/unilabos/registry/devices/robot_linear_motion.yaml
@@ -7,7 +7,8 @@ linear_motion.grbl:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: CNC设备初始化函数。执行Grbl CNC的完整初始化流程，包括归零操作、轴校准和状态复位。该函数将所有轴移动到原点位置(0,0,0)，确保设备处于已知的参考状态。初始化完成后设备进入空闲状态，可接收后续的运动指令。
@@ -28,7 +29,8 @@ linear_motion.grbl:
         goal: {}
         goal_default:
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: CNC绝对位置设定函数。控制CNC设备移动到指定的三维坐标位置(x,y,z)。该函数支持安全限位检查，防止超出设备工作范围。移动过程中会监控设备状态，确保安全到达目标位置。适用于精确定位和轨迹控制操作。
@@ -37,7 +39,7 @@ linear_motion.grbl:
             goal:
               properties:
                 position:
-                  type: string
+                  type: object
               required:
               - position
               type: object
@@ -51,7 +53,8 @@ linear_motion.grbl:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: CNC操作停止函数。立即停止当前正在执行的所有CNC运动，包括轴移动和主轴旋转。该函数用于紧急停止或任务中断，确保设备和工件的安全。停止后设备将保持当前位置，等待新的指令。
@@ -71,7 +74,8 @@ linear_motion.grbl:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_error的参数schema
@@ -113,7 +117,7 @@ linear_motion.grbl:
                 x: 0.0
                 y: 0.0
                 z: 0.0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -345,7 +349,7 @@ linear_motion.grbl:
             nanosec: 0
             sec: 0
           position: 0.0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -450,6 +454,8 @@ linear_motion.grbl:
           - 0
           - -80
           - 0
+          items:
+            type: integer
           type: array
         port:
           type: string
@@ -459,7 +465,7 @@ linear_motion.grbl:
     data:
       properties:
         position:
-          type: string
+          type: object
         spindle_speed:
           type: number
         status:
@@ -479,7 +485,8 @@ linear_motion.toyo_xyz.sim:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: check_tf_update_actions的参数schema
@@ -504,7 +511,8 @@ linear_motion.toyo_xyz.sim:
           move_group: null
           retry: 10
           speed: 1
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: moveit_joint_task的参数schema
@@ -549,7 +557,8 @@ linear_motion.toyo_xyz.sim:
           retry: 10
           speed: 1
           target_link: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: moveit_task的参数schema
@@ -596,7 +605,8 @@ linear_motion.toyo_xyz.sim:
         goal: {}
         goal_default:
           ros_node: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: post_init的参数schema
@@ -605,7 +615,7 @@ linear_motion.toyo_xyz.sim:
             goal:
               properties:
                 ros_node:
-                  type: string
+                  type: object
               required:
               - ros_node
               type: object
@@ -621,7 +631,8 @@ linear_motion.toyo_xyz.sim:
         goal_default:
           parent_link: null
           resource: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: resource_manager的参数schema
@@ -647,7 +658,8 @@ linear_motion.toyo_xyz.sim:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: wait_for_resource_action的参数schema
@@ -669,7 +681,7 @@ linear_motion.toyo_xyz.sim:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -712,7 +724,7 @@ linear_motion.toyo_xyz.sim:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -755,7 +767,7 @@ linear_motion.toyo_xyz.sim:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -834,7 +846,8 @@ motor.iCL42:
           mode: null
           position: null
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
@@ -863,7 +876,8 @@ motor.iCL42:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
@@ -886,7 +900,8 @@ motor.iCL42:
           mode: null
           position: null
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
@@ -917,7 +932,7 @@ motor.iCL42:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/solid_dispenser.yaml b/unilabos/registry/devices/solid_dispenser.yaml
index 31af41d0..9bceb54b 100644
--- a/unilabos/registry/devices/solid_dispenser.yaml
+++ b/unilabos/registry/devices/solid_dispenser.yaml
@@ -13,7 +13,7 @@ solid_dispenser.laiyu:
           compound_mass: 0.0
           powder_tube_number: 0
           target_tube_position: ''
-        handles: []
+        handles: {}
         result:
           actual_mass_mg: actual_mass_mg
         schema:
@@ -64,7 +64,8 @@ solid_dispenser.laiyu:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
@@ -88,7 +89,8 @@ solid_dispenser.laiyu:
         goal: {}
         goal_default:
           command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
@@ -113,7 +115,7 @@ solid_dispenser.laiyu:
           float_input: float_input
         goal_default:
           float_in: 0.0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -153,7 +155,7 @@ solid_dispenser.laiyu:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -197,7 +199,7 @@ solid_dispenser.laiyu:
           x: 0.0
           y: 0.0
           z: 0.0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -243,7 +245,7 @@ solid_dispenser.laiyu:
           int_input: int_input
         goal_default:
           int_input: 0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -285,7 +287,7 @@ solid_dispenser.laiyu:
           int_input: int_input
         goal_default:
           int_input: 0
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -325,7 +327,7 @@ solid_dispenser.laiyu:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml
index 70f8586b..874fe517 100644
--- a/unilabos/registry/devices/temperature.yaml
+++ b/unilabos/registry/devices/temperature.yaml
@@ -11,7 +11,8 @@ chiller:
           function_code: null
           register_address: null
           value: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: build_modbus_frame的参数schema
@@ -45,7 +46,8 @@ chiller:
         goal_default:
           decimal_points: 1
           temperature: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: convert_temperature_to_modbus_value的参数schema
@@ -72,7 +74,8 @@ chiller:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: modbus_crc的参数schema
@@ -95,7 +98,8 @@ chiller:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: stop的参数schema
@@ -117,7 +121,7 @@ chiller:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -187,7 +191,8 @@ heaterstirrer.dalong:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: close的参数schema
@@ -208,7 +213,8 @@ heaterstirrer.dalong:
         goal: {}
         goal_default:
           speed: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_stir_speed的参数schema
@@ -233,7 +239,8 @@ heaterstirrer.dalong:
         goal_default:
           temp: null
           type: warning
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_temp_inner的参数schema
@@ -293,7 +300,7 @@ heaterstirrer.dalong:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -438,7 +445,7 @@ heaterstirrer.dalong:
           command: temp
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -482,7 +489,7 @@ heaterstirrer.dalong:
           command: temp
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -579,7 +586,8 @@ tempsensor:
           function_code: null
           register_address: null
           register_count: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: build_modbus_request的参数schema
@@ -612,7 +620,8 @@ tempsensor:
         goal: {}
         goal_default:
           data: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: calculate_crc的参数schema
@@ -636,7 +645,8 @@ tempsensor:
         goal: {}
         goal_default:
           response: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: read_modbus_response的参数schema
@@ -660,7 +670,8 @@ tempsensor:
         goal: {}
         goal_default:
           command: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: send_prototype_command的参数schema
@@ -685,7 +696,7 @@ tempsensor:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml
index 6473250c..18575821 100644
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
@@ -7,7 +7,8 @@ virtual_centrifuge:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -27,7 +28,8 @@ virtual_centrifuge:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -78,7 +80,7 @@ virtual_centrifuge:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -295,7 +297,8 @@ virtual_column:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -315,7 +318,8 @@ virtual_column:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -388,7 +392,7 @@ virtual_column:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           message: current_status
           return_info: current_status
@@ -690,7 +694,8 @@ virtual_filter:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -710,7 +715,8 @@ virtual_filter:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -786,7 +792,7 @@ virtual_filter:
             sample_id: ''
             type: ''
           volume: 0.0
-        handles: []
+        handles: {}
         result:
           message: message
           return_info: message
@@ -1088,7 +1094,8 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -1108,7 +1115,8 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -1128,7 +1136,8 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -1148,7 +1157,8 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -1168,7 +1178,7 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -1200,7 +1210,7 @@ virtual_gas_source:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -1234,7 +1244,7 @@ virtual_gas_source:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -1310,7 +1320,8 @@ virtual_heatchill:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -1330,7 +1341,8 @@ virtual_heatchill:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -1386,7 +1398,7 @@ virtual_heatchill:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -1555,7 +1567,7 @@ virtual_heatchill:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -1696,7 +1708,7 @@ virtual_heatchill:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -1879,7 +1891,8 @@ virtual_multiway_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: close的参数schema
@@ -1900,7 +1913,8 @@ virtual_multiway_valve:
         goal: {}
         goal_default:
           port_number: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_at_port的参数schema
@@ -1924,7 +1938,8 @@ virtual_multiway_valve:
         goal: {}
         goal_default:
           position: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_at_position的参数schema
@@ -1947,7 +1962,8 @@ virtual_multiway_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_at_pump_position的参数schema
@@ -1967,7 +1983,8 @@ virtual_multiway_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -1987,7 +2004,8 @@ virtual_multiway_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: reset的参数schema
@@ -2008,7 +2026,8 @@ virtual_multiway_valve:
         goal: {}
         goal_default:
           port_number: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_to_port的参数schema
@@ -2031,7 +2050,8 @@ virtual_multiway_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_to_pump_position的参数schema
@@ -2052,7 +2072,8 @@ virtual_multiway_valve:
         goal: {}
         goal_default:
           port_number: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: switch_between_pump_and_port的参数schema
@@ -2077,7 +2098,7 @@ virtual_multiway_valve:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -2121,7 +2142,7 @@ virtual_multiway_valve:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -2299,7 +2320,8 @@ virtual_rotavap:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -2319,7 +2341,8 @@ virtual_rotavap:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -2371,7 +2394,7 @@ virtual_rotavap:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -2629,7 +2652,8 @@ virtual_separator:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -2649,7 +2673,8 @@ virtual_separator:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -2834,7 +2859,7 @@ virtual_separator:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -3516,7 +3541,8 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -3536,7 +3562,8 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -3556,7 +3583,8 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -3576,7 +3604,8 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: reset的参数schema
@@ -3596,7 +3625,8 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: toggle的参数schema
@@ -3617,7 +3647,7 @@ virtual_solenoid_valve:
         goal:
           command: CLOSED
         goal_default: {}
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -3650,7 +3680,7 @@ virtual_solenoid_valve:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -3684,7 +3714,7 @@ virtual_solenoid_valve:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -3724,7 +3754,7 @@ virtual_solenoid_valve:
           command: command
         goal_default:
           command: ''
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -3871,7 +3901,7 @@ virtual_solid_dispenser:
             type: ''
           viscous: false
           volume: ''
-        handles: []
+        handles: {}
         result:
           message: message
           return_info: return_info
@@ -4034,7 +4064,8 @@ virtual_solid_dispenser:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -4055,7 +4086,8 @@ virtual_solid_dispenser:
         goal: {}
         goal_default:
           reagent_name: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -4078,7 +4110,8 @@ virtual_solid_dispenser:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -4099,7 +4132,8 @@ virtual_solid_dispenser:
         goal: {}
         goal_default:
           mass_str: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -4123,7 +4157,8 @@ virtual_solid_dispenser:
         goal: {}
         goal_default:
           mol_str: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -4205,7 +4240,8 @@ virtual_stirrer:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -4225,7 +4261,8 @@ virtual_stirrer:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -4271,7 +4308,7 @@ virtual_stirrer:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -4429,7 +4466,7 @@ virtual_stirrer:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -4585,7 +4622,7 @@ virtual_stirrer:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: []
+        handles: {}
         result:
           success: success
         schema:
@@ -4704,6 +4741,7 @@ virtual_stirrer:
     status_types:
       current_speed: float
       current_vessel: str
+      device_info: dict
       is_stirring: bool
       max_speed: float
       min_speed: float
@@ -4738,6 +4776,8 @@ virtual_stirrer:
           type: number
         current_vessel:
           type: string
+        device_info:
+          type: object
         is_stirring:
           type: boolean
         max_speed:
@@ -4759,6 +4799,7 @@ virtual_stirrer:
       - remaining_time
       - max_speed
       - min_speed
+      - device_info
       type: object
   version: 1.0.0
 virtual_transfer_pump:
@@ -4772,7 +4813,8 @@ virtual_transfer_pump:
         goal_default:
           velocity: null
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: aspirate的参数schema
@@ -4797,7 +4839,8 @@ virtual_transfer_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -4819,7 +4862,8 @@ virtual_transfer_pump:
         goal_default:
           velocity: null
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: dispense的参数schema
@@ -4845,7 +4889,8 @@ virtual_transfer_pump:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: empty_syringe的参数schema
@@ -4868,7 +4913,8 @@ virtual_transfer_pump:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: fill_syringe的参数schema
@@ -4890,7 +4936,8 @@ virtual_transfer_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -4910,7 +4957,8 @@ virtual_transfer_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_empty的参数schema
@@ -4930,7 +4978,8 @@ virtual_transfer_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_full的参数schema
@@ -4952,7 +5001,8 @@ virtual_transfer_pump:
         goal_default:
           velocity: null
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: pull_plunger的参数schema
@@ -4979,7 +5029,8 @@ virtual_transfer_pump:
         goal_default:
           velocity: null
           volume: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: push_plunger的参数schema
@@ -5005,7 +5056,8 @@ virtual_transfer_pump:
         goal: {}
         goal_default:
           velocity: null
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: set_max_velocity的参数schema
@@ -5028,7 +5080,8 @@ virtual_transfer_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: stop_operation的参数schema
@@ -5055,7 +5108,7 @@ virtual_transfer_pump:
         goal_default:
           max_velocity: 0.0
           position: 0.0
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -5133,7 +5186,7 @@ virtual_transfer_pump:
           to_vessel: ''
           viscous: false
           volume: 0.0
-        handles: []
+        handles: {}
         result:
           message: message
           success: success
@@ -5272,7 +5325,8 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: cleanup的参数schema
@@ -5292,7 +5346,8 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: initialize的参数schema
@@ -5312,7 +5367,8 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_closed的参数schema
@@ -5332,7 +5388,8 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: is_open的参数schema
@@ -5352,7 +5409,7 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -5384,7 +5441,7 @@ virtual_vacuum_pump:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -5418,7 +5475,7 @@ virtual_vacuum_pump:
           string: string
         goal_default:
           string: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml
index d8bb21ac..94250a50 100644
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
@@ -53,7 +53,7 @@ workstation:
             sample_id: ''
             type: ''
           to_repo_position: ''
-        handles: []
+        handles: {}
         result: {}
         schema:
           description: ''
@@ -103,7 +103,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -117,12 +117,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -139,7 +139,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_repo
                   type: object
                 from_repo_position:
                   type: string
@@ -178,7 +178,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -192,12 +192,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -214,7 +214,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_repo
                   type: object
                 to_repo_position:
                   type: string
@@ -390,7 +390,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -404,12 +404,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -426,7 +426,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 viscous:
                   type: boolean
@@ -579,7 +579,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -593,12 +593,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -615,7 +615,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -752,7 +752,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -766,12 +766,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -788,7 +788,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -892,7 +892,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_remaining
                   type: object
                 time_spent:
                   properties:
@@ -907,7 +907,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_spent
                   type: object
               required:
               - status
@@ -961,7 +961,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -975,12 +975,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -997,7 +997,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: number
@@ -1138,7 +1138,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1152,12 +1152,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1174,7 +1174,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: number
@@ -1345,7 +1345,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1359,12 +1359,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1381,7 +1381,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: string
@@ -1514,7 +1514,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1528,12 +1528,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1550,7 +1550,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - compound
@@ -1641,7 +1641,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_remaining
                   type: object
                 time_spent:
                   properties:
@@ -1656,7 +1656,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_spent
                   type: object
               required:
               - status
@@ -1704,7 +1704,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1718,12 +1718,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1740,7 +1740,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -1841,7 +1841,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_remaining
                   type: object
                 time_spent:
                   properties:
@@ -1856,7 +1856,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_spent
                   type: object
               required:
               - status
@@ -1912,7 +1912,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -1926,12 +1926,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -1948,7 +1948,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -2117,7 +2117,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2131,12 +2131,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2153,7 +2153,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: filtrate_vessel
                   type: object
                 stir:
                   type: boolean
@@ -2196,7 +2196,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2210,12 +2210,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2232,7 +2232,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: number
@@ -2431,7 +2431,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2445,12 +2445,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2467,7 +2467,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: filter_through
                   type: object
                 from_vessel:
                   properties:
@@ -2504,7 +2504,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2518,12 +2518,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2540,7 +2540,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 residence_time:
                   type: number
@@ -2579,7 +2579,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2593,12 +2593,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2615,7 +2615,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
               required:
               - from_vessel
@@ -2771,7 +2771,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2785,12 +2785,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2807,7 +2807,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -2938,7 +2938,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -2952,12 +2952,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -2974,7 +2974,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -3087,7 +3087,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3101,12 +3101,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3123,7 +3123,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -3245,7 +3245,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3259,12 +3259,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3281,7 +3281,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - temp
@@ -3434,7 +3434,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_remaining
                   type: object
                 time_spent:
                   properties:
@@ -3449,7 +3449,7 @@ workstation:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: time_spent
                   type: object
               required:
               - status
@@ -3501,7 +3501,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3515,12 +3515,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3537,7 +3537,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 rate_spec:
                   type: string
@@ -3590,7 +3590,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3604,12 +3604,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3626,7 +3626,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
                 transfer_flowrate:
                   type: number
@@ -3784,7 +3784,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3798,12 +3798,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3820,7 +3820,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: string
@@ -3939,7 +3939,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -3953,12 +3953,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -3975,7 +3975,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - solvent
@@ -4136,7 +4136,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4150,12 +4150,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4172,7 +4172,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 pct1:
                   type: string
@@ -4221,7 +4221,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4235,12 +4235,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4257,7 +4257,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
               required:
               - from_vessel
@@ -4542,7 +4542,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4556,12 +4556,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4578,7 +4578,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: from_vessel
                   type: object
                 product_phase:
                   type: string
@@ -4617,7 +4617,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4631,12 +4631,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4653,7 +4653,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: product_vessel
                   type: object
                 purpose:
                   type: string
@@ -4696,7 +4696,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4710,12 +4710,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4732,7 +4732,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: separation_vessel
                   type: object
                 settling_time:
                   type: number
@@ -4781,7 +4781,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4795,12 +4795,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4817,7 +4817,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: to_vessel
                   type: object
                 vessel:
                   properties:
@@ -4854,7 +4854,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4868,12 +4868,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4890,7 +4890,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: string
@@ -4929,7 +4929,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -4943,12 +4943,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -4965,7 +4965,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: waste_phase_to_vessel
                   type: object
                 waste_vessel:
                   properties:
@@ -5002,7 +5002,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5016,12 +5016,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5038,7 +5038,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: waste_vessel
                   type: object
               required:
               - vessel
@@ -5182,7 +5182,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5196,12 +5196,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5218,7 +5218,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -5358,7 +5358,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5372,12 +5372,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5394,7 +5394,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -5517,7 +5517,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5531,12 +5531,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5553,7 +5553,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel
@@ -5856,7 +5856,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5870,12 +5870,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5892,7 +5892,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: filtrate_vessel
                   type: object
                 mass:
                   type: string
@@ -5947,7 +5947,7 @@ workstation:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -5961,12 +5961,12 @@ workstation:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -5983,7 +5983,7 @@ workstation:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
                 volume:
                   type: string
@@ -6024,97 +6024,9 @@ workstation:
           title: WashSolid
           type: object
         type: WashSolid
-      auto-create_ros_action_server:
-        feedback: {}
-        goal: {}
-        goal_default:
-          action_name: null
-          action_value_mapping: null
-        handles: []
-        result: {}
-        schema:
-          description: create_ros_action_server的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                action_name:
-                  type: string
-                action_value_mapping:
-                  type: string
-              required:
-              - action_name
-              - action_value_mapping
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_ros_action_server参数
-          type: object
-        type: UniLabJsonCommand
-      auto-execute_single_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          action_kwargs: null
-          action_name: null
-          device_id: null
-        handles: []
-        result: {}
-        schema:
-          description: execute_single_action的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                action_kwargs:
-                  type: string
-                action_name:
-                  type: string
-                device_id:
-                  type: string
-              required:
-              - device_id
-              - action_name
-              - action_kwargs
-              type: object
-            result: {}
-          required:
-          - goal
-          title: execute_single_action参数
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-initialize_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_config: null
-          device_id: null
-        handles: []
-        result: {}
-        schema:
-          description: initialize_device的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_config:
-                  type: string
-                device_id:
-                  type: string
-              required:
-              - device_id
-              - device_config
-              type: object
-            result: {}
-          required:
-          - goal
-          title: initialize_device参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    module: unilabos.devices.workstation.workstation_base:ProtocolNode
     status_types: {}
-    type: ros2
+    type: python
   config_info: []
   description: Workstation
   handles: []
@@ -6122,35 +6034,905 @@ workstation:
   init_param_schema:
     config:
       properties:
-        children:
-          type: object
-        device_id:
-          type: string
-        protocol_type:
-          type: string
-        resource_tracker:
+        deck:
           type: string
       required:
-      - device_id
-      - children
-      - protocol_type
-      - resource_tracker
+      - deck
       type: object
     data:
       properties: {}
       required: []
       type: object
   version: 1.0.0
-workstation.example:
+workstation.bioyond:
   category:
   - work_station
   class:
     action_value_mappings:
-      auto-append_resource:
+      auto-add_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: object
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_90_10_vial_feeding_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          task_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_data:
+                  type: string
+              required:
+              - task_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          solution_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                solution_data:
+                  type: string
+              required:
+              - solution_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_order:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_order参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_data:
+                  type: string
+              required:
+              - resource_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      auto-delete_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: delete_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-device_operation:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          operation: null
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_id:
+                  type: string
+                operation:
+                  type: string
+                parameters:
+                  type: object
+              required:
+              - device_id
+              - operation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: device_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: Reactor
+          temperature: 25.0
+          time: '0'
+          torque_variation: '1'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  default: Reactor
+                  type: string
+                temperature:
+                  default: 25.0
+                  type: number
+                time:
+                  default: '0'
+                  type: string
+                torque_variation:
+                  default: '1'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_bioyond_sync_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_sync_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-execute_bioyond_update_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_update_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-liquid_feeding_beaker:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_beaker参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_solvents:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_solvents参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          time: '120'
+          titration_type: '1'
+          torque_variation: '2'
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                time:
+                  default: '120'
+                  type: string
+                titration_type:
+                  default: '1'
+                  type: string
+                torque_variation:
+                  default: '2'
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_vials_non_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_vials_non_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_bioyond_data_from_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_bioyond_data_from_file参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+              required:
+              - material_id
+              - location_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location_name
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - name
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: merge_workflow_with_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          query_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                query_data:
+                  type: string
+              required:
+              - query_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_query参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          time: null
+          torque_variation: null
+          volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                time:
+                  type: string
+                torque_variation:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_liquid_feed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          time: null
+          titration_type: null
+          torque_variation: null
+          volume: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                time:
+                  type: string
+                titration_type:
+                  type: string
+                torque_variation:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - titration_type
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_liquid_feed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_process_execute:
+        feedback: {}
+        goal: {}
+        goal_default:
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_process_execute参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_reactor_taken_out:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  default: ''
+                  type: string
+                preintake_id:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_solid_feed_vial:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          material_id: null
+          time: null
+          torque_variation: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                material_id:
+                  type: string
+                time:
+                  type: string
+                torque_variation:
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_solid_feed_vial参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reaction_station_take_in:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: null
+          cutoff: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  type: string
+                cutoff:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - cutoff
+              - temperature
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_take_in参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_in:
         feedback: {}
         goal: {}
         goal_default: {}
-        handles: []
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -6163,22 +6945,17 @@ workstation.example:
             result: {}
           required:
           - goal
-          title: append_resource参数
+          title: reactor_taken_in参数
           type: object
         type: UniLabJsonCommand
-      auto-create_resource:
+      auto-reactor_taken_out:
         feedback: {}
         goal: {}
         goal_default:
-          bind_location: null
-          bind_parent_id: null
-          liquid_input_slot: null
-          liquid_type: null
-          liquid_volume: null
-          resource_tracker: null
-          resources: null
-          slot_on_deck: null
-        handles: []
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -6186,64 +6963,429 @@ workstation.example:
             feedback: {}
             goal:
               properties:
-                bind_location:
-                  type: object
-                bind_parent_id:
+                order_id:
+                  default: ''
                   type: string
-                liquid_input_slot:
-                  type: array
-                liquid_type:
-                  type: array
-                liquid_volume:
-                  type: array
-                resource_tracker:
+                preintake_id:
+                  default: ''
                   type: string
-                resources:
-                  type: array
-                slot_on_deck:
-                  type: integer
-              required:
-              - resource_tracker
-              - resources
-              - bind_parent_id
-              - bind_location
-              - liquid_input_slot
-              - liquid_type
-              - liquid_volume
-              - slot_on_deck
+              required: []
               type: object
             result: {}
           required:
           - goal
-          title: create_resource参数
+          title: reactor_taken_out参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.workstation:WorkStationExample
-    status_types: {}
-    type: ros2
+      auto-reset_workstation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset_workstation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-sample_waste_removal:
+        feedback: {}
+        goal: {}
+        goal_default:
+          waste_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                waste_data:
+                  type: string
+              required:
+              - waste_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+      auto-solid_feeding_vials:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: solid_feeding_vials参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stock_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stock_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_resource_to_another:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mount_device_id: null
+          mount_resource: null
+          resource: null
+          sites: null
+        handles: {}
+        placeholder_keys:
+          mount_device_id: unilabos_devices
+          mount_resource: unilabos_resources
+          resource: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mount_device_id:
+                  type: object
+                mount_resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: mount_resource
+                    type: object
+                  type: array
+                resource:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: resource
+                    type: object
+                  type: array
+                sites:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - resource
+              - mount_resource
+              - sites
+              - mount_device_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_resource_to_another参数
+          type: object
+        type: UniLabJsonCommand
+      auto-validate_workflow_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: validate_workflow_parameters参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    status_types:
+      bioyond_status: dict
+      device_list: dict
+      scheduler_status: dict
+      station_info: dict
+      workflow_parameter_template: dict
+      workstation_status: dict
+    type: python
   config_info: []
   description: ''
   handles: []
-  icon: ''
+  icon: 反应站.webp
   init_param_schema:
     config:
       properties:
-        children:
-          type: object
-        device_id:
+        bioyond_config:
           type: string
-        protocol_type:
+        deck:
           type: string
-        resource_tracker:
+        station_config:
           type: string
-      required:
-      - device_id
-      - children
-      - protocol_type
-      - resource_tracker
-      type: object
-    data:
-      properties: {}
       required: []
       type: object
+    data:
+      properties:
+        bioyond_status:
+          type: object
+        device_list:
+          type: object
+        scheduler_status:
+          type: object
+        station_info:
+          type: object
+        workflow_parameter_template:
+          type: object
+        workstation_status:
+          type: object
+      required:
+      - station_info
+      - bioyond_status
+      - workflow_parameter_template
+      - scheduler_status
+      - device_list
+      - workstation_status
+      type: object
   version: 1.0.0
diff --git a/unilabos/registry/devices/zhida_gcms.yaml b/unilabos/registry/devices/zhida_gcms.yaml
new file mode 100644
index 00000000..607af9b9
--- /dev/null
+++ b/unilabos/registry/devices/zhida_gcms.yaml
@@ -0,0 +1,350 @@
+zhida_gcms:
+  category:
+  - zhida_gcms
+  class:
+    action_value_mappings:
+      abort:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 安全关闭与智达 GCMS 设备的 TCP 连接，释放网络资源。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 与智达 GCMS 设备建立 TCP 连接，配置超时参数。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      get_methods:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      get_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      get_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      put_tray:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      start:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+      start_with_csv_file:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.zhida_gcms.zhida:ZhidaClient
+    status_types:
+      methods: dict
+      status: str
+      version: dict
+    type: python
+  config_info: []
+  description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        host:
+          default: 192.168.3.184
+          type: string
+        port:
+          default: 5792
+          type: string
+        timeout:
+          default: 10.0
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        methods:
+          type: object
+        status:
+          type: string
+        version:
+          type: object
+      required:
+      - status
+      - methods
+      - version
+      type: object
+  version: 1.0.0
diff --git a/unilabos/registry/placeholder_type.py b/unilabos/registry/placeholder_type.py
new file mode 100644
index 00000000..7a476dd0
--- /dev/null
+++ b/unilabos/registry/placeholder_type.py
@@ -0,0 +1,9 @@
+from pylabrobot.resources import Resource
+
+
+class ResourceSlot(Resource):
+    pass
+
+
+class DeviceSlot(str):
+    pass
diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index 6f3f0815..caeafa5c 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -5,13 +5,19 @@ import sys
 import inspect
 import importlib
 from pathlib import Path
-from typing import Any, Dict, List
+from typing import Any, Dict, List, Union, Tuple
 
 import yaml
+from unilabos_msgs.msg import Resource
 
 from unilabos.config.config import BasicConfig
 from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
-from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
+from unilabos.ros.msgs.message_converter import (
+    msg_converter_manager,
+    ros_action_to_json_schema,
+    String,
+    ros_message_to_json_schema,
+)
 from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
 from unilabos.utils.import_manager import get_enhanced_class_info, get_class
@@ -20,16 +26,19 @@ from unilabos.utils.type_check import NoAliasDumper
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
 
+class ROSMsgNotFound(Exception):
+    pass
+
+
 @singleton
 class Registry:
     def __init__(self, registry_paths=None):
         import ctypes
+
         try:
             import unilabos_msgs
         except ImportError:
-            logger.error(
-                "[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。"
-            )
+            logger.error("[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。")
             sys.exit(1)
         try:
             ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd"))
@@ -46,6 +55,7 @@ class Registry:
             "ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
         )
         self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"")
+        self.StrSingleInput = self._replace_type_with_class("StrSingleInput", "host_node", f"")
         self.device_type_registry = {}
         self.device_module_to_registry = {}
         self.resource_type_registry = {}
@@ -121,7 +131,6 @@ class Registry:
                                         }
                                     ]
                                 },
-                                # todo: support nested keys, switch to non ros message schema
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
@@ -132,13 +141,53 @@ class Registry:
                                 "type": self.EmptyIn,
                                 "goal": {},
                                 "feedback": {},
-                                "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
+                                "result": {},
                                 "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": {},
                             },
+                            "auto-test_resource": {
+                                "type": "UniLabJsonCommand",
+                                "goal": {},
+                                "feedback": {},
+                                "result": {},
+                                "schema": {
+                                    "description": "",
+                                    "properties": {
+                                        "feedback": {},
+                                        "goal": {
+                                            "properties": {
+                                                "resource": ros_message_to_json_schema(Resource, "resource"),
+                                                "resources": {
+                                                    "items": {
+                                                        "properties": ros_message_to_json_schema(
+                                                            Resource, "resources"
+                                                        ),
+                                                        "type": "object",
+                                                    },
+                                                    "type": "array",
+                                                },
+                                                "device": {"type": "string"},
+                                                "devices": {"items": {"type": "string"}, "type": "array"},
+                                            },
+                                            "type": "object",
+                                        },
+                                        "result": {},
+                                    },
+                                    "title": "test_resource",
+                                    "type": "object",
+                                },
+                                "placeholder_keys": {
+                                    "device": "unilabos_devices",
+                                    "devices": "unilabos_devices",
+                                    "resource": "unilabos_resources",
+                                    "resources": "unilabos_resources",
+                                },
+                                "goal_default": {},
+                                "handles": {},
+                            },
                         },
                     },
                     "version": "1.0.0",
@@ -152,6 +201,8 @@ class Registry:
                 }
             }
         )
+        # 为host_node添加内置的驱动命令动作
+        self._add_builtin_actions(self.device_type_registry["host_node"], "host_node")
         logger.trace(f"[UniLab Registry] ----------Setup----------")
         self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
         for i, path in enumerate(self.registry_paths):
@@ -219,7 +270,7 @@ class Registry:
                         yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
 
                 self.resource_type_registry.update(data)
-                logger.trace(
+                logger.trace(  # type: ignore
                     f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
                     + f"Add {list(data.keys())}"
                 )
@@ -309,39 +360,75 @@ class Registry:
             return type_class
         else:
             logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
-            sys.exit(1)
+            raise ROSMsgNotFound(f"类型 '{type_name}' 未找到，用于设备 {device_id} 的 {field_name}")
+
+    def _get_json_schema_type(self, type_str: str) -> str:
+        """
+        根据类型字符串返回对应的JSON Schema类型
+
+        Args:
+            type_str: 类型字符串
+
+        Returns:
+            JSON Schema类型字符串
+        """
+        type_lower = type_str.lower()
+        type_mapping = {
+            ("str", "string"): "string",
+            ("int", "integer"): "integer",
+            ("float", "number"): "number",
+            ("bool", "boolean"): "boolean",
+            ("list", "array"): "array",
+            ("dict", "object"): "object",
+        }
+
+        # 遍历映射找到匹配的类型
+        for type_variants, json_type in type_mapping.items():
+            if type_lower in type_variants:
+                return json_type
+
+        # 特殊处理包含冒号的类型（如ROS消息类型）
+        if ":" in type_lower:
+            return "object"
+
+        # 默认返回字符串类型
+        return "string"
 
     def _generate_schema_from_info(
         self,
         param_name: str,
-        param_type: str,
+        param_type: Union[str, Tuple[str]],
         param_default: Any,
     ) -> Dict[str, Any]:
         """
         根据参数信息生成JSON Schema
         """
         prop_schema = {}
-        # 根据类型设置schema FIXME 不完整
-        if param_type:
-            param_type_lower = param_type.lower()
-            if param_type_lower in ["str", "string"]:
-                prop_schema["type"] = "string"
-            elif param_type_lower in ["int", "integer"]:
-                prop_schema["type"] = "integer"
-            elif param_type_lower in ["float", "number"]:
-                prop_schema["type"] = "number"
-            elif param_type_lower in ["bool", "boolean"]:
-                prop_schema["type"] = "boolean"
-            elif param_type_lower in ["list", "array"]:
-                prop_schema["type"] = "array"
-            elif param_type_lower in ["dict", "object"]:
-                prop_schema["type"] = "object"
+
+        # 处理嵌套类型（Tuple[str]）
+        if isinstance(param_type, tuple):
+            if len(param_type) == 2:
+                outer_type, inner_type = param_type
+                outer_json_type = self._get_json_schema_type(outer_type)
+                inner_json_type = self._get_json_schema_type(inner_type)
+
+                prop_schema["type"] = outer_json_type
+
+                # 根据外层类型设置内层类型信息
+                if outer_json_type == "array":
+                    prop_schema["items"] = {"type": inner_json_type}
+                elif outer_json_type == "object":
+                    prop_schema["additionalProperties"] = {"type": inner_json_type}
             else:
-                # 默认为字符串类型
+                # 不是标准的嵌套类型，默认为字符串
                 prop_schema["type"] = "string"
         else:
-            # 如果没有类型信息，默认为字符串
-            prop_schema["type"] = "string"
+            # 处理非嵌套类型
+            if param_type:
+                prop_schema["type"] = self._get_json_schema_type(param_type)
+            else:
+                # 如果没有类型信息，默认为字符串
+                prop_schema["type"] = "string"
 
         # 设置默认值
         if param_default is not None:
@@ -388,7 +475,17 @@ class Registry:
             param_type = arg_info.get("type", "")
             param_default = arg_info.get("default")
             param_required = arg_info.get("required", True)
-            schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
+            if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
+                schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
+            elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
+                schema["properties"][param_name] = {
+                    "items": ros_message_to_json_schema(Resource, param_name),
+                    "type": "array",
+                }
+            else:
+                schema["properties"][param_name] = self._generate_schema_from_info(
+                    param_name, param_type, param_default
+                )
             if param_required:
                 schema["required"].append(param_name)
 
@@ -400,13 +497,50 @@ class Registry:
             "required": ["goal"],
         }
 
+    def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str):
+        """
+        为设备配置添加内置的执行驱动命令动作
+
+        Args:
+            device_config: 设备配置字典
+            device_id: 设备ID
+        """
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
+
+        if "class" not in device_config:
+            return
+
+        if "action_value_mappings" not in device_config["class"]:
+            device_config["class"]["action_value_mappings"] = {}
+
+        for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
+            device_config["class"]["action_value_mappings"][additional_action] = {
+                "type": self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}"),
+                "goal": {"string": "string"},
+                "feedback": {},
+                "result": {},
+                "schema": ros_action_to_json_schema(
+                    self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}")
+                ),
+                "goal_default": yaml.safe_load(
+                    io.StringIO(
+                        get_yaml_from_goal_type(
+                            self._replace_type_with_class(
+                                "StrSingleInput", device_id, f"动作 {additional_action}"
+                            ).Goal
+                        )
+                    )
+                ),
+                "handles": {},
+            }
+
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
         # return
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
         files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
-        logger.trace(
+        logger.trace(  # type: ignore
             f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
             + f"total: {len(files)}"
         )
@@ -457,10 +591,15 @@ class Registry:
                                 {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
                             )
                         for status_name, status_type in device_config["class"]["status_types"].items():
-                            if status_type in ["Any", "None", "Unknown"]:
+                            if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
                                 status_type = "String"  # 替换成ROS的String，便于显示
                                 device_config["class"]["status_types"][status_name] = status_type
-                            target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                            try:
+                                target_type = self._replace_type_with_class(
+                                    status_type, device_id, f"状态 {status_name}"
+                                )
+                            except ROSMsgNotFound:
+                                continue
                             if target_type in [
                                 dict,
                                 list,
@@ -495,13 +634,29 @@ class Registry:
                                         "schema": self._generate_unilab_json_command_schema(v["args"], k),
                                         "goal_default": {i["name"]: i["default"] for i in v["args"]},
                                         "handles": [],
+                                        "placeholder_keys": {
+                                            i["name"]: (
+                                                "unilabos_resources"
+                                                if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
+                                                or i["type"]
+                                                == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
+                                                else "unilabos_devices"
+                                            )
+                                            for i in v["args"]
+                                            if i.get("type", "")
+                                            in [
+                                                "unilabos.registry.placeholder_type:ResourceSlot",
+                                                "unilabos.registry.placeholder_type:DeviceSlot",
+                                                ("list", "unilabos.registry.placeholder_type:ResourceSlot"),
+                                                ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
+                                            ]
+                                        },
                                     }
                                     # 不生成已配置action的动作
                                     for k, v in enhanced_info["action_methods"].items()
                                     if k not in device_config["class"]["action_value_mappings"]
                                 }
                             )
-
                             # 恢复原有的description信息（auto开头的不修改）
                             for action_name, description in old_descriptions.items():
                                 if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
@@ -523,13 +678,22 @@ class Registry:
                         for action_name, action_config in device_config["class"]["action_value_mappings"].items():
                             if "handles" not in action_config:
                                 action_config["handles"] = {}
+                            elif isinstance(action_config["handles"], list):
+                                if len(action_config["handles"]):
+                                    logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
+                                    continue
+                                else:
+                                    action_config["handles"] = {}
                             if "type" in action_config:
                                 action_type_str: str = action_config["type"]
                                 # 通过Json发放指令，而不是通过特殊的ros action进行处理
                                 if not action_type_str.startswith("UniLabJsonCommand"):
-                                    target_type = self._replace_type_with_class(
-                                        action_type_str, device_id, f"动作 {action_name}"
-                                    )
+                                    try:
+                                        target_type = self._replace_type_with_class(
+                                            action_type_str, device_id, f"动作 {action_name}"
+                                        )
+                                    except ROSMsgNotFound:
+                                        continue
                                     action_str_type_mapping[action_type_str] = target_type
                                     if target_type is not None:
                                         action_config["goal_default"] = yaml.safe_load(
@@ -545,33 +709,11 @@ class Registry:
                             device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                         for action_name, action_config in device_config["class"]["action_value_mappings"].items():
                             action_config["type"] = action_str_type_mapping[action_config["type"]]
-                        for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
-                            device_config["class"]["action_value_mappings"][additional_action] = {
-                                "type": self._replace_type_with_class(
-                                    "StrSingleInput", device_id, f"动作 {additional_action}"
-                                ),
-                                "goal": {"string": "string"},
-                                "feedback": {},
-                                "result": {},
-                                "schema": ros_action_to_json_schema(
-                                    self._replace_type_with_class(
-                                        "StrSingleInput", device_id, f"动作 {additional_action}"
-                                    )
-                                ),
-                                "goal_default": yaml.safe_load(
-                                    io.StringIO(
-                                        get_yaml_from_goal_type(
-                                            self._replace_type_with_class(
-                                                "StrSingleInput", device_id, f"动作 {additional_action}"
-                                            ).Goal
-                                        )
-                                    )
-                                ),
-                                "handles": {},
-                            }
+                        # 添加内置的驱动命令动作
+                        self._add_builtin_actions(device_config, device_id)
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     device_config["registry_type"] = "device"
-                    logger.trace(
+                    logger.trace(  # type: ignore
                         f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
@@ -592,7 +734,16 @@ class Registry:
             device_info_copy = copy.deepcopy(device_info)
             if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
                 action_mappings = device_info_copy["class"]["action_value_mappings"]
-                for action_name, action_config in action_mappings.items():
+                # 过滤掉内置的驱动命令动作
+                builtin_actions = ["_execute_driver_command", "_execute_driver_command_async"]
+                filtered_action_mappings = {
+                    action_name: action_config
+                    for action_name, action_config in action_mappings.items()
+                    if action_name not in builtin_actions
+                }
+                device_info_copy["class"]["action_value_mappings"] = filtered_action_mappings
+
+                for action_name, action_config in filtered_action_mappings.items():
                     if "schema" in action_config and action_config["schema"]:
                         schema = action_config["schema"]
                         # 确保schema结构存在
diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml
new file mode 100644
index 00000000..44e54270
--- /dev/null
+++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml
@@ -0,0 +1,48 @@
+BIOYOND_PolymerStation_1BottleCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_1BottleCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerStation_1FlaskCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_1FlaskCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerStation_6StockCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_6StockCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerStation_6VialCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_6VialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml
new file mode 100644
index 00000000..55da6908
--- /dev/null
+++ b/unilabos/registry/resources/bioyond/bottles.yaml
@@ -0,0 +1,50 @@
+BIOYOND_PolymerStation_Liquid_Vial:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Reagent_Bottle:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solid_Stock:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solid_Vial:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Solution_Beaker:
+  category:
+  - bottles
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml
new file mode 100644
index 00000000..d5a49b84
--- /dev/null
+++ b/unilabos/registry/resources/bioyond/deck.yaml
@@ -0,0 +1,24 @@
+BIOYOND_PolymerPreparationStation_Deck:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerPreparationStation Deck
+  handles: []
+  icon: 配液站.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerReactionStation_Deck:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerReactionStation Deck
+  handles: []
+  icon: 反应站.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml
index a0b129ec..9850167c 100644
--- a/unilabos/registry/resources/common/resource_container.yaml
+++ b/unilabos/registry/resources/common/resource_container.yaml
@@ -1,3 +1,24 @@
+disposal:
+  category:
+  - disposal
+  - waste
+  - resource_container
+  class:
+    module: unilabos.resources.disposal:Disposal
+    type: unilabos
+  description: 废料处理位置，用于处理实验废料
+  handles:
+  - data_key: disposal_access
+    data_source: handle
+    data_type: fluid
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 hplc_plate:
   category:
   - resource_container
@@ -20,6 +41,55 @@ hplc_plate:
     type: resource
   registry_type: resource
   version: 1.0.0
+maintenance:
+  category:
+  - maintenance
+  - position
+  - resource_container
+  class:
+    module: unilabos.resources.maintenance:Maintenance
+    type: unilabos
+  description: 维护位置，用于设备维护和校准
+  handles:
+  - data_key: maintenance_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+plate:
+  category:
+  - plate
+  - labware
+  - resource_container
+  class:
+    module: unilabos.resources.plate:Plate
+    type: unilabos
+  description: 实验板，用于放置样品和试剂
+  handles:
+  - data_key: plate_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  - data_key: sample_wells
+    data_source: handle
+    data_type: fluid
+    handler_key: wells
+    io_type: target
+    label: wells
+    side: CENTER
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 plate_96_high:
   category:
   - resource_container
@@ -42,6 +112,34 @@ plate_96_high:
     type: resource
   registry_type: resource
   version: 1.0.0
+tip_rack:
+  category:
+  - tip_rack
+  - labware
+  - resource_container
+  class:
+    module: unilabos.resources.tip_rack:TipRack
+    type: unilabos
+  description: 枪头架资源，用于存放和管理移液器枪头
+  handles:
+  - data_key: tip_access
+    data_source: handle
+    data_type: mechanical
+    handler_key: access
+    io_type: target
+    label: access
+    side: NORTH
+  - data_key: tip_pickup
+    data_source: handle
+    data_type: mechanical
+    handler_key: pickup
+    io_type: target
+    label: pickup
+    side: SOUTH
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 tiprack_96_high:
   category:
   - resource_container
diff --git a/unilabos/registry/resources/organic/workstation.yaml b/unilabos/registry/resources/organic/workstation.yaml
index 440f06c7..5250dfc9 100644
--- a/unilabos/registry/resources/organic/workstation.yaml
+++ b/unilabos/registry/resources/organic/workstation.yaml
@@ -1,12 +1,12 @@
-get_workstation_plate_resource:
-  category:
-  - workstation
-  class:
-    module: unilabos.ros.nodes.presets.workstation:get_workstation_plate_resource
-    type: pylabrobot
-  description: workstation example resource
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
+#get_workstation_plate_resource:
+#  category:
+#  - workstation
+#  class:
+#    module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
+#    type: pylabrobot
+#  description: workstation example resource
+#  handles: []
+#  icon: ''
+#  init_param_schema: {}
+#  registry_type: resource
+#  version: 1.0.0
diff --git a/unilabos/resources/bioyond/__init__.py b/unilabos/resources/bioyond/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py
new file mode 100644
index 00000000..f56c2f13
--- /dev/null
+++ b/unilabos/resources/bioyond/bottle_carriers.py
@@ -0,0 +1,276 @@
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
+from unilabos.resources.bioyond.bottles import (
+    BIOYOND_PolymerStation_Solid_Stock,
+    BIOYOND_PolymerStation_Solid_Vial,
+    BIOYOND_PolymerStation_Liquid_Vial,
+    BIOYOND_PolymerStation_Solution_Beaker,
+    BIOYOND_PolymerStation_Reagent_Bottle
+)
+# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+
+
+def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
+    """6瓶载架 - 2x3布局"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 30.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="BIOYOND_Electrolyte_6VialCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    for i in range(6):
+        carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
+    return carrier
+
+
+def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 100.0
+
+    # 烧杯尺寸
+    beaker_diameter = 80.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_Electrolyte_1BottleCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
+    """6瓶载架 - 2x3布局"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 20.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="BIOYOND_PolymerStation_6VialCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "B1", "B2", "B3"]  # 自定义顺序
+    for i in range(6):
+        carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
+    """6瓶载架 - 2x3布局"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 30.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="BIOYOND_PolymerStation_6VialCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "B1", "B2", "B3"]  # 自定义顺序
+    for i in range(3):
+        carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
+    for i in range(3, 6):
+        carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 20.0
+
+    # 烧杯尺寸
+    beaker_diameter = 60.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_PolymerStation_1BottleCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
+    return carrier
+
+
+def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 20.0
+
+    # 烧杯尺寸
+    beaker_diameter = 70.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_PolymerStation_1FlaskCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
+    return carrier
diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py
new file mode 100644
index 00000000..7d241a73
--- /dev/null
+++ b/unilabos/resources/bioyond/bottles.py
@@ -0,0 +1,92 @@
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
+# 工厂函数
+
+
+def BIOYOND_PolymerStation_Solid_Stock(
+    name: str,
+    diameter: float = 20.0,
+    height: float = 100.0,
+    max_volume: float = 30000.0,  # 30mL
+    barcode: str = None,
+) -> Bottle:
+    """创建粉末瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Solid_Stock",
+    )
+
+
+def BIOYOND_PolymerStation_Solid_Vial(
+    name: str,
+    diameter: float = 25.0,
+    height: float = 60.0,
+    max_volume: float = 30000.0,  # 30mL
+    barcode: str = None,
+) -> Bottle:
+    """创建粉末瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Solid_Vial",
+    )
+
+
+def BIOYOND_PolymerStation_Liquid_Vial(
+    name: str,
+    diameter: float = 25.0,
+    height: float = 60.0,
+    max_volume: float = 30000.0,  # 30mL
+    barcode: str = None,
+) -> Bottle:
+    """创建滴定液瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Liquid_Vial",
+    )
+
+
+def BIOYOND_PolymerStation_Solution_Beaker(
+    name: str,
+    diameter: float = 60.0,
+    height: float = 70.0,
+    max_volume: float = 200000.0,  # 200mL
+    barcode: str = None,
+) -> Bottle:
+    """创建溶液烧杯"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Solution_Beaker",
+    )
+
+
+def BIOYOND_PolymerStation_Reagent_Bottle(
+    name: str,
+    diameter: float = 70.0,
+    height: float = 120.0,
+    max_volume: float = 500000.0,  # 500mL
+    barcode: str = None,
+) -> Bottle:
+    """创建试剂瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reagent_Bottle",
+    )
diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py
new file mode 100644
index 00000000..e8c021fd
--- /dev/null
+++ b/unilabos/resources/bioyond/decks.py
@@ -0,0 +1,68 @@
+from pylabrobot.resources import Deck, Coordinate, Rotation
+
+from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
+
+
+class BIOYOND_PolymerReactionStation_Deck(Deck):
+    def __init__(
+        self, 
+        name: str = "PolymerReactionStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 1080.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
+            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
+            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+        }
+        self.warehouse_locations = {
+            "堆栈1": Coordinate(0.0, 430.0, 0.0),
+            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
+            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+        }
+        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+
+class BIOYOND_PolymerPreparationStation_Deck(Deck):
+    def __init__(
+        self, 
+        name: str = "PolymerPreparationStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 1080.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
+            "io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
+            "solutions": bioyond_warehouse_1x4x2("warehouse_solutions"),
+            "liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("warehouse_liquid_and_lid_handling"),
+        }
+        self.warehouse_locations = {
+            "io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
+            "io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
+            "solutions": Coordinate(1915.0, 900.0, 0.0),
+            "liquid_and_lid_handling": Coordinate(1330.0, 490.0, 0.0),
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py
new file mode 100644
index 00000000..507b1f2f
--- /dev/null
+++ b/unilabos/resources/bioyond/warehouses.py
@@ -0,0 +1,54 @@
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
+
+
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=4,
+        num_items_z=4,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
+    """创建BioYond 4x1x2仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=4,
+        num_items_z=2,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        removed_positions=None
+    )
+
+
+def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
+    """创建BioYond开关盖加液模块台面"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=5,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        removed_positions=None
+    )
\ No newline at end of file
diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py
index 3a8d2e46..889c92e6 100644
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -1,88 +1,125 @@
 import importlib
 import inspect
 import json
-from typing import Union, Any, Dict
-import numpy as np
+import traceback
+from typing import Union, Any, Dict, List
 import networkx as nx
+from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource
 
 from unilabos.resources.container import RegularContainer
-from unilabos.ros.msgs.message_converter import convert_from_ros_msg_with_mapping, convert_to_ros_msg
+from unilabos.ros.msgs.message_converter import convert_to_ros_msg
+from unilabos.ros.nodes.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+)
+from unilabos.utils.banner_print import print_status
 
 try:
     from pylabrobot.resources.resource import Resource as ResourcePLR
 except ImportError:
     pass
-from typing import Union, get_origin, get_args
+from typing import get_origin
 
 physical_setup_graph: nx.Graph = None
 
 
-def canonicalize_nodes_data(data: dict, parent_relation: dict = {}) -> dict:
-    for node in data.get("nodes", []):
+def canonicalize_nodes_data(
+    nodes: List[Dict[str, Any]], parent_relation: Dict[str, List[str]] = {}
+) -> ResourceTreeSet:
+    """
+    标准化节点数据，使用 ResourceInstanceDictFlatten 进行规范化并创建 ResourceTreeSet
+
+    Args:
+        nodes: 原始节点列表
+        parent_relation: 父子关系映射 {parent_id: [child_id1, child_id2, ...]}
+
+    Returns:
+        ResourceTreeSet: 标准化后的资源树集合
+    """
+    print_status(f"{len(nodes)} Resources loaded:", "info")
+
+    # 第一步：基本预处理（处理graphml的label字段）
+    for node in nodes:
         if node.get("label") is not None:
-            id = node.pop("label")
-            node["id"] = node["name"] = id
-        if "id" not in node:
-            node["id"] = node.get("name", "NaN")
-        if "name" not in node:
-            node["name"] = node["id"]
-        if node.get("position") is None:
-            node["position"] = {
-                "x": node.pop("x", 0.0),
-                "y": node.pop("y", 0.0),
-                "z": node.pop("z", 0.0),
-            }
-        if node.get("config") is None:
-            node["config"] = {}
-            node["data"] = {}
-            for k in list(node.keys()):
-                if k not in [
-                    "id",
-                    "name",
-                    "class",
-                    "type",
-                    "position",
-                    "children",
-                    "parent",
-                    "config",
-                    "data",
-                ]:
-                    if k in ["chemical", "current_volume"]:
-                        if node["data"].get("liquids") is None:
-                            node["data"]["liquids"] = [{}]
-                    if k == "chemical":
-                        node["data"]["liquids"][0]["liquid_name"] = node.pop(k)
-                    elif k == "current_volume":
-                        node["data"]["liquids"][0]["liquid_volume"] = node.pop(k)
-                    elif k == "max_volume":
-                        node["data"]["max_volume"] = node.pop(k)
-                    elif k == "url":
-                        node.pop(k)
-                    else:
-                        node["config"][k] = node.pop(k)
-        if "class" not in node:
-            node["class"] = None
-        if "type" not in node:
-            node["type"] = (
-                "container"
-                if node["class"] is None
-                else "device" if node["class"] not in ["container", "plate"] else node["class"]
-            )
-        if "children" not in node:
-            node["children"] = []
+            node_id = node.pop("label")
+            node["id"] = node["name"] = node_id
 
-    id2idx = {node_data["id"]: idx for idx, node_data in enumerate(data["nodes"])}
+    # 第二步：处理parent_relation
+    id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
-        data["nodes"][id2idx[parent]]["children"] = children
-        for child in children:
-            data["nodes"][id2idx[child]]["parent"] = parent
-    return data
+        if parent in id2idx:
+            nodes[id2idx[parent]]["children"] = children
+            for child in children:
+                if child in id2idx:
+                    nodes[id2idx[child]]["parent"] = parent
+
+    # 第三步：使用 ResourceInstanceDictFlatten 标准化每个节点
+    standardized_instances = []
+    known_nodes: Dict[str, ResourceDictInstance] = {}  # {node_id: ResourceDictInstance}
+    uuid_to_instance: Dict[str, ResourceDictInstance] = {}  # {uuid: ResourceDictInstance}
+
+    for node in nodes:
+        try:
+            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # 使用标准化方法
+            resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
+            known_nodes[node["id"]] = resource_instance
+            uuid_to_instance[resource_instance.res_content.uuid] = resource_instance
+            standardized_instances.append(resource_instance)
+        except Exception as e:
+            print_status(f"Failed to standardize node {node.get('id', 'unknown')}:\n{traceback.format_exc()}", "error")
+            continue
+
+    # 第四步：建立 parent 和 children 关系
+    for node in nodes:
+        node_id = node["id"]
+        if node_id not in known_nodes:
+            continue
+
+        current_instance = known_nodes[node_id]
+
+        # 优先使用 parent_uuid 进行匹配，如果不存在则使用 parent
+        parent_uuid = node.get("parent_uuid")
+        parent_id = node.get("parent")
+        parent_instance = None
+
+        # 优先用 parent_uuid 匹配
+        if parent_uuid and parent_uuid in uuid_to_instance:
+            parent_instance = uuid_to_instance[parent_uuid]
+        # 否则用 parent_id 匹配
+        elif parent_id and parent_id in known_nodes:
+            parent_instance = known_nodes[parent_id]
+
+        # 设置 parent 引用
+        if parent_instance:
+            current_instance.res_content.parent = parent_instance.res_content
+            # 将当前节点添加到父节点的 children 列表
+            parent_instance.children.append(current_instance)
+
+    # 第五步：创建 ResourceTreeSet
+    resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
+    return resource_tree_set
 
 
-def canonicalize_links_ports(data: dict) -> dict:
+def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: ResourceTreeSet) -> List[Dict[str, Any]]:
+    """
+    标准化边/连接的端口信息
+
+    Args:
+        links: 原始连接列表
+        resource_tree_set: 资源树集合，用于获取节点的UUID信息
+
+    Returns:
+        标准化后的连接列表
+    """
+    # 构建 id 到 uuid 的映射
+    id_to_uuid: Dict[str, str] = {}
+    for node in resource_tree_set.all_nodes:
+        id_to_uuid[node.res_content.id] = node.res_content.uuid
+
     # 第一遍处理：将字符串类型的port转换为字典格式
-    for link in data.get("links", []):
+    for link in links:
         port = link.get("port")
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
@@ -106,11 +143,11 @@ def canonicalize_links_ports(data: dict) -> dict:
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in data.get("links", [])}
+    edges = {(link["source"], link["target"]): link["port"] for link in links}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
-    for i, link in enumerate(data.get("links", [])):
+    for i, link in enumerate(links):
         s, t = link["source"], link["target"]
         current_port = link["port"]
         if current_port.get(t) is None:
@@ -126,9 +163,22 @@ def canonicalize_links_ports(data: dict) -> dict:
                 # 若不存在反向边，初始化为空结构
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
-    data["links"] = [link for i, link in enumerate(data.get("links", [])) if i not in delete_reverses]
+    standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
 
-    return data
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in standardized_links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
+    return standardized_links
 
 
 def handle_communications(G: nx.Graph):
@@ -150,18 +200,43 @@ def handle_communications(G: nx.Graph):
             G.nodes[device]["config"]["io_device_port"] = int(edata["port"][device_comm])
 
 
-def read_node_link_json(json_info: Union[str, Dict[str, Any]]) -> tuple[nx.Graph, dict]:
+def read_node_link_json(
+    json_info: Union[str, Dict[str, Any]],
+) -> tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+    """
+    读取节点-边的JSON数据并构建图
+
+    Args:
+        json_info: JSON文件路径或字典数据
+
+    Returns:
+        tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+            返回NetworkX图对象、资源树集合和标准化后的连接列表
+    """
     global physical_setup_graph
     if isinstance(json_info, str):
         data = json.load(open(json_info, encoding="utf-8"))
     else:
         data = json_info
-    data = canonicalize_nodes_data(data)
-    data = canonicalize_links_ports(data)
 
-    physical_setup_graph = nx.node_link_graph(data, multigraph=False)  # edges="links" 3.6 warning
+    # 标准化节点数据并创建 ResourceTreeSet
+    nodes = data.get("nodes", [])
+    resource_tree_set = canonicalize_nodes_data(nodes)
+
+    # 标准化边数据
+    links = data.get("links", [])
+    standardized_links = canonicalize_links_ports(links, resource_tree_set)
+
+    # 构建 NetworkX 图（需要转换回 dict 格式）
+    # 从 ResourceTreeSet 获取所有节点
+    graph_data = {
+        "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
+        "links": standardized_links,
+    }
+    physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False)
     handle_communications(physical_setup_graph)
-    return physical_setup_graph, data
+
+    return physical_setup_graph, resource_tree_set, standardized_links
 
 
 def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]:
@@ -184,7 +259,17 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
     return data
 
 
-def read_graphml(graphml_file):
+def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+    """
+    读取GraphML文件并构建图
+
+    Args:
+        graphml_file: GraphML文件路径
+
+    Returns:
+        tuple[nx.Graph, ResourceTreeSet, List[Dict[str, Any]]]:
+            返回NetworkX图对象、资源树集合和标准化后的连接列表
+    """
     global physical_setup_graph
 
     G = nx.read_graphml(graphml_file)
@@ -201,12 +286,25 @@ def read_graphml(graphml_file):
 
     G2 = nx.relabel_nodes(G, mapping)
     data = nx.node_link_data(G2)
-    data = canonicalize_nodes_data(data, parent_relation=parent_relation)
-    data = canonicalize_links_ports(data)
 
-    physical_setup_graph = nx.node_link_graph(data, edges="links", multigraph=False)  # edges="links" 3.6 warning
+    # 标准化节点数据并创建 ResourceTreeSet
+    nodes = data.get("nodes", [])
+    resource_tree_set = canonicalize_nodes_data(nodes, parent_relation=parent_relation)
+
+    # 标准化边数据
+    links = data.get("links", [])
+    standardized_links = canonicalize_links_ports(links, resource_tree_set)
+
+    # 构建 NetworkX 图（需要转换回 dict 格式）
+    # 从 ResourceTreeSet 获取所有节点
+    graph_data = {
+        "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
+        "links": standardized_links,
+    }
+    physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
     handle_communications(physical_setup_graph)
-    return physical_setup_graph, data
+
+    return physical_setup_graph, resource_tree_set, standardized_links
 
 
 def dict_from_graph(graph: nx.Graph) -> dict:
@@ -218,15 +316,17 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
     id_list = [node["id"] for node in nodes_list]
+    is_root = {node["id"]: True for node in nodes_list}
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
         node["children"] = [nodes[child_id] for child_id in node.get("children", [])]
+        for child_id in node.get("children", []):
+            if child_id in is_root:
+                is_root[child_id] = False
 
     # 找到根节点并返回
-    root_nodes = [
-        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or node.get("parent", node.get("parent_name")) not in id_list
-    ]
+    root_nodes = [node for node in nodes_list if is_root.get(node["id"], False) or len(nodes_list) == 1]
 
     # 如果存在多个根节点，返回所有根节点
     return root_nodes
@@ -235,6 +335,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
 def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
+    is_root = {node["id"]: True for node in nodes_list}
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
@@ -243,15 +344,14 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
             for child_id in node.get("children", [])
             if nodes[child_id].get("type") == "device" or not devices_only
         }
-        if len(node["children"]) > 0 and node["type"].lower() == "device" and devices_only:
+        for child_id in node.get("children", []):
+            if child_id in is_root:
+                is_root[child_id] = False
+        if len(node["children"]) > 0 and node["type"].lower() == "device":
             node["config"]["children"] = node["children"]
 
     # 找到根节点并返回
-    root_nodes = {
-        node["id"]: node
-        for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
-    }
+    root_nodes = {node["id"]: node for node in nodes_list if is_root.get(node["id"], False) or len(nodes_list) == 1}
 
     # 如果存在多个根节点，返回所有根节点
     return root_nodes
@@ -326,8 +426,9 @@ def nested_dict_to_list(nested_dict: dict) -> list[dict]:  # FIXME 是tree？
 
     return result
 
+
 def convert_resources_to_type(
-    resources_list: list[dict], resource_type: type, *, plr_model: bool = False
+    resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False
 ) -> Union[list[dict], dict, None, "ResourcePLR"]:
     """
     Convert resources to a given type (PyLabRobot or NestedDict) from flattened list of dictionaries.
@@ -358,7 +459,9 @@ def convert_resources_to_type(
         return None
 
 
-def convert_resources_from_type(resources_list, resource_type: type) -> Union[list[dict], dict, None, "ResourcePLR"]:
+def convert_resources_from_type(
+    resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False
+) -> Union[list[dict], dict, None, "ResourcePLR"]:
     """
     Convert resources from a given type (PyLabRobot or NestedDict) to flattened list of dictionaries.
 
@@ -374,11 +477,11 @@ def convert_resources_from_type(resources_list, resource_type: type) -> Union[li
     elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR):
         resources_tree = [resource_plr_to_ulab(resources_list)]
         return tree_to_list(resources_tree)
-    elif isinstance(resource_type, list) :
+    elif isinstance(resource_type, list):
         if all((get_origin(t) is Union) for t in resource_type):
             resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
             return tree_to_list(resources_tree)
-        elif all(issubclass(t, ResourcePLR) for t in resource_type):
+        elif is_plr or all(issubclass(t, ResourcePLR) for t in resource_type):
             resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
             return tree_to_list(resources_tree)
     else:
@@ -421,6 +524,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     d = resource_ulab_to_plr_inner(resource)
     """无法通过Resource进行反序列化，例如TipSpot必须内部序列化好，直接用TipSpot序列化会多参数，导致出错"""
     from pylabrobot.utils.object_parsing import find_subclass
+
     sub_cls = find_subclass(d["type"], ResourcePLR)
     spect = inspect.signature(sub_cls)
     if "category" not in spect.parameters:
@@ -430,7 +534,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     return resource_plr
 
 
-def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
+def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
     def replace_plr_type_to_ulab(source: str):
         replace_info = {
             "plate": "plate",
@@ -445,12 +549,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
         else:
             print("转换pylabrobot的时候，出现未知类型", source)
             return "container"
-    def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
+
+    def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
         r = {
             "id": d["name"],
             "name": d["name"],
             "sample_id": None,
-            "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
+            "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]] if child else [],
             "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
             "type": replace_plr_type_to_ulab(d.get("category")),  # FIXME plr自带的type是python class name
             "class": d.get("class", ""),
@@ -463,14 +568,114 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
             "data": all_states[d["name"]],
         }
         return r
+
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
-    r = resource_plr_to_ulab_inner(d, all_states)
+    r = resource_plr_to_ulab_inner(d, all_states, with_children)
 
     return r
 
 
-def initialize_resource(resource_config: dict) -> list[dict]:
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
+    """
+    将 bioyond 物料格式转换为 ulab 物料格式
+
+    Args:
+        bioyond_materials: bioyond 系统的物料查询结果列表
+        type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
+        location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
+
+    Returns:
+        pylabrobot 格式的物料列表
+    """
+    plr_materials = []
+
+    for material in bioyond_materials:
+        className = (
+            type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
+        )
+
+        plr_material: ResourcePLR = initialize_resource(
+            {"name": material["name"], "class": className}, resource_type=ResourcePLR
+        )
+        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
+
+        # 处理子物料（detail）
+        if material.get("detail") and len(material["detail"]) > 0:
+            child_ids = []
+            for detail in material["detail"]:
+                number = (
+                    (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
+                    + (detail.get("x", 0) - 1) * plr_material.num_items_x
+                    + (detail.get("y", 0) - 1)
+                )
+                bottle = plr_material[number]
+                if detail["name"] in type_mapping:
+                    # plr_material.unassign_child_resource(bottle)
+                    plr_material.sites[number] = None
+                    plr_material[number] = initialize_resource(
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
+                    )
+                else:
+                    bottle.tracker.liquids = [
+                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
+                    ]
+                bottle.code = detail.get("code", "")
+        else:
+            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            bottle.tracker.liquids = [
+                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+            ]
+
+        plr_materials.append(plr_material)
+
+        if deck and hasattr(deck, "warehouses"):
+            for loc in material.get("locations", []):
+                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
+                    warehouse = deck.warehouses[loc["whName"]]
+                    idx = (
+                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
+                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
+                        + (loc.get("z", 0) - 1)
+                    )
+                    if 0 <= idx < warehouse.capacity:
+                        if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
+                            warehouse[idx] = plr_material
+
+    return plr_materials
+
+
+def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
+    bioyond_materials = []
+    for plr_material in plr_materials:
+        material = {
+            "name": plr_material.name,
+            "typeName": plr_material.__class__.__name__,
+            "code": plr_material.code,
+            "quantity": 0,
+            "detail": [],
+            "locations": [],
+        }
+        if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
+            for idx in range(plr_material.capacity):
+                bottle = plr_material[idx]
+                detail = {
+                    "x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
+                    "y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
+                    "z": (idx % plr_material.num_items_x) + 1,
+                    "code": bottle.code if hasattr(bottle, "code") else "",
+                    "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                }
+                material["detail"].append(detail)
+            material["quantity"] = 1.0
+        else:
+            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
+        bioyond_materials.append(material)
+    return bioyond_materials
+
+
+def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
     """Initializes a resource based on its configuration.
 
     If the config is detailed, then do nothing;
@@ -483,6 +688,7 @@ def initialize_resource(resource_config: dict) -> list[dict]:
         None
     """
     from unilabos.registry.registry import lab_registry
+
     resource_class_config = resource_config.get("class", None)
     if resource_class_config is None:
         return [resource_config]
@@ -502,14 +708,19 @@ def initialize_resource(resource_config: dict) -> list[dict]:
 
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
-            r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
-            # r = resource_plr_to_ulab(resource_plr=resource_plr)
-            if resource_config.get("position") is not None:
-                r["position"] = resource_config["position"]
-            r = tree_to_list([r])
+            if resource_type != ResourcePLR:
+                r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
+                # r = resource_plr_to_ulab(resource_plr=resource_plr)
+                if resource_config.get("position") is not None:
+                    r["position"] = resource_config["position"]
+                r = tree_to_list([r])
+            else:
+                r = resource_plr
         elif resource_class_config["type"] == "unilabos":
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
-            res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})
+            res_instance.ulr_resource = convert_to_ros_msg(
+                Resource, {k: v for k, v in resource_config.items() if k != "class"}
+            )
             r = [res_instance.get_ulr_resource_as_dict()]
         elif isinstance(RESOURCE, dict):
             r = [RESOURCE.copy()]
diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py
new file mode 100644
index 00000000..6d5c2980
--- /dev/null
+++ b/unilabos/resources/itemized_carrier.py
@@ -0,0 +1,356 @@
+"""
+自动化液体处理工作站物料类定义 - 简化版
+Automated Liquid Handling Station Resource Classes - Simplified Version
+"""
+
+from __future__ import annotations
+
+from typing import Dict, List, Optional, TypeVar, Union, Sequence, Tuple
+
+import pylabrobot
+
+from pylabrobot.resources import Resource as ResourcePLR
+from pylabrobot.resources import Well, ResourceHolder
+from pylabrobot.resources.coordinate import Coordinate
+
+
+LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+
+
+class Bottle(Well):
+    """瓶子类 - 简化版，不追踪瓶盖"""
+
+    def __init__(
+        self,
+        name: str,
+        diameter: float,
+        height: float,
+        max_volume: float,
+        size_x: float = 0.0,
+        size_y: float = 0.0,
+        size_z: float = 0.0,
+        barcode: Optional[str] = "",
+        category: str = "container",
+        model: Optional[str] = None,
+    ):
+        super().__init__(
+            name=name,
+            size_x=diameter,
+            size_y=diameter,
+            size_z=height,
+            max_volume=max_volume,
+            category=category,
+            model=model,
+            bottom_type="flat",
+            cross_section_type="circle"
+        )
+        self.diameter = diameter
+        self.height = height
+        self.barcode = barcode
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "diameter": self.diameter,
+            "height": self.height,
+            "barcode": self.barcode,
+        }
+
+T = TypeVar("T", bound=ResourceHolder)
+
+S = TypeVar("S", bound=ResourceHolder)
+
+
+class ItemizedCarrier(ResourcePLR):
+  """Base class for all carriers."""
+
+  def __init__(
+    self,
+    name: str,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    num_items_x: int = 0,
+    num_items_y: int = 0,
+    num_items_z: int = 0,
+    sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
+    category: Optional[str] = "carrier",
+    model: Optional[str] = None,
+  ):
+    super().__init__(
+      name=name,
+      size_x=size_x,
+      size_y=size_y,
+      size_z=size_z,
+      category=category,
+      model=model,
+    )
+    self.num_items = len(sites)
+    self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
+    if isinstance(sites, dict):
+      sites = sites or {}
+      self.sites: List[Optional[ResourcePLR]] = list(sites.values())
+      self._ordering = sites
+      self.child_locations: Dict[str, Coordinate] = {}
+      self.child_size: Dict[str, dict] = {}
+      for spot, resource in sites.items():
+        if resource is not None and getattr(resource, "location", None) is None:
+          raise ValueError(f"resource {resource} has no location")
+        if resource is not None:
+          self.child_locations[spot] = resource.location
+          self.child_size[spot] = {"width": resource._size_x, "height": resource._size_y, "depth": resource._size_z}
+        else:
+          self.child_locations[spot] = Coordinate.zero()
+          self.child_size[spot] = {"width": 0, "height": 0, "depth": 0}
+    elif isinstance(sites, list):
+      # deserialize时走这里；还需要根据 self.sites 索引children
+      self.child_locations = {site["label"]: Coordinate(**site["position"]) for site in sites}
+      self.child_size = {site["label"]: site["size"] for site in sites}
+      self.sites = [site["occupied_by"] for site in sites]
+      self._ordering = {site["label"]: site["position"] for site in sites}
+    else:
+      print("sites:", sites)
+
+  @property
+  def capacity(self):
+    """The number of sites on this carrier."""
+    return len(self.sites)
+
+  def __len__(self) -> int:
+    """Return the number of sites on this carrier."""
+    return len(self.sites)
+
+  def assign_child_resource(
+    self,
+    resource: ResourcePLR,
+    location: Optional[Coordinate],
+    reassign: bool = True,
+    spot: Optional[int] = None,
+  ):
+    idx = spot
+    # 如果只给 location，根据坐标和 deserialize 后的 self.sites（持有names）来寻找 resource 该摆放的位置
+    if spot is not None:
+      idx = spot
+    else:
+      for i, site in enumerate(self.sites):
+        site_location = list(self.child_locations.values())[i]
+        if type(site) == str and site == resource.name:
+          idx = i
+          break
+        if site_location == location:
+          idx = i
+          break
+        
+    if not reassign and self.sites[idx] is not None:
+      raise ValueError(f"a site with index {idx} already exists")
+    super().assign_child_resource(resource, location=location, reassign=reassign)
+    self.sites[idx] = resource
+
+  def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
+    if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
+      raise ValueError(f"spot {spot} already has a resource, {resource}")
+    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
+
+  def unassign_child_resource(self, resource: ResourcePLR):
+    found = False
+    for spot, res in enumerate(self.sites):
+      if res == resource:
+        self.sites[spot] = None
+        found = True
+        break
+    if not found:
+      raise ValueError(f"Resource {resource} is not assigned to this carrier")
+    if hasattr(resource, "unassign"):
+      resource.unassign()
+
+  def __getitem__(
+    self,
+    identifier: Union[str, int, Sequence[int], Sequence[str], slice, range],
+  ) -> Union[List[T], T]:
+    """Get the items with the given identifier.
+
+    This is a convenience method for getting the items with the given identifier. It is equivalent
+    to :meth:`get_items`, but adds support for slicing and supports single items in the same
+    functional call. Note that the return type will always be a list, even if a single item is
+    requested.
+
+    Examples:
+      Getting the items with identifiers "A1" through "E1":
+
+        >>> items["A1:E1"]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting the items with identifiers 0 through 4 (note that this is the same as above):
+
+        >>> items[range(5)]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting items with a slice (note that this is the same as above):
+
+        >>> items[0:5]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting a single item:
+
+        >>> items[0]
+
+        [<Item A1>]
+    """
+
+    if isinstance(identifier, str):
+      if ":" in identifier:  # multiple # TODO: deprecate this, use `"A1":"E1"` instead (slice)
+        return self.get_items(identifier)
+
+      return self.get_item(identifier)  # single
+
+    if isinstance(identifier, int):
+      return self.get_item(identifier)
+
+    if isinstance(identifier, (slice, range)):
+      start, stop = identifier.start, identifier.stop
+      if isinstance(identifier.start, str):
+        start = list(self._ordering.keys()).index(identifier.start)
+      elif identifier.start is None:
+        start = 0
+      if isinstance(identifier.stop, str):
+        stop = list(self._ordering.keys()).index(identifier.stop)
+      elif identifier.stop is None:
+        stop = self.num_items
+      identifier = list(range(start, stop, identifier.step or 1))
+      return self.get_items(identifier)
+
+    if isinstance(identifier, (list, tuple)):
+      return self.get_items(identifier)
+
+    raise TypeError(f"Invalid identifier type: {type(identifier)}")
+
+  def get_item(self, identifier: Union[str, int, Tuple[int, int]]) -> T:
+    """Get the item with the given identifier.
+
+    Args:
+      identifier: The identifier of the item. Either a string, an integer, or a tuple. If an
+      integer, it is the index of the item in the list of items (counted from 0, top to bottom, left
+      to right).  If a string, it uses transposed MS Excel style notation, e.g. "A1" for the first
+      item, "B1" for the item below that, etc. If a tuple, it is (row, column).
+
+    Raises:
+      IndexError: If the identifier is out of range. The range is 0 to self.num_items-1 (inclusive).
+    """
+
+    if isinstance(identifier, tuple):
+      row, column = identifier
+      identifier = LETTERS[row] + str(column + 1)  # standard transposed-Excel style notation
+    if isinstance(identifier, str):
+      try:
+        identifier = list(self._ordering.keys()).index(identifier)
+      except ValueError as e:
+        raise IndexError(
+          f"Item with identifier '{identifier}' does not exist on " f"resource '{self.name}'."
+        ) from e
+
+    if not 0 <= identifier < self.capacity:
+      raise IndexError(
+        f"Item with identifier '{identifier}' does not exist on " f"resource '{self.name}'."
+      )
+
+    # Cast child to item type. Children will always be `T`, but the type checker doesn't know that.
+    return self.sites[identifier]
+
+  def get_items(self, identifiers: Union[str, Sequence[int], Sequence[str]]) -> List[T]:
+    """Get the items with the given identifier.
+
+    Args:
+      identifier: Deprecated. Use `identifiers` instead. # TODO(deprecate-ordered-items)
+      identifiers: The identifiers of the items. Either a string range or a list of integers. If a
+        string, it uses transposed MS Excel style notation. Regions of items can be specified using
+        a colon, e.g. "A1:H1" for the first column. If a list of integers, it is the indices of the
+        items in the list of items (counted from 0, top to bottom, left to right).
+
+    Examples:
+      Getting the items with identifiers "A1" through "E1":
+
+        >>> items.get_items("A1:E1")
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting the items with identifiers 0 through 4:
+
+        >>> items.get_items(range(5))
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+    """
+
+    if isinstance(identifiers, str):
+      identifiers = pylabrobot.utils.expand_string_range(identifiers)
+    return [self.get_item(i) for i in identifiers]
+
+  def __setitem__(self, idx: Union[int, str], resource: Optional[ResourcePLR]):
+    """Assign a resource to this carrier."""
+    if resource is None:  # setting to None
+      assigned_resource = self[idx]
+      if assigned_resource is not None:
+        self.unassign_child_resource(assigned_resource)
+    else:
+      idx = list(self._ordering.keys()).index(idx) if isinstance(idx, str) else idx
+      self.assign_resource_to_site(resource, spot=idx)
+
+  def __delitem__(self, idx: int):
+    """Unassign a resource from this carrier."""
+    assigned_resource = self[idx]
+    if assigned_resource is not None:
+      self.unassign_child_resource(assigned_resource)
+
+  def get_resources(self) -> List[ResourcePLR]:
+    """Get all resources assigned to this carrier."""
+    return [resource for resource in self.sites.values() if resource is not None]
+
+  def __eq__(self, other):
+    return super().__eq__(other) and self.sites == other.sites
+
+  def get_free_sites(self) -> List[int]:
+    return [spot for spot, resource in self.sites.items() if resource is None]
+
+  def serialize(self):
+    return {
+      **super().serialize(),
+      "num_items_x": self.num_items_x,
+      "num_items_y": self.num_items_y,
+      "num_items_z": self.num_items_z,
+      "sites": [{
+        "label": str(identifier),
+        "visible": True if self[identifier] is not None else False,
+        "occupied_by": self[identifier].name 
+                        if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else 
+                        self[identifier] if isinstance(self[identifier], str) else None,
+        "position": {"x": location.x, "y": location.y, "z": location.z},
+        "size": self.child_size[identifier],
+        "content_type": ["bottle", "container", "tube", "bottle_carrier", "tip_rack"]
+      } for identifier, location in self.child_locations.items()]
+    }
+
+
+class BottleCarrier(ItemizedCarrier):
+    """瓶载架 - 直接继承自 TubeCarrier"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
+        category: str = "bottle_carrier",
+        model: Optional[str] = None,
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            sites=sites,
+            category=category,
+            model=model,
+        )
diff --git a/unilabos/resources/plr_additional_res_reg.py b/unilabos/resources/plr_additional_res_reg.py
index 52ad3536..11532e72 100644
--- a/unilabos/resources/plr_additional_res_reg.py
+++ b/unilabos/resources/plr_additional_res_reg.py
@@ -6,4 +6,6 @@ def register():
     # noinspection PyUnresolvedReferences
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
     # noinspection PyUnresolvedReferences
-    from unilabos.ros.nodes.presets.workstation import WorkStationContainer
+    from unilabos.devices.workstation.workstation_base import WorkStationContainer
+    
+    from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py
new file mode 100644
index 00000000..775c55aa
--- /dev/null
+++ b/unilabos/resources/warehouse.py
@@ -0,0 +1,104 @@
+from typing import Dict, Optional, List, Union
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
+
+from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
+
+
+def warehouse_factory(
+    name: str,
+    num_items_x: int = 4,
+    num_items_y: int = 1,
+    num_items_z: int = 4,
+    dx: float = 137.0,
+    dy: float = 96.0,
+    dz: float = 120.0,
+    item_dx: float = 10.0,
+    item_dy: float = 10.0,
+    item_dz: float = 10.0,
+    removed_positions: Optional[List[int]] = None,
+    empty: bool = False,
+    category: str = "warehouse",
+    model: Optional[str] = None,
+):
+    # 创建16个板架位 (4层 x 4位置)
+    locations = []
+    for layer in range(num_items_z):  # 4层
+        for row in range(num_items_y):  # 4行
+            for col in range(num_items_x):  # 1列 (每层4x1=4个位置)
+                # 计算位置
+                x = dx + col * item_dx
+                y = dy + (num_items_y - row - 1) * item_dy
+                z = dz + (num_items_z - layer - 1) * item_dz
+                locations.append(Coordinate(x, y, z))
+    if removed_positions:
+        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
+    sites = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=locations,
+        resource_size_x=127.0,
+        resource_size_y=86.0,
+        name_prefix=name,
+    )
+    
+    return WareHouse(
+        name=name,
+        size_x=dx + item_dx * num_items_x,
+        size_y=dy + item_dy * num_items_y,
+        size_z=dz + item_dz * num_items_z,
+        num_items_x = num_items_x,
+        num_items_y = num_items_y,
+        num_items_z = num_items_z,
+        # ordered_items=ordered_items,
+        # ordering=ordering,
+        sites=sites,
+        category=category,
+        model=model,
+    )
+
+
+class WareHouse(ItemizedCarrier):
+    """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        num_items_x: int,
+        num_items_y: int,
+        num_items_z: int,
+        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
+        category: str = "warehouse",
+        model: Optional[str] = None,
+    ):
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            # ordered_items=ordered_items,
+            # ordering=ordering,
+            num_items_x=num_items_x,
+            num_items_y=num_items_y,
+            num_items_z=num_items_z,
+            sites=sites,
+            category=category,
+            model=model,
+        )
+
+    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
+        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
+            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
+
+        site_index = layer * 4 + row * 1 + col
+        return self.sites[site_index]
+
+    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
+        site = self.get_site_by_layer_position(row, col, layer)
+        site.assign_child_resource(rack)
+
+    def get_rack_at_position(self, row: int, col: int, layer: int):
+        site = self.get_site_by_layer_position(row, col, layer)
+        return site.resource
\ No newline at end of file
diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py
index e7c6e5d6..b57d30b0 100644
--- a/unilabos/ros/main_slave_run.py
+++ b/unilabos/ros/main_slave_run.py
@@ -1,25 +1,21 @@
-import copy
 import json
-import os
 import threading
 import time
 from typing import Optional, Dict, Any, List
 
 import rclpy
+from unilabos_msgs.srv._serial_command import SerialCommand_Response
+
 from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
-from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, SerialCommand  # type: ignore
+from unilabos_msgs.srv import SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.initialize_device import initialize_device_from_dict
-from unilabos.ros.msgs.message_converter import (
-    convert_to_ros_msg,
-)
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils import logger
 from unilabos.config.config import BasicConfig
@@ -43,9 +39,9 @@ def exit() -> None:
 
 
 def main(
-    devices_config: Dict[str, Any] = {},
-    resources_config: list=[],
-    resources_edge_config: list=[],
+    devices_config: ResourceTreeSet,
+    resources_config: ResourceTreeSet,
+    resources_edge_config: list[dict] = [],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -73,18 +69,22 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+            if resources_config
+            else []
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
-            resources_config,
-            resource_tracker = host_node.resource_tracker,
-            device_id = 'resource_mesh_manager',
+            resources_list,
+            resource_tracker=host_node.resource_tracker,
+            device_id="resource_mesh_manager",
         )
-        joint_republisher = JointRepublisher(
-            'joint_republisher',
-            host_node.resource_tracker
+        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
+        lh_joint_pub = LiquidHandlerJointPublisher(
+            resources_config=resources_list, resource_tracker=host_node.resource_tracker
         )
-        lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config,
-                                                   resource_tracker=host_node.resource_tracker)
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
         executor.add_node(lh_joint_pub)
@@ -97,9 +97,9 @@ def main(
 
 
 def slave(
-    devices_config: Dict[str, Any] = {},
-    resources_config=[],
-    resources_edge_config=[],
+    devices_config: ResourceTreeSet,
+    resources_config: ResourceTreeSet,
+    resources_edge_config: list = [],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -113,11 +113,12 @@ def slave(
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
-    devices_config_copy = copy.deepcopy(devices_config)
-    for device_id, device_config in devices_config.items():
-        d = initialize_device_from_dict(device_id, device_config)
-        if d is None:
-            continue
+    devices_instances = {}
+    for device_config in devices_config.root_nodes:
+        device_id = device_config.res_content.id
+        if device_config.res_content.type != "device":
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            devices_instances[device_id] = d
         # 默认初始化
         # if d is not None and isinstance(d, Node):
         #     executor.add_node(d)
@@ -129,20 +130,17 @@ def slave(
 
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
+
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
-            resources_config,
-            resource_tracker= DeviceNodeResourceTracker(),
-            device_id = 'resource_mesh_manager',
-        )
-        joint_republisher = JointRepublisher(
-            'joint_republisher',
-            DeviceNodeResourceTracker()
+            resources_config,  # type: ignore FIXME
+            resource_tracker=DeviceNodeResourceTracker(),
+            device_id="resource_mesh_manager",
         )
+        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
 
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
-        
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 
@@ -151,25 +149,69 @@ def slave(
         sclient.wait_for_service()
 
         request = SerialCommand.Request()
-        request.command = json.dumps({
-            "machine_name": BasicConfig.machine_name,
-            "type": "slave",
-            "devices_config": devices_config_copy,
-            "registry_config": lab_registry.obtain_registry_device_info()
-        }, ensure_ascii=False, cls=TypeEncoder)
+        request.command = json.dumps(
+            {
+                "machine_name": BasicConfig.machine_name,
+                "type": "slave",
+                "devices_config": devices_config.dump(),
+                "registry_config": lab_registry.obtain_registry_device_info(),
+            },
+            ensure_ascii=False,
+            cls=TypeEncoder,
+        )
         response = sclient.call_async(request).result()
         logger.info(f"Slave node info updated.")
 
-        rclient = n.create_client(ResourceAdd, "/resources/add")
+        # 使用新的 c2s_update_resource_tree 服务
+        rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
         rclient.wait_for_service()
 
-        request = ResourceAdd.Request()
-        request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
-        response = rclient.call_async(request).result()
-        logger.info(f"Slave resource added.")
+        # 序列化 ResourceTreeSet 为 JSON
+        if resources_config:
+            request = SerialCommand.Request()
+            request.command = json.dumps(
+                {
+                    "data": {
+                        "data": resources_config.dump(),
+                        "mount_uuid": "",
+                        "first_add": True,
+                    },
+                    "action": "add",
+                },
+                ensure_ascii=False,
+            )
+            tree_response: SerialCommand_Response = rclient.call_async(request).result()
+            uuid_mapping = json.loads(tree_response.response)
+            # 创建反向映射：new_uuid -> old_uuid
+            reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+            for node in resources_config.root_nodes:
+                if node.res_content.type == "device":
+                    for sub_node in node.children:
+                        # 只有二级子设备
+                        if sub_node.res_content.type != "device":
+                            device_tracker = devices_instances[node.res_content.id].resource_tracker
+                            # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
+                            old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                            if old_uuid:
+                                # 找到旧UUID，使用UUID查找
+                                resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                            else:
+                                # 未找到旧UUID，使用name查找
+                                resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
+                            device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                else:
+                    logger.error("Slave模式不允许新增非设备节点下的物料")
+                    continue
+            if tree_response:
+                logger.info(f"Slave resource tree added. Response: {tree_response.response}")
+            else:
+                logger.warning("Slave resource tree add response is None")
+        else:
+            logger.info("No resources to add.")
 
     while True:
         time.sleep(1)
 
+
 if __name__ == "__main__":
     main()
diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py
index ae8d80ee..e8570d31 100644
--- a/unilabos/ros/msgs/message_converter.py
+++ b/unilabos/ros/msgs/message_converter.py
@@ -51,6 +51,8 @@ SendCmd = msg_converter_manager.get_class("unilabos_msgs.action:SendCmd")
 imsg = msg_converter_manager.get_module("unilabos.messages")
 Point3D = msg_converter_manager.get_class("unilabos.messages:Point3D")
 
+from control_msgs.action import *
+
 # 基本消息类型映射
 _msg_mapping: Dict[Type, Type] = {
     float: Float64,
@@ -193,7 +195,7 @@ _msg_converter_back: Dict[Type, Any] = {
         "children": list(x.children),
         "parent": x.parent if x.parent else None,
         "type": x.type,
-        "class": x.category,
+        "class": "",
         "position": {"x": x.pose.position.x, "y": x.pose.position.y, "z": x.pose.position.z},
         "config": json_or_yaml_loads(x.config or "{}"),
         "data": json_or_yaml_loads(x.data or "{}"),
diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 872bc62e..b62ad2d9 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -1,17 +1,19 @@
 import copy
+import inspect
 import io
 import json
 import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
 
 import rclpy
 import yaml
+from msgcenterpy import ROS2MessageInstance
 from rclpy.node import Node
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
@@ -23,8 +25,6 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
 
 from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import (
-    convert_resources_to_type,
-    convert_resources_from_type,
     resource_ulab_to_plr,
     initialize_resources,
     dict_to_tree,
@@ -34,7 +34,6 @@ from unilabos.resources.graphio import (
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
-    convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
     convert_to_ros_msg_with_mapping,
 )
@@ -48,12 +47,19 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import (
+    DeviceNodeResourceTracker,
+    ResourceTreeSet,
+)
 from unilabos.ros.x.rclpyx import get_event_loop
-from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
+from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
+from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
-from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
+from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
+
+if TYPE_CHECKING:
+    from pylabrobot.resources import Resource as ResourcePLR
 
 T = TypeVar("T")
 
@@ -177,7 +183,9 @@ class PropertyPublisher:
         try:
             self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
         except AttributeError as ex:
-            logger.error(f"创建发布者失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
+            self.node.lab_logger().error(
+                f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
+            )
         self.timer = node.create_timer(self.timer_period, self.publish_property)
         self.__loop = get_event_loop()
         str_msg_type = str(msg_type)[8:-2]
@@ -186,48 +194,48 @@ class PropertyPublisher:
     def get_property(self):
         if asyncio.iscoroutinefunction(self.get_method):
             # 如果是异步函数，运行事件循环并等待结果
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property】获取异步属性: {self.name}")
             loop = self.__loop
             if loop:
                 future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
                 self._value = future.result()
                 return self._value
             else:
-                self.node.lab_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
+                self.node.lab_logger().error(f"【.get_property】事件循环未初始化")
                 return None
         else:
             # 如果是同步函数，直接调用并返回结果
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property】获取同步属性: {self.name}")
             self._value = self.get_method()
             return self._value
 
     async def get_property_async(self):
         try:
             # 获取异步属性值
-            self.node.lab_logger().trace(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
+            self.node.lab_logger().trace(f"【.get_property_async】异步获取属性: {self.name}")
             self._value = await self.get_method()
         except Exception as e:
-            self.node.lab_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
+            self.node.lab_logger().error(f"【.get_property_async】获取异步属性出错: {str(e)}")
 
     def publish_property(self):
         try:
-            self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
+            self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
+                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                self.node.lab_logger().trace(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
+                self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
-            self.node.lab_logger().error(f"【PropertyPublisher.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}")
+            self.node.lab_logger().error(
+                f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
+            )
 
     def change_frequency(self, period):
         # 动态改变定时器频率
         self.timer_period = period
-        self.node.get_logger().info(
-            f"【PropertyPublisher.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒"
-        )
+        self.node.get_logger().info(f"【.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒")
 
         # 重置定时器
         self.timer.cancel()
@@ -248,9 +256,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
     node_name: str
     namespace: str
-    # TODO 要删除，添加时间相关的属性，避免动态添加属性的警告
-    time_spent = 0.0
-    time_remaining = 0.0
+    # 内部共享变量
+    _time_spent = 0.0
+    _time_remaining = 0.0
+    # 是否创建Action
     create_action_server = True
 
     def __init__(
@@ -261,7 +270,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
         print_publish=True,
-        resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
+        resource_tracker: "DeviceNodeResourceTracker" = None,  # type: ignore
     ):
         """
         初始化ROS2设备节点
@@ -312,7 +321,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建动作服务
         if self.create_action_server:
             for action_name, action_value_mapping in self._action_value_mappings.items():
-                if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
+                if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
+                    "UniLabJsonCommand"
+                ):
                     continue
                 self.create_ros_action_server(action_name, action_value_mapping)
 
@@ -324,13 +335,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
             "resource_add": self.create_client(ResourceAdd, "/resources/add"),
-            "resource_get": self.create_client(ResourceGet, "/resources/get"),
+            "resource_get": self.create_client(SerialCommand, "/resources/get"),
             "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
             "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
             "resource_list": self.create_client(ResourceList, "/resources/list"),
+            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"),
         }
 
-        def query_host_name_cb(req, res):
+        def re_register_device(req, res):
             self.register_device()
             self.lab_logger().info("Host要求重新注册当前节点")
             res.response = ""
@@ -379,12 +391,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
                 container_instance = request.resources[0]
                 container_query_dict: dict = resources
-                found_resources = self.resource_tracker.figure_resource({"id": container_query_dict["name"]}, try_mode=True)
+                found_resources = self.resource_tracker.figure_resource(
+                    {"id": container_query_dict["name"]}, try_mode=True
+                )
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
                 else:
-                    assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
+                    assert (
+                        len(found_resources) == 1
+                    ), f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
                     resource = found_resources[0]
                     if isinstance(resource, Resource):
                         regular_container = RegularContainer(resource.id)
@@ -398,10 +414,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         request.resources[0].name = resource["name"]
                         logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
                     else:
-                        logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
-            response = await rclient.call_async(request)
+                        logger.info(
+                            f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}"
+                        )
+            response: ResourceAdd.Response = await rclient.call_async(request)
             # 应该先add_resource了
-            res.response = "OK"
+            final_response = {
+                "created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources],
+                "liquid_input_resources": [],
+            }
+            res.response = json.dumps(final_response)
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
             if hasattr(self.driver_instance, "create_resource"):
                 create_resource_func = getattr(self.driver_instance, "create_resource")
@@ -416,14 +438,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         liquid_volume=LIQUID_VOLUME,
                         slot_on_deck=slot,
                     )
-                    res.response = serialize_result_info("", True, ret)
+                    res.response = get_result_info_str("", True, ret)
                 except Exception as e:
-                    traceback.print_exc()
-                    res.response = serialize_result_info(traceback.format_exc(), False, {})
+                    self.lab_logger().error(
+                        f"运行设备的create_resource出错：{create_resource_func}\n{traceback.format_exc()}"
+                    )
+                    res.response = get_result_info_str(traceback.format_exc(), False, {})
                 return res
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
             if bind_parent_id != self.node_name:
-                resource = self.resource_tracker.figure_resource({"name": bind_parent_id})  # 拿到父节点，进行具体assign等操作
+                resource = self.resource_tracker.figure_resource(
+                    {"name": bind_parent_id}
+                )  # 拿到父节点，进行具体assign等操作
             # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
@@ -438,6 +464,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     # resources.list()
                     resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
                     plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
+
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
                         for liquid_type, liquid_volume, liquid_input_slot in zip(
@@ -445,6 +472,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         ):
                             empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                         plr_instance.set_well_liquids(empty_liquid_info_in)
+                        input_wells_ulr = [
+                            convert_to_ros_msg(
+                                Resource,
+                                resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False),
+                            )
+                            for r in LIQUID_INPUT_SLOT
+                        ]
+                        final_response["liquid_input_resources"] = [
+                            ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr
+                        ]
+                        res.response = json.dumps(final_response)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         other_calling_param["slot"] = int(other_calling_param["slot"])
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
@@ -488,16 +526,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
-            "query_host_name": self.create_service(
+            "re_register_device": self.create_service(
                 SerialCommand,
-                f"/srv{self.namespace}/query_host_name",
-                query_host_name_cb,
+                f"/srv{self.namespace}/re_register_device",
+                re_register_device,
                 callback_group=self.callback_group,
             ),
             "append_resource": self.create_service(
                 SerialCommand,
                 f"/srv{self.namespace}/append_resource",
-                append_resource,
+                append_resource,  # type: ignore
+                callback_group=self.callback_group,
+            ),
+            "s2c_resource_tree": self.create_service(
+                SerialCommand,
+                f"/srv{self.namespace}/s2c_resource_tree",
+                self.s2c_resource_tree,  # type: ignore
                 callback_group=self.callback_group,
             ),
         }
@@ -507,6 +551,208 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
+    async def update_resource(self, resources: List["ResourcePLR"]):
+        r = SerialCommand.Request()
+        tree_set = ResourceTreeSet.from_plr_resources(resources)
+        r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
+        response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
+        try:
+            uuid_maps = json.loads(response.response)
+            self.resource_tracker.loop_update_uuid(resources, uuid_maps)
+        except Exception as e:
+            self.lab_logger().error(f"更新资源uuid失败: {e}")
+            self.lab_logger().error(traceback.format_exc())
+        self.lab_logger().debug(f"资源更新结果: {response}")
+
+    async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
+        """
+        处理资源树更新请求
+
+        支持三种操作：
+        - add: 添加新资源到资源树
+        - update: 更新现有资源
+        - remove: 从资源树中移除资源
+        """
+        try:
+            data = json.loads(req.command)
+            results = []
+
+            for i in data:
+                action = i.get("action")  # remove, add, update
+                resources_uuid: List[str] = i.get("data")  # 资源数据
+                additional_add_params = i.get("additional_add_params", {})  # 额外参数
+                self.lab_logger().info(
+                    f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}"
+                )
+                tree_set = None
+                if action in ["add", "update"]:
+                    response: SerialCommand.Response = await self._resource_clients[
+                        "c2s_update_resource_tree"
+                    ].call_async(
+                        SerialCommand.Request(
+                            command=json.dumps(
+                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                            )
+                        )
+                    )  # type: ignore
+                    raw_nodes = json.loads(response.response)
+                    tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
+                try:
+                    if action == "add":
+                        # 添加资源到资源跟踪器
+                        plr_resources = tree_set.to_plr_resources()
+                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                            self.resource_tracker.add_resource(plr_resource)
+                            parent_uuid = tree.root_node.res_content.parent_uuid
+                            if parent_uuid:
+                                parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+                                if parent_resource is None:
+                                    self.lab_logger().warning(
+                                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                                    )
+                                else:
+                                    try:
+                                        # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                                        additional_params = {}
+                                        site = additional_add_params.get("site", None)
+                                        spec = inspect.signature(parent_resource.assign_child_resource)
+                                        if "spot" in spec.parameters:
+                                            additional_params["spot"] = site
+                                        parent_resource.assign_child_resource(
+                                            plr_resource, location=None, **additional_params
+                                        )
+                                    except Exception as e:
+                                        self.lab_logger().warning(
+                                            f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                                        )
+                        func = getattr(self.driver_instance, "resource_tree_add", None)
+                        if callable(func):
+                            func(plr_resources)
+                            results.append({"success": True, "action": "add"})
+                    elif action == "update":
+                        # 更新资源
+                        plr_resources = tree_set.to_plr_resources()
+                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                            states = plr_resource.serialize_all_state()
+                            original_instance: ResourcePLR = self.resource_tracker.figure_resource(
+                                {"uuid": tree.root_node.res_content.uuid}, try_mode=False
+                            )
+                            original_instance.load_all_state(states)
+                            self.lab_logger().info(
+                                f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
+                            )
+
+                        func = getattr(self.driver_instance, "resource_tree_update", None)
+                        if callable(func):
+                            func(plr_resources)
+                            results.append({"success": True, "action": "update"})
+                    elif action == "remove":
+                        # 移除资源
+                        plr_resources: List[ResourcePLR] = [
+                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
+                        ]
+                        func = getattr(self.driver_instance, "resource_tree_remove", None)
+                        if callable(func):
+                            func(plr_resources)
+                        for plr_resource in plr_resources:
+                            plr_resource.parent.unassign_child_resource(plr_resource)
+                            self.resource_tracker.remove_resource(plr_resource)
+                        results.append({"success": True, "action": "remove"})
+                except Exception as e:
+                    error_msg = f"Error processing {action} operation: {str(e)}"
+                    self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+                    self.lab_logger().error(traceback.format_exc())
+                    results.append({"success": False, "action": action, "error": error_msg})
+
+            # 返回处理结果
+            result_json = {"results": results, "total": len(data)}
+            res.response = json.dumps(result_json, ensure_ascii=False)
+            self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
+
+        except json.JSONDecodeError as e:
+            error_msg = f"Invalid JSON format: {str(e)}"
+            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
+        except Exception as e:
+            error_msg = f"Unexpected error: {str(e)}"
+            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(traceback.format_exc())
+            res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
+
+        return res
+
+    async def transfer_resource_to_another(
+        self,
+        plr_resources: List["ResourcePLR"],
+        target_device_id: str,
+        target_resources: List["ResourcePLR"],
+        sites: List[str],
+    ):
+        # 准备工作
+        uids = []
+        target_uids = []
+        for plr_resource in plr_resources:
+            uid = getattr(plr_resource, "unilabos_uuid", None)
+            if uid is None:
+                raise ValueError(f"来源物料{plr_resource}没有unilabos_uuid属性，无法转运")
+            uids.append(uid)
+        for target_resource in target_resources:
+            uid = getattr(target_resource, "unilabos_uuid", None)
+            if uid is None:
+                raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
+            target_uids.append(uid)
+        srv_address = f"/srv{target_device_id}/s2c_resource_tree"
+        sclient = self.create_client(SerialCommand, srv_address)
+        # 等待服务可用（设置超时）
+        if not sclient.wait_for_service(timeout_sec=5.0):
+            self.lab_logger().error(f"[{self.device_id} Node-Resource] Service {srv_address} not available")
+            raise ValueError(f"[{self.device_id} Node-Resource] Service {srv_address} not available")
+
+        # 先从当前节点移除资源
+        await self.s2c_resource_tree(
+            SerialCommand_Request(
+                command=json.dumps([{"action": "remove", "data": uids}], ensure_ascii=False)  # 只移除父节点
+            ),
+            SerialCommand_Response(),
+        )
+
+        # 通知云端转运资源
+        for plr_resource, target_uid, site in zip(plr_resources, target_uids, sites):
+            tree_set = ResourceTreeSet.from_plr_resources([plr_resource])
+            for root_node in tree_set.root_nodes:
+                root_node.res_content.parent = None
+                root_node.res_content.parent_uuid = target_uid
+            r = SerialCommand.Request()
+            r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+            response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
+            self.lab_logger().info(f"资源云端转运到{target_device_id}结果: {response.response}")
+
+            # 创建请求
+            request = SerialCommand.Request()
+            request.command = json.dumps(
+                [
+                    {
+                        "action": "add",
+                        "data": tree_set.all_nodes_uuid,  # 只添加父节点，子节点会自动添加
+                        "additional_add_params": {"site": site},
+                    }
+                ],
+                ensure_ascii=False,
+            )
+
+            future = sclient.call_async(request)
+            timeout = 30.0
+            start_time = time.time()
+            while not future.done():
+                if time.time() - start_time > timeout:
+                    self.lab_logger().error(
+                        f"[{self.device_id} Node-Resource] Timeout waiting for response from {target_device_id}"
+                    )
+                    return False
+                time.sleep(0.05)
+            self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
+        return None
+
     def register_device(self):
         """向注册表中注册设备信息"""
         topics_info = self._property_publishers.copy()
@@ -635,7 +881,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             execution_success = False
             action_return_value = None
 
-        #####    self.lab_logger().info(f"执行动作: {action_name}")
+            #####    self.lab_logger().info(f"执行动作: {action_name}")
             goal = goal_handle.request
 
             # 从目标消息中提取参数, 并调用对应的方法
@@ -650,7 +896,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             self.lab_logger().info(f"执行序列动作后续步骤: {action}")
                             self.get_real_function(self.driver_instance, action)[0]()
 
-                action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[1]
+                action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[
+                    1
+                ]
             else:
                 ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
 
@@ -661,45 +909,37 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
-                        current_resources = []
-                        # TODO: resource后面需要分组
-                        only_one_resource = False
+                        self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
+
                         try:
-                            if isinstance(action_kwargs[k], list) and len(action_kwargs[k]) > 1:
-                                for i in action_kwargs[k]:
-                                    r = ResourceGet.Request()
-                                    r.id = i["id"]  # splash optional
-                                    r.with_children = True
-                                    response = await self._resource_clients["resource_get"].call_async(r)
-                                    current_resources.extend(response.resources)
-                            else:
-                                only_one_resource = True
-                                r = ResourceGet.Request()
-                                r.id = (
-                                    action_kwargs[k]["id"]
-                                    if v == "unilabos_msgs/Resource"
-                                    else action_kwargs[k][0]["id"]
-                                )
-                                r.with_children = True
-                                response = await self._resource_clients["resource_get"].call_async(r)
-                                current_resources.extend(response.resources)
-                        except Exception:
-                            logger.error(f"资源查询失败，默认使用本地资源")
-                        # 删除对response.resources的检查，因为它总是存在
-                        resources_list = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore  # FIXME
-                        self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
-                        type_hint = action_paramtypes[k]
-                        final_type = get_type_class(type_hint)
-                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
-                        if only_one_resource:
-                            final_resource = convert_resources_to_type(resources_list, final_type)
-                        else:
-                            final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
-                        try:
-                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=True)
+                            # 统一处理单个或多个资源
+                            is_sequence = v != "unilabos_msgs/Resource"
+                            resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
+
+                            # 批量查询资源
+                            queried_resources = []
+                            for resource_data in resource_inputs:
+                                r = SerialCommand.Request()
+                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+                                # 发送请求并等待响应
+                                response: SerialCommand_Response = await self._resource_clients[
+                                    "resource_get"
+                                ].call_async(r)
+                                raw_data = json.loads(response.response)
+
+                                # 转换为 PLR 资源
+                                tree_set = ResourceTreeSet.from_raw_list(raw_data)
+                                plr_resource = tree_set.to_plr_resources()[0]
+                                queried_resources.append(plr_resource)
+
+                            self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
+
+                            # 通过资源跟踪器获取本地实例
+                            final_resources = queried_resources if is_sequence else queried_resources[0]
+                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
+
                         except Exception as e:
-                            self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
+                            self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
                             error_skip = True
                             execution_error = traceback.format_exc()
                             break
@@ -722,8 +962,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as e:
                                 execution_error = traceback.format_exc()
-                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
-                                error(traceback.format_exc())
+                                error(
+                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
+                                )
 
                         future.add_done_callback(_handle_future_exception)
                     except Exception as e:
@@ -731,7 +972,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         execution_success = False
                         self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                 else:
-                #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
+                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **action_kwargs)
 
                     def _handle_future_exception(fut):
@@ -740,7 +981,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             action_return_value = fut.result()
                             execution_success = True
                         except Exception as e:
-                            error(f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
+                            execution_error = traceback.format_exc()
+                            error(
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
+                            )
 
                     future.add_done_callback(_handle_future_exception)
 
@@ -755,8 +999,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     goal_handle.canceled()
                     return action_type.Result()
 
-                self.time_spent = time.time() - time_start
-                self.time_remaining = time_overall - self.time_spent
+                self._time_spent = time.time() - time_start
+                self._time_remaining = time_overall - self._time_spent
 
                 # 发布反馈
                 feedback_values = {}
@@ -784,7 +1028,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.lab_logger().info(f"动作 {action_name} 已取消")
                 return action_type.Result()
 
-            ##### self.lab_logger().info(f"动作执行完成: {action_name}")
+            # self.lab_logger().info(f"动作执行完成: {action_name}")
             del future
 
             # 向Host更新物料当前状态
@@ -793,27 +1037,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
                     self.lab_logger().info(f"更新资源状态: {k}")
-                    r = ResourceUpdate.Request()
                     # 仅当action_kwargs[k]不为None时尝试转换
-                    akv = action_kwargs[k]  # 已经是完成转换的物料了，只需要转换成ros msg Resource了
+                    akv = action_kwargs[k]  # 已经是完成转换的物料了
                     apv = action_paramtypes[k]
                     final_type = get_type_class(apv)
                     if final_type is None:
                         continue
                     try:
+                        # 去重：使用 seen 集合获取唯一的资源对象
                         seen = set()
                         unique_resources = []
-                        for rs in akv:
+                        for rs in akv:  # todo: 这里目前只支持plr的类型
                             res = self.resource_tracker.parent_resource(rs)  # 获取 resource 对象
                             if id(res) not in seen:
                                 seen.add(id(res))
-                                converted_list = convert_resources_from_type([res], final_type)
-                                unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
+                                unique_resources.append(res)
 
-                        r.resources = unique_resources
-
-                        response = await self._resource_clients["resource_update"].call_async(r)
-                        self.lab_logger().debug(f"资源更新结果: {response}")
+                        # 使用新的资源树接口
+                        if unique_resources:
+                            await self.update_resource(unique_resources)
                     except Exception as e:
                         self.lab_logger().error(f"资源更新失败: {e}")
                         self.lab_logger().error(traceback.format_exc())
@@ -837,13 +1079,217 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if attr_name in ["success", "reached_goal"]:
                     setattr(result_msg, attr_name, True)
                 elif attr_name == "return_info":
-                    setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
+                    setattr(
+                        result_msg,
+                        attr_name,
+                        get_result_info_str(execution_error, execution_success, action_return_value),
+                    )
 
             ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
             return result_msg
 
         return execute_callback
 
+    def _execute_driver_command(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(
+                    f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
+                )
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(
+                function
+            ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+
+            # 处理 ResourceSlot 类型参数
+            args_list = default_manager._analyze_method_signature(function)["args"]
+            for arg in args_list:
+                arg_name = arg["name"]
+                arg_type = arg["type"]
+
+                # 跳过不在 function_args 中的参数
+                if arg_name not in function_args:
+                    continue
+
+                # 处理单个 ResourceSlot
+                if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
+                    resource_data = function_args[arg_name]
+                    if isinstance(resource_data, dict) and "id" in resource_data:
+                        try:
+                            converted_resource = self._convert_resource_sync(resource_data)
+                            function_args[arg_name] = converted_resource
+                        except Exception as e:
+                            self.lab_logger().error(
+                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                            )
+                            raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
+
+                # 处理 ResourceSlot 列表
+                elif isinstance(arg_type, tuple) and len(arg_type) == 2:
+                    resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
+                    if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
+                        resource_list = function_args[arg_name]
+                        if isinstance(resource_list, list):
+                            try:
+                                converted_resources = []
+                                for resource_data in resource_list:
+                                    if isinstance(resource_data, dict) and "id" in resource_data:
+                                        converted_resource = self._convert_resource_sync(resource_data)
+                                        converted_resources.append(converted_resource)
+                                function_args[arg_name] = converted_resources
+                            except Exception as e:
+                                self.lab_logger().error(
+                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                                )
+                                raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
+
+            return function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(
+                f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
+            )
+    def _convert_resource_sync(self, resource_data: Dict[str, Any]):
+        """同步转换资源数据为实例"""
+        # 创建资源查询请求
+        r = SerialCommand.Request()
+        r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+
+        # 同步调用资源查询服务
+        future = self._resource_clients["resource_get"].call_async(r)
+
+        # 等待结果（使用while循环，每次sleep 0.5秒，最多等待5秒）
+        timeout = 30.0
+        elapsed = 0.0
+        while not future.done() and elapsed < timeout:
+            time.sleep(0.05)
+            elapsed += 0.05
+
+        if not future.done():
+            raise Exception(f"资源查询超时: {resource_data['id']}")
+
+        response = future.result()
+        if response is None:
+            raise Exception(f"资源查询返回空结果: {resource_data['id']}")
+
+        current_resources = json.loads(response.response)
+
+        # 转换为 PLR 资源
+        tree_set = ResourceTreeSet.from_raw_list(current_resources)
+        plr_resource = tree_set.to_plr_resources()[0]
+
+        # 通过资源跟踪器获取本地实例
+        res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
+        if len(res) == 0:
+            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
+            return plr_resource
+        elif len(res) == 1:
+            return res[0]
+        else:
+            raise ValueError(f"资源转换得到多个实例: {res}")
+
+    async def _execute_driver_command_async(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(
+                    f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
+                )
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(
+                function
+            ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert asyncio.iscoroutinefunction(
+                function
+            ), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
+
+            # 处理 ResourceSlot 类型参数
+            args_list = default_manager._analyze_method_signature(function)["args"]
+            for arg in args_list:
+                arg_name = arg["name"]
+                arg_type = arg["type"]
+
+                # 跳过不在 function_args 中的参数
+                if arg_name not in function_args:
+                    continue
+
+                # 处理单个 ResourceSlot
+                if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
+                    resource_data = function_args[arg_name]
+                    if isinstance(resource_data, dict) and "id" in resource_data:
+                        try:
+                            converted_resource = await self._convert_resource_async(resource_data)
+                            function_args[arg_name] = converted_resource
+                        except Exception as e:
+                            self.lab_logger().error(
+                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                            )
+                            raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
+
+                # 处理 ResourceSlot 列表
+                elif isinstance(arg_type, tuple) and len(arg_type) == 2:
+                    resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
+                    if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
+                        resource_list = function_args[arg_name]
+                        if isinstance(resource_list, list):
+                            try:
+                                converted_resources = []
+                                for resource_data in resource_list:
+                                    if isinstance(resource_data, dict) and "id" in resource_data:
+                                        converted_resource = await self._convert_resource_async(resource_data)
+                                        converted_resources.append(converted_resource)
+                                function_args[arg_name] = converted_resources
+                            except Exception as e:
+                                self.lab_logger().error(
+                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                                )
+                                raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
+
+            return await function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(
+                f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
+            )
+
+    async def _convert_resource_async(self, resource_data: Dict[str, Any]):
+        """异步转换资源数据为实例"""
+        # 创建资源查询请求
+        r = SerialCommand.Request()
+        r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+
+        # 异步调用资源查询服务
+        response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
+        current_resources = json.loads(response.response)
+
+        # 转换为 PLR 资源
+        tree_set = ResourceTreeSet.from_raw_list(current_resources)
+        plr_resource = tree_set.to_plr_resources()[0]
+
+        # 通过资源跟踪器获取本地实例
+        res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
+        if len(res) == 0:
+            # todo: 后续通过decoration来区分，减少warning
+            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
+            return plr_resource
+        elif len(res) == 1:
+            return res[0]
+        else:
+            raise ValueError(f"资源转换得到多个实例: {res}")
+
     # 异步上下文管理方法
     async def __aenter__(self):
         """进入异步上下文"""
@@ -864,9 +1310,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 class DeviceInitError(Exception):
     pass
 
+
 class JsonCommandInitError(Exception):
     pass
 
+
 class ROS2DeviceNode:
     """
     ROS2设备节点类
@@ -935,6 +1383,7 @@ class ROS2DeviceNode:
         self._driver_class = driver_class
         self.device_config = device_config
         self.driver_is_ros = driver_is_ros
+        self.driver_is_workstation = False
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
@@ -945,7 +1394,6 @@ class ROS2DeviceNode:
             or driver_class.__name__ == "PRCXI9300Handler"
         )
 
-        # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例
         if use_pylabrobot_creator:
             # 先对pylabrobot的子资源进行加载，不然subclass无法认出
@@ -955,12 +1403,19 @@ class ROS2DeviceNode:
                 driver_class, children=children, resource_tracker=self.resource_tracker
             )
         else:
-            from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
+            from unilabos.devices.workstation.workstation_base import WorkstationBase
 
-            if issubclass(self._driver_class, ROS2ProtocolNode):  # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
-                self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+            if issubclass(
+                self._driver_class, WorkstationBase
+            ):  # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
+                self.driver_is_workstation = True
+                self._driver_creator = WorkstationNodeCreator(
+                    driver_class, children=children, resource_tracker=self.resource_tracker
+                )
             else:
-                self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+                self._driver_creator = DeviceClassCreator(
+                    driver_class, children=children, resource_tracker=self.resource_tracker
+                )
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
@@ -973,6 +1428,20 @@ class ROS2DeviceNode:
         # 创建ROS2节点
         if driver_is_ros:
             self._ros_node = self._driver_instance  # type: ignore
+        elif self.driver_is_workstation:
+            from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
+            self._ros_node = ROS2WorkstationNode(
+                protocol_type=driver_params["protocol_type"],
+                children=children,
+                driver_instance=self._driver_instance,  # type: ignore
+                device_id=device_id,
+                status_types=status_types,
+                action_value_mappings=action_value_mappings,
+                hardware_interface=hardware_interface,
+                print_publish=print_publish,
+                resource_tracker=self.resource_tracker,
+            )
         else:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
@@ -986,51 +1455,14 @@ class ROS2DeviceNode:
         self._ros_node: BaseROS2DeviceNode
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
-        self.driver_instance._execute_driver_command = self._execute_driver_command  # type: ignore
-        self.driver_instance._execute_driver_command_async = self._execute_driver_command_async  # type: ignore
+        self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command  # type: ignore
+        self.driver_instance._execute_driver_command_async = self._ros_node._execute_driver_command_async  # type: ignore
         if hasattr(self.driver_instance, "post_init"):
             try:
                 self.driver_instance.post_init(self._ros_node)  # type: ignore
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
-    def _execute_driver_command(self, string: str):
-        try:
-            target = json.loads(string)
-        except Exception as ex:
-            try:
-                target = yaml.safe_load(io.StringIO(string))
-            except Exception as ex2:
-                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
-        try:
-            function_name = target["function_name"]
-            function_args = target["function_args"]
-            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
-            function = getattr(self.driver_instance, function_name)
-            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
-            return function(**function_args)
-        except KeyError as ex:
-            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
-
-    async def _execute_driver_command_async(self, string: str):
-        try:
-            target = json.loads(string)
-        except Exception as ex:
-            try:
-                target = yaml.safe_load(io.StringIO(string))
-            except Exception as ex2:
-                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
-        try:
-            function_name = target["function_name"]
-            function_args = target["function_args"]
-            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
-            function = getattr(self.driver_instance, function_name)
-            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
-            assert asyncio.iscoroutinefunction(function), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
-            return await function(**function_args)
-        except KeyError as ex:
-            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
-
     def _start_loop(self):
         def run_event_loop():
             loop = asyncio.new_event_loop()
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index 84534065..3d5bd165 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -1,11 +1,11 @@
 import collections
-import copy
+from dataclasses import dataclass, field
 import json
 import threading
 import time
 import traceback
 import uuid
-from typing import Optional, Dict, Any, List, ClassVar, Set, Union
+from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
 
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
@@ -15,16 +15,14 @@ from rclpy.service import Service
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
     ResourceAdd,
-    ResourceGet,
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
     SerialCommand,
 )  # type: ignore
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 
-from unilabos.app.register import register_devices_and_resources
-from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
@@ -38,8 +36,22 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.ros.nodes.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+    ResourceTreeInstance,
+)
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
+
+if TYPE_CHECKING:
+    from unilabos.app.ws_client import QueueItem, WSResourceChatData
+
+
+@dataclass
+class DeviceActionStatus:
+    job_ids: Dict[str, float] = field(default_factory=dict)
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -51,6 +63,10 @@ class HostNode(BaseROS2DeviceNode):
 
     _instance: ClassVar[Optional["HostNode"]] = None
     _ready_event: ClassVar[threading.Event] = threading.Event()
+    _device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict(
+        DeviceActionStatus
+    )
+    _resource_tracker: ClassVar[DeviceNodeResourceTracker] = DeviceNodeResourceTracker()  # 资源管理器实例
 
     @classmethod
     def get_instance(cls, timeout=None) -> Optional["HostNode"]:
@@ -61,8 +77,8 @@ class HostNode(BaseROS2DeviceNode):
     def __init__(
         self,
         device_id: str,
-        devices_config: Dict[str, Any],
-        resources_config: list,
+        devices_config: ResourceTreeSet,
+        resources_config: ResourceTreeSet,
         resources_edge_config: list[dict],
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
@@ -92,7 +108,7 @@ class HostNode(BaseROS2DeviceNode):
             action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
             hardware_interface={},
             print_publish=False,
-            resource_tracker=DeviceNodeResourceTracker(),  # host node并不是通过initialize 包一层传进来的
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
         )
 
         # 设置单例实例
@@ -101,7 +117,7 @@ class HostNode(BaseROS2DeviceNode):
         # 初始化配置
         self.server_latest_timestamp = 0.0  #
         self.devices_config = devices_config
-        self.resources_config = resources_config
+        self.resources_config = resources_config  # 直接保存 ResourceTreeSet
         self.resources_edge_config = resources_edge_config
         self.physical_setup_graph = physical_setup_graph
         if controllers_config is None:
@@ -136,6 +152,24 @@ class HostNode(BaseROS2DeviceNode):
                 "/devices/host_node/test_latency",
                 callback_group=self.callback_group,
             ),
+            "/devices/host_node/test_resource": ActionClient(
+                self,
+                lab_registry.EmptyIn,
+                "/devices/host_node/test_resource",
+                callback_group=self.callback_group,
+            ),
+            "/devices/host_node/_execute_driver_command": ActionClient(
+                self,
+                lab_registry.StrSingleInput,
+                "/devices/host_node/_execute_driver_command",
+                callback_group=self.callback_group,
+            ),
+            "/devices/host_node/_execute_driver_command_async": ActionClient(
+                self,
+                lab_registry.StrSingleInput,
+                "/devices/host_node/_execute_driver_command_async",
+                callback_group=self.callback_group,
+            ),
         }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
@@ -151,21 +185,14 @@ class HostNode(BaseROS2DeviceNode):
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
-        if BasicConfig.upload_registry:
-            from unilabos.app.mq import mqtt_client
-            register_devices_and_resources(mqtt_client, lab_registry)
-        else:
-            self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送，或者在启动命令增加--upload_registry")
-        time.sleep(1) # 等待MQTT连接稳定
+        time.sleep(1)  # 等待通信连接稳定
         # 首次发现网络中的设备
         self._discover_devices()
 
         # 初始化所有本机设备节点，多一次过滤，防止重复初始化
-        for device_id, device_config in devices_config.items():
-            if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(
-                    f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
-                )
+        for device_config in devices_config.root_nodes:
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 continue
             if device_id not in self.devices_names:
                 self.initialize_device(device_id, device_config)
@@ -180,56 +207,81 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
-        resources_config.insert(
-            0,
-            {
-                "id": "host_node",
-                "name": "host_node",
-                "parent": None,
-                "type": "device",
-                "class": "host_node",
-                "position": {"x": 0, "y": 0, "z": 0},
-                "config": {},
-                "data": {},
-                "children": [],
-            },
-        )
-        resource_with_parent_name = []
-        resource_ids_to_instance = {i["id"]: i for i in resources_config}
-        resource_name_to_with_parent_name = {}
-        for res in resources_config:
-            # if res.get("parent") and res.get("type") == "device" and res.get("class"):
-            #     parent_id = res.get("parent")
-            #     parent_res = resource_ids_to_instance[parent_id]
-            #     if parent_res.get("type") == "device" and parent_res.get("class"):
-            #         resource_with_parent_name.append(copy.deepcopy(res))
-            #         resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
-            #         resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
-            #         continue
-            resource_with_parent_name.append(copy.deepcopy(res))
-        # for edge in self.resources_edge_config:
-        #     edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
-        #     edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
+        # 创建 host_node 作为一个单独的 ResourceTree
+
+        host_node_dict = {
+            "id": "host_node",
+            "uuid": str(uuid.uuid4()),
+            "parent_uuid": "",
+            "name": "host_node",
+            "type": "device",
+            "class": "host_node",
+            "config": {},
+            "data": {},
+            "children": [],
+            "description": "",
+            "schema": {},
+            "model": {},
+            "icon": "",
+        }
+
+        # 创建 host_node 的 ResourceTree
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
+        host_node_tree = ResourceTreeInstance(host_node_instance)
+        resources_config.trees.insert(0, host_node_tree)
         try:
             for bridge in self.bridges:
-                if hasattr(bridge, "resource_add"):
+                if hasattr(bridge, "resource_tree_add") and resources_config:
                     from unilabos.app.web.client import HTTPClient
+
                     client: HTTPClient = bridge
                     resource_start_time = time.time()
-                    resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
                     resource_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
                     )
-                    resource_add_res = client.resource_edge_add(self.resources_edge_config, False)
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
                     resource_edge_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
                     )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    # 创建反向映射：new_uuid -> old_uuid
+                    reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+                    for tree in resources_config.trees:
+                        node = tree.root_node
+                        if node.res_content.type == "device":
+                            for sub_node in node.children:
+                                # 只有二级子设备
+                                if sub_node.res_content.type != "device":
+                                    # slave节点走c2s更新接口，拿到add自行update uuid
+                                    device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                                    # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
+                                    old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                                    if old_uuid:
+                                        # 找到旧UUID，使用UUID查找
+                                        resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                                    else:
+                                        # 未找到旧UUID，使用name查找
+                                        resource_instance = device_tracker.figure_resource(
+                                            {"name": sub_node.res_content.name}
+                                        )
+                                    device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                        else:
+                            try:
+                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                                    self.resource_tracker.add_resource(plr_resource)
+                            except Exception as ex:
+                                self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
-
         # 创建定时器，定期发现设备
         self._discovery_timer = self.create_timer(
             discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
@@ -278,23 +330,23 @@ class HostNode(BaseROS2DeviceNode):
                 self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
-                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
                 threading.Thread(
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
+                    name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
                 ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
                 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
                 self._online_devices.add(device_key)
-                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
                 threading.Thread(
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
+                    name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
                 ).start()
 
         # 检测离线设备
@@ -340,9 +392,10 @@ class HostNode(BaseROS2DeviceNode):
                     self.lab_logger().trace(f"[Host Node] Created ActionClient (Discovery): {action_id}")
                     action_name = action_id[len(namespace) + 1 :]
                     edge_device_id = namespace[9:]
-                    # from unilabos.app.mq import mqtt_client
+                    # from unilabos.app.comm_factory import get_communication_client
+                    # comm_client = get_communication_client()
                     # info_with_schema = ros_action_to_json_schema(action_type)
-                    # mqtt_client.publish_actions(action_name, {
+                    # comm_client.publish_actions(action_name, {
                     #     "device_id": edge_device_id,
                     #     "device_type": "",
                     #     "action_name": action_name,
@@ -358,14 +411,16 @@ class HostNode(BaseROS2DeviceNode):
         bind_parent_ids: list[str],
         bind_locations: list[Point],
         other_calling_params: list[str],
-    ):
+    ) -> List[str]:
         responses = []
         for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
             resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
         ):
             # 这里要求device_id传入必须是edge_device_id
             if device_id not in self.devices_names:
-                self.lab_logger().error(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
+                self.lab_logger().error(
+                    f"[Host Node] Device {device_id} not found in devices_names. Create resource failed."
+                )
                 raise ValueError(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
 
             device_key = f"{self.devices_names[device_id]}/{device_id}"
@@ -393,8 +448,8 @@ class HostNode(BaseROS2DeviceNode):
                 },
                 ensure_ascii=False,
             )
-            response = await sclient.call_async(request)
-            responses.append(response)
+            response: SerialCommand.Response = await sclient.call_async(request)
+            responses.append(response.response)
         return responses
 
     async def create_resource(
@@ -425,10 +480,12 @@ class HostNode(BaseROS2DeviceNode):
             res_creation_input.update(
                 {
                     "data": {
-                        "liquids": [{
-                        "liquid_type": liquid_type[0] if liquid_type else None,
-                        "liquid_volume": liquid_volume[0] if liquid_volume else None,
-                        }]
+                        "liquids": [
+                            {
+                                "liquid_type": liquid_type[0] if liquid_type else None,
+                                "liquid_volume": liquid_volume[0] if liquid_volume else None,
+                            }
+                        ]
                     }
                 }
             )
@@ -451,11 +508,22 @@ class HostNode(BaseROS2DeviceNode):
             )
         ]
 
-        response = await self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
+        response: List[str] = await self.create_resource_detailed(
+            resources, device_ids, bind_parent_id, bind_location, other_calling_param
+        )
 
-        return response
+        try:
+            new_li = []
+            for i in response:
+                res = json.loads(i)
+                new_li.append(res)
+            return {"resources": new_li, "liquid_input_resources": new_li}
+        except Exception as ex:
+            pass
+        _n = "\n"
+        raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
 
-    def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
+    def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
         """
         根据配置初始化设备，
 
@@ -468,9 +536,8 @@ class HostNode(BaseROS2DeviceNode):
         """
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
-        device_config_copy = copy.deepcopy(device_config)
         try:
-            d = initialize_device_from_dict(device_id, device_config_copy)
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -482,7 +549,9 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
-            if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
+            if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
+                "UniLabJsonCommand"
+            ):
                 continue
             action_id = f"/devices/{device_id}/{action_name}"
             if action_id not in self._action_clients:
@@ -491,9 +560,10 @@ class HostNode(BaseROS2DeviceNode):
                 self.lab_logger().trace(
                     f"[Host Node] Created ActionClient (Local): {action_id}"
                 )  # 子设备再创建用的是Discover发现的
-                # from unilabos.app.mq import mqtt_client
+                # from unilabos.app.comm_factory import get_communication_client
+                # comm_client = get_communication_client()
                 # info_with_schema = ros_action_to_json_schema(action_type)
-                # mqtt_client.publish_actions(action_name, {
+                # comm_client.publish_actions(action_name, {
                 #     "device_id": device_id,
                 #     "device_type": device_config["class"],
                 #     "action_name": action_name,
@@ -523,7 +593,7 @@ class HostNode(BaseROS2DeviceNode):
 
                 # 解析设备名和属性名
                 parts = topic.split("/")
-                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
+                if len(parts) >= 4:  # 可能有WorkstationNode，创建更长的设备
                     device_id = "/".join(parts[2:-1])
                     property_name = parts[-1]
 
@@ -591,46 +661,39 @@ class HostNode(BaseROS2DeviceNode):
                     if hasattr(bridge, "publish_device_status"):
                         bridge.publish_device_status(self.device_status, device_id, property_name)
                         if bCreate:
-                            self.lab_logger().trace(
-                                f"Status created: {device_id}.{property_name} = {msg.data}"
-                            )
+                            self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
                         else:
-                            self.lab_logger().debug(
-                               f"Status updated: {device_id}.{property_name} = {msg.data}"
-                            )
+                            self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
 
     def send_goal(
         self,
-        device_id: str,
+        item: "QueueItem",
         action_type: str,
-        action_name: str,
         action_kwargs: Dict[str, Any],
-        goal_uuid: Optional[str] = None,
         server_info: Optional[Dict[str, Any]] = None,
     ) -> None:
         """
         向设备发送目标请求
 
         Args:
-            device_id: 设备ID
             action_type: 动作类型
-            action_name: 动作名称
             action_kwargs: 动作参数
-            goal_uuid: 目标UUID，如果为None则自动生成
             server_info: 服务器发送信息，包含发送时间戳等
         """
-        if BasicConfig.direct_end:
-            raise ValueError("direct_end")
-
+        u = uuid.UUID(item.job_id)
+        device_id = item.device_id
+        action_name = item.action_name
         if action_type.startswith("UniLabJsonCommand"):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
             action_id = f"/devices/{device_id}/_execute_driver_command"
             action_kwargs = {
-                "string": json.dumps({
-                    "function_name": action_name,
-                    "function_args": action_kwargs,
-                })
+                "string": json.dumps(
+                    {
+                        "function_name": action_name,
+                        "function_args": action_kwargs,
+                    }
+                )
             }
             if action_type.startswith("UniLabJsonCommandAsync"):
                 action_id = f"/devices/{device_id}/_execute_driver_command_async"
@@ -647,79 +710,73 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
-
-        uuid_str = goal_uuid
-        if goal_uuid is not None:
-            u = uuid.UUID(goal_uuid)
-            goal_uuid_obj = UUID(uuid=list(u.bytes))
-        else:
-            goal_uuid_obj = None
+        goal_uuid_obj = UUID(uuid=list(u.bytes))
 
         future = action_client.send_goal_async(
             goal_msg,
-            feedback_callback=lambda feedback_msg: self.feedback_callback(action_id, uuid_str, feedback_msg),
+            feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(lambda future: self.goal_response_callback(action_id, uuid_str, future))
+        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
 
-    def goal_response_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
+    def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
         goal_handle = future.result()
         if not goal_handle.accepted:
-            self.lab_logger().warning(f"[Host Node] Goal {action_id} ({uuid_str}) rejected")
+            self.lab_logger().warning(f"[Host Node] Goal {item.action_name} ({item.job_id}) rejected")
             return
 
-        self.lab_logger().info(f"[Host Node] Goal {action_id} ({uuid_str}) accepted")
-        if uuid_str:
-            self._goals[uuid_str] = goal_handle
-            goal_handle.get_result_async().add_done_callback(
-                lambda future: self.get_result_callback(action_id, uuid_str, future)
-            )
+        self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
+        self._goals[item.job_id] = goal_handle
+        goal_handle.get_result_async().add_done_callback(
+            lambda future: self.get_result_callback(item, action_id, future)
+        )
 
-    def feedback_callback(self, action_id: str, uuid_str: Optional[str], feedback_msg) -> None:
+    def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
         """反馈回调"""
         feedback_data = convert_from_ros_msg(feedback_msg)
         feedback_data.pop("goal_id")
-        self.lab_logger().debug(f"[Host Node] Feedback for {action_id} ({uuid_str}): {feedback_data}")
+        self.lab_logger().trace(f"[Host Node] Feedback for {action_id} ({item.job_id}): {feedback_data}")
 
-        if uuid_str:
-            for bridge in self.bridges:
-                if hasattr(bridge, "publish_job_status"):
-                    bridge.publish_job_status(feedback_data, uuid_str, "running")
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_job_status"):
+                bridge.publish_job_status(feedback_data, item, "running")
 
-    def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
+    def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """获取结果回调"""
+        job_id = item.job_id
         result_msg = future.result().result
         result_data = convert_from_ros_msg(result_msg)
         status = "success"
         return_info_str = result_data.get("return_info")
-
         if return_info_str is not None:
             try:
-                ret = json.loads(return_info_str)
-                suc = ret.get("suc", False)
+                return_info = json.loads(return_info_str)
+                suc = return_info.get("suc", False)
                 if not suc:
                     status = "failed"
             except json.JSONDecodeError:
                 status = "failed"
+                return_info = serialize_result_info("", False, result_data)
+                self.lab_logger().critical("错误的return_info类型，请断点修复")
         else:
             # 无 return_info 字段时，回退到 success 字段（若存在）
             suc_field = result_data.get("success")
             if isinstance(suc_field, bool):
                 status = "success" if suc_field else "failed"
-                return_info_str = serialize_result_info("", suc_field, result_data)
+                return_info = serialize_result_info("", suc_field, result_data)
             else:
                 # 最保守的回退：标记失败并返回空JSON
                 status = "failed"
-                return_info_str = serialize_result_info("缺少return_info", False, result_data)
+                return_info = serialize_result_info("缺少return_info", False, result_data)
 
-        self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): {status}")
+        self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id}): {status}")
         self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
 
-        if uuid_str:
+        if job_id:
             for bridge in self.bridges:
                 if hasattr(bridge, "publish_job_status"):
-                    bridge.publish_job_status(result_data, uuid_str, status, return_info_str)
+                    bridge.publish_job_status(result_data, item, status, return_info)
 
     def cancel_goal(self, goal_uuid: str) -> None:
         """取消目标"""
@@ -729,14 +786,14 @@ class HostNode(BaseROS2DeviceNode):
         else:
             self.lab_logger().warning(f"[Host Node] Goal {goal_uuid} not found, cannot cancel")
 
-    def get_goal_status(self, uuid_str: str) -> int:
+    def get_goal_status(self, job_id: str) -> int:
         """获取目标状态"""
-        if uuid_str in self._goals:
-            g = self._goals[uuid_str]
+        if job_id in self._goals:
+            g = self._goals[job_id]
             status = g.status
-            self.lab_logger().debug(f"[Host Node] Goal status for {uuid_str}: {status}")
+            self.lab_logger().debug(f"[Host Node] Goal status for {job_id}: {status}")
             return status
-        self.lab_logger().warning(f"[Host Node] Goal {uuid_str} not found, status unknown")
+        self.lab_logger().warning(f"[Host Node] Goal {job_id} not found, status unknown")
         return GoalStatus.STATUS_UNKNOWN
 
     """Controller Node"""
@@ -774,7 +831,7 @@ class HostNode(BaseROS2DeviceNode):
                 ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
             ),
             "resource_get": self.create_service(
-                ResourceGet, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
+                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
             ),
             "resource_delete": self.create_service(
                 ResourceDelete,
@@ -797,15 +854,134 @@ class HostNode(BaseROS2DeviceNode):
                 self._node_info_update_callback,
                 callback_group=ReentrantCallbackGroup(),
             ),
+            "c2s_update_resource_tree": self.create_service(
+                SerialCommand,
+                "/c2s_update_resource_tree",
+                self._resource_tree_update_callback,
+                callback_group=ReentrantCallbackGroup(),
+            ),
         }
 
+    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+        resource_tree_set = ResourceTreeSet.load(data["data"])
+        mount_uuid = data["mount_uuid"]
+        first_add = data["first_add"]
+
+        self.lab_logger().info(
+            f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
+            f"{len(resource_tree_set.all_nodes)} total nodes"
+        )
+
+        # 处理资源添加逻辑
+        success = False
+        uuid_mapping = {}
+        if len(self.bridges) > 0:
+            from unilabos.app.web.client import HTTPClient
+
+            client: HTTPClient = self.bridges[-1]
+            resource_start_time = time.time()
+            uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
+            success = True
+            resource_end_time = time.time()
+            self.lab_logger().info(
+                f"[Host Node-Resource] 物料创建上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+            )
+            if uuid_mapping:
+                self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+
+        if success:
+            from unilabos.resources.graphio import physical_setup_graph
+
+            # 将资源添加到本地图中
+            for node in resource_tree_set.all_nodes:
+                resource_dict = node.res_content.model_dump(by_alias=True)
+                if resource_dict.get("id") not in physical_setup_graph.nodes:
+                    physical_setup_graph.add_node(resource_dict["id"], **resource_dict)
+                else:
+                    physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
+
+        response.response = json.dumps(uuid_mapping) if success else "FAILED"
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+
+    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+        uuid_list: List[str] = data["data"]
+        with_children: bool = data["with_children"]
+        from unilabos.app.web.client import http_client
+
+        resource_response = http_client.resource_tree_get(uuid_list, with_children)
+        response.response = json.dumps(resource_response)
+
+    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树删除
+        """
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove request received")
+        response.response = "OK"
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
+
+    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树更新
+        """
+        resource_tree_set = ResourceTreeSet.load(data["data"])
+
+        self.lab_logger().info(
+            f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
+            f"{len(resource_tree_set.all_nodes)} total nodes"
+        )
+
+        from unilabos.app.web.client import http_client
+
+        resource_start_time = time.time()
+        uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
+        success = bool(uuid_mapping)
+        resource_end_time = time.time()
+        self.lab_logger().info(
+            f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+        )
+        if uuid_mapping:
+            self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+        # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
+        response.response = json.dumps(uuid_mapping)
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+
+    def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
+        """
+        子节点通知Host物料树更新
+
+        接收序列化的 ResourceTreeSet 数据并进行处理
+        """
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
+        try:
+            # 解析请求数据
+            data = json.loads(request.command)
+            action = data["action"]
+            data = data["data"]
+            if action == "add":
+                self._resource_tree_action_add_callback(data, response)
+            elif action == "get":
+                self._resource_tree_action_get_callback(data, response)
+            elif action == "update":
+                self._resource_tree_action_update_callback(data, response)
+            elif action == "remove":
+                self._resource_tree_action_remove_callback(data, response)
+            else:
+                self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
+                response.response = "ERROR"
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error adding resource tree: {e}")
+            self.lab_logger().error(traceback.format_exc())
+            response.response = f"ERROR: {str(e)}"
+
+        return response
+
     def _node_info_update_callback(self, request, response):
         """
         更新节点信息回调
         """
         self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
         try:
-            from unilabos.app.mq import mqtt_client
+            from unilabos.app.communication import get_communication_client
 
             info = json.loads(request.command)
             if "SYNC_SLAVE_NODE_INFO" in info:
@@ -814,9 +990,10 @@ class HostNode(BaseROS2DeviceNode):
                 edge_device_id = info["edge_device_id"]
                 self.device_machine_names[edge_device_id] = machine_name
             else:
+                comm_client = get_communication_client()
                 registry_config = info["registry_config"]
                 for device_config in registry_config:
-                    mqtt_client.publish_registry(device_config["id"], device_config)
+                    comm_client.publish_registry(device_config["id"], device_config)
             self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:
@@ -843,14 +1020,16 @@ class HostNode(BaseROS2DeviceNode):
         success = False
         if len(self.bridges) > 0:  # 边的提交待定
             from unilabos.app.web.client import HTTPClient
+
             client: HTTPClient = self.bridges[-1]
-            r = client.resource_add(add_schema(resources), False)
+            r = client.resource_add(add_schema(resources))
             success = bool(r)
 
         response.success = success
 
         if success:
             from unilabos.resources.graphio import physical_setup_graph
+
             for resource in resources:
                 if resource.get("id") not in physical_setup_graph.nodes:
                     physical_setup_graph.add_node(resource["id"], **resource)
@@ -860,7 +1039,13 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
         return response
 
-    def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
+    def _resource_get_process(self, data: Dict[str, Any]):
+        r = data["data"]
+        self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
+        resources = [convert_to_ros_msg(Resource, resource) for resource in r]
+        return resources
+
+    def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response):
         """
         获取资源回调
 
@@ -873,23 +1058,13 @@ class HostNode(BaseROS2DeviceNode):
         Returns:
             响应对象，包含查询到的资源
         """
-        self.lab_logger().info(f"[Host Node-Resource] Get request for ID: {request.id}")
-
-        if len(self.bridges) > 0:
-            # 云上物料服务，根据 id 查询物料
-            try:
-                r = self.bridges[-1].resource_get(request.id, request.with_children)["data"]
-                self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
-            except Exception as e:
-                self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
-                r = [resource for resource in self.resources_config if resource.get("id") == request.id]
-                self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
-        else:
-            # 本地物料服务，根据 id 查询物料
-            r = [resource for resource in self.resources_config if resource.get("id") == request.id]
-            self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
-
-        response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
+        try:
+            data = json.loads(request.command)
+            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            response.response = json.dumps(http_req["data"])
+            return response
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
         return response
 
     def _resource_delete_callback(self, request, response):
@@ -991,9 +1166,10 @@ class HostNode(BaseROS2DeviceNode):
             send_timestamp = time.time()
 
             # 发送ping
-            from unilabos.app.mq import mqtt_client
+            from unilabos.app.communication import get_communication_client
 
-            mqtt_client.send_ping(ping_id, send_timestamp)
+            comm_client = get_communication_client()
+            comm_client.send_ping(ping_id, send_timestamp)
 
             # 等待pong响应
             timeout = 10.0
@@ -1073,6 +1249,7 @@ class HostNode(BaseROS2DeviceNode):
 
         else:
             self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
+            raw_delay_ms = -1
             corrected_delay_ms = -1
 
         self.lab_logger().info("=" * 60)
@@ -1089,6 +1266,14 @@ class HostNode(BaseROS2DeviceNode):
             "status": "success",
         }
 
+    def test_resource(
+        self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
+    ):
+        return {
+            "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
+            "devices": [device, *devices],
+        }
+
     def handle_pong_response(self, pong_data: dict):
         """
         处理pong响应
@@ -1108,3 +1293,76 @@ class HostNode(BaseROS2DeviceNode):
             )
         else:
             self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
+
+    def notify_resource_tree_update(self, device_id: str, action: str, resource_uuid_list: List[str]) -> bool:
+        """
+        通知设备节点更新资源树
+
+        Args:
+            device_id: 目标设备ID
+            action: 操作类型 "add", "update", "remove"
+            resource_uuid_list: 资源UUIDs
+
+        Returns:
+            bool: 操作是否成功
+        """
+        try:
+            # 检查设备是否存在
+            if device_id not in self.devices_names:
+                self.lab_logger().error(f"[Host Node-Resource] Device {device_id} not found in devices_names")
+                return False
+
+            namespace = self.devices_names[device_id]
+            device_key = f"{namespace}/{device_id}"
+
+            # 检查设备是否在线
+            if device_key not in self._online_devices:
+                self.lab_logger().error(f"[Host Node-Resource] Device {device_key} is offline")
+                return False
+
+            # 构建服务地址
+            srv_address = f"/srv{namespace}/s2c_resource_tree"
+            self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
+
+            # 创建服务客户端
+            sclient = self.create_client(SerialCommand, srv_address)
+
+            # 等待服务可用（设置超时）
+            if not sclient.wait_for_service(timeout_sec=5.0):
+                self.lab_logger().error(f"[Host Node-Resource] Service {srv_address} not available")
+                return False
+
+            # 构建请求数据
+            request_data = [
+                {
+                    "action": action,
+                    "data": resource_uuid_list,
+                }
+            ]
+
+            # 创建请求
+            request = SerialCommand.Request()
+            request.command = json.dumps(request_data, ensure_ascii=False)
+
+            # 发送异步请求
+            future = sclient.call_async(request)
+
+            # 等待响应
+            timeout = 30.0
+            start_time = time.time()
+            while not future.done():
+                if time.time() - start_time > timeout:
+                    self.lab_logger().error(f"[Host Node-Resource] Timeout waiting for response from {device_id}")
+                    return False
+                time.sleep(0.05)
+
+            response = future.result()
+            self.lab_logger().info(
+                f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
+            )
+            return True
+
+        except Exception as e:
+            self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
+            self.lab_logger().error(traceback.format_exc())
+            return False
diff --git a/unilabos/ros/nodes/presets/protocol_node.py b/unilabos/ros/nodes/presets/protocol_node.py
deleted file mode 100644
index 23462142..00000000
--- a/unilabos/ros/nodes/presets/protocol_node.py
+++ /dev/null
@@ -1,398 +0,0 @@
-import json
-import time
-import traceback
-from pprint import pprint, saferepr, pformat
-from typing import Union
-
-import rclpy
-from rosidl_runtime_py import message_to_ordereddict
-
-from unilabos.messages import *  # type: ignore  # protocol names
-from rclpy.action import ActionServer, ActionClient
-from rclpy.action.server import ServerGoalHandle
-from rclpy.callback_groups import ReentrantCallbackGroup
-from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore
-
-from unilabos.compile import action_protocol_generators
-from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
-from unilabos.ros.initialize_device import initialize_device_from_dict
-from unilabos.ros.msgs.message_converter import (
-    get_action_type,
-    convert_to_ros_msg,
-    convert_from_ros_msg,
-    convert_from_ros_msg_with_mapping, String,
-)
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.utils.log import error
-from unilabos.utils.type_check import serialize_result_info
-
-
-class ROS2ProtocolNode(BaseROS2DeviceNode):
-    """
-    ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
-    它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
-    它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
-    """
-
-    # create_action_server = False  # Action Server要自己创建
-
-    def __init__(
-        self,
-        device_id: str,
-        children: dict,
-        protocol_type: Union[str, list[str]],
-        resource_tracker: DeviceNodeResourceTracker,
-        *args,
-        **kwargs,
-    ):
-        self._setup_protocol_names(protocol_type)
-
-        # 初始化其它属性
-        self.children = children
-        self._busy = False
-        self.sub_devices = {}
-        self._goals = {}
-        self._protocol_servers = {}
-        self._action_clients = {}
-
-        # 初始化基类，让基类处理常规动作
-        super().__init__(
-            driver_instance=self,
-            device_id=device_id,
-            status_types={},
-            action_value_mappings=self.protocol_action_mappings,
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=resource_tracker,
-        )
-
-        # 初始化子设备
-        self.communication_node_id_to_instance = {}
-
-        for device_id, device_config in self.children.items():
-            if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(
-                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
-                )
-                continue
-            try:
-                d = self.initialize_device(device_id, device_config)
-            except Exception as ex:
-                self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
-                d = None
-            if d is None:
-                continue
-
-            if "serial_" in device_id or "io_" in device_id:
-                self.communication_node_id_to_instance[device_id] = d
-                continue
-
-        for device_id, device_config in self.children.items():
-            if device_config.get("type", "device") != "device":
-                continue
-            # 设置硬件接口代理
-            if device_id not in self.sub_devices:
-                self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
-                continue
-            d = self.sub_devices[device_id]
-            if d:
-                hardware_interface = d.ros_node_instance._hardware_interface
-                if (
-                    hasattr(d.driver_instance, hardware_interface["name"])
-                    and hasattr(d.driver_instance, hardware_interface["write"])
-                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
-                ):
-
-                    name = getattr(d.driver_instance, hardware_interface["name"])
-                    read = hardware_interface.get("read", None)
-                    write = hardware_interface.get("write", None)
-
-                    # 如果硬件接口是字符串，通过通信设备提供
-                    if isinstance(name, str) and name in self.sub_devices:
-                        communicate_device = self.sub_devices[name]
-                        communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
-                        self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
-                        self.lab_logger().info(
-                            f"\n通信代理：为子设备{device_id}\n    "
-                            f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
-                            f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
-                        )
-
-        self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
-
-    def _setup_protocol_names(self, protocol_type):
-        # 处理协议类型
-        if isinstance(protocol_type, str):
-            if "," not in protocol_type:
-                self.protocol_names = [protocol_type]
-            else:
-                self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
-        else:
-            self.protocol_names = protocol_type
-        # 准备协议相关的动作值映射
-        self.protocol_action_mappings = {}
-        for protocol_name in self.protocol_names:
-            protocol_type = globals()[protocol_name]
-            self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
-
-    def initialize_device(self, device_id, device_config):
-        """初始化设备并创建相应的动作客户端"""
-        # device_id_abs = f"{self.device_id}/{device_id}"
-        device_id_abs = f"{device_id}"
-        self.lab_logger().info(f"初始化子设备: {device_id_abs}")
-        d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
-
-        # 为子设备的每个动作创建动作客户端
-        if d is not None and hasattr(d, "ros_node_instance"):
-            node = d.ros_node_instance
-            node.resource_tracker = self.resource_tracker  # 站内应当共享资源跟踪器
-            for action_name, action_mapping in node._action_value_mappings.items():
-                if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
-                    continue
-                action_id = f"/devices/{device_id_abs}/{action_name}"
-                if action_id not in self._action_clients:
-                    try:
-                        self._action_clients[action_id] = ActionClient(
-                            self, action_mapping["type"], action_id, callback_group=self.callback_group
-                        )
-                    except Exception as ex:
-                        self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
-                        continue
-                    self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
-        return d
-
-    def create_ros_action_server(self, action_name, action_value_mapping):
-        """创建ROS动作服务器"""
-        # 和Base创建的路径是一致的
-        protocol_name = action_name
-        action_type = action_value_mapping["type"]
-        str_action_type = str(action_type)[8:-2]
-        protocol_type = globals()[protocol_name]
-        protocol_steps_generator = action_protocol_generators[protocol_type]
-
-        self._action_servers[action_name] = ActionServer(
-            self,
-            action_type,
-            action_name,
-            execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
-            callback_group=ReentrantCallbackGroup(),
-        )
-
-        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
-
-    def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
-        async def execute_protocol(goal_handle: ServerGoalHandle):
-            """执行完整的工作流"""
-            # 初始化结果信息变量
-            execution_error = ""
-            execution_success = False
-            protocol_return_value = None
-            self.get_logger().info(f"Executing {protocol_name} action...")
-            action_value_mapping = self._action_value_mappings[protocol_name]
-            step_results = []
-            try:
-                print("+" * 30)
-                print(protocol_steps_generator)
-                # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
-                goal = goal_handle.request
-                protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
-                
-                # # 🔧 添加调试信息
-                # print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
-                # print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
-
-                # # 🔧 完全禁用Host查询，直接使用转换后的数据
-                # print(f"🔧 跳过Host查询，直接使用转换后的数据")
-                # 向Host查询物料当前状态
-                for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceGet.Request()
-                        resource_id = (
-                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                        )
-                        r.id = resource_id
-                        r.with_children = True
-                        response = await self._resource_clients["resource_get"].call_async(r)
-                        protocol_kwargs[k] = list_to_nested_dict(
-                            [convert_from_ros_msg(rs) for rs in response.resources]
-                        )
-
-                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
-
-                from unilabos.resources.graphio import physical_setup_graph
-
-                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
-                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
-                logs = []
-                for step in protocol_steps:
-                    if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
-                        logs.append(step)
-                    elif isinstance(step, list):
-                        logs.append(step)
-                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
-                                       f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
-
-                time_start = time.time()
-                time_overall = 100
-                self._busy = True
-
-                # 逐步执行工作流
-                for i, action in enumerate(protocol_steps):
-                    # self.get_logger().info(f"Running step {i + 1}: {action}")
-                    if isinstance(action, dict):
-                        # 如果是单个动作，直接执行
-                        if action["action_name"] == "wait":
-                            time.sleep(action["action_kwargs"]["time"])
-                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
-                        else:
-                            result = await self.execute_single_action(**action)
-                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
-                            ret_info = json.loads(getattr(result, "return_info", "{}"))
-                            if not ret_info.get("suc", False):
-                                raise RuntimeError(f"Step {i + 1} failed.")
-                    elif isinstance(action, list):
-                        # 如果是并行动作，同时执行
-                        actions = action
-                        futures = [
-                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
-                        ]
-                        results = [await f for f in futures]
-                        step_results.append(
-                            {
-                                "step": i + 1,
-                                "parallel_actions": [a["action_name"] for a in actions],
-                                "results": results,
-                            }
-                        )
-
-                # 向Host更新物料当前状态
-                for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        response = await self._resource_clients["resource_update"].call_async(r)
-
-                # 设置成功状态和返回值
-                execution_success = True
-                protocol_return_value = {
-                    "protocol_name": protocol_name,
-                    "steps_executed": len(protocol_steps),
-                    "step_results": step_results,
-                    "total_time": time.time() - time_start,
-                }
-
-                goal_handle.succeed()
-
-            except Exception as e:
-                # 捕获并记录错误信息
-                str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
-                execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
-                execution_success = False
-                self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
-
-                # 设置动作失败
-                goal_handle.abort()
-
-            finally:
-                self._busy = False
-
-            # 创建结果消息
-            result = action_value_mapping["type"].Result()
-            result.success = execution_success
-
-            # 获取结果消息类型信息，检查是否有return_info字段
-            result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
-
-            # 设置return_info字段（如果存在）
-            for attr_name in result_msg_types.keys():
-                if attr_name in ["success", "reached_goal"]:
-                    setattr(result, attr_name, execution_success)
-                elif attr_name == "return_info":
-                    setattr(
-                        result,
-                        attr_name,
-                        serialize_result_info(execution_error, execution_success, protocol_return_value),
-                    )
-
-            self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
-            return result
-
-        return execute_protocol
-
-    async def execute_single_action(self, device_id, action_name, action_kwargs):
-        """执行单个动作"""
-        # 构建动作ID
-        if device_id in ["", None, "self"]:
-            action_id = f"/devices/{self.device_id}/{action_name}"
-        else:
-            action_id = f"/devices/{device_id}/{action_name}"  # 执行时取消了主节点信息 /{self.device_id}
-
-        # 检查动作客户端是否存在
-        if action_id not in self._action_clients:
-            self.lab_logger().error(f"找不到动作客户端: {action_id}")
-            return None
-
-        # 发送动作请求
-        action_client = self._action_clients[action_id]
-        goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
-
-        ##### self.lab_logger().info(f"发送动作请求到: {action_id}")
-        action_client.wait_for_server()
-
-        # 等待动作完成
-        request_future = action_client.send_goal_async(goal_msg)
-        handle = await request_future
-
-        if not handle.accepted:
-            self.lab_logger().error(f"动作请求被拒绝: {action_name}")
-            return None
-
-        result_future = await handle.get_result_async()
-        ##### self.lab_logger().info(f"动作完成: {action_name}")
-
-        return result_future.result
-
-    """还没有改过的部分"""
-
-    def _setup_hardware_proxy(
-        self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
-    ):
-        """为设备设置硬件接口代理"""
-        # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
-        write_func = getattr(
-            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
-        )
-        read_func = getattr(
-            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
-        )
-
-        def _read(*args, **kwargs):
-            return read_func(*args, **kwargs)
-
-        def _write(*args, **kwargs):
-            return write_func(*args, **kwargs)
-
-        if read_method:
-            # bound_read = MethodType(_read, device.driver_instance)
-            setattr(device.driver_instance, read_method, _read)
-
-        if write_method:
-            # bound_write = MethodType(_write, device.driver_instance)
-            setattr(device.driver_instance, write_method, _write)
-
-    async def _update_resources(self, goal, protocol_kwargs):
-        """更新资源状态"""
-        for k, v in goal.get_fields_and_field_types().items():
-            if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                if protocol_kwargs[k] is not None:
-                    try:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        await self._resource_clients["resource_update"].call_async(r)
-                    except Exception as e:
-                        self.lab_logger().error(f"更新资源失败: {e}")
diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py
index 0e84683e..07e35ee6 100644
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -1,86 +1,415 @@
-import collections
-from typing import Union, Dict, Any, Optional
+import json
+import time
+import traceback
+from pprint import pformat
+from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
-from unilabos_msgs.msg import Resource
-from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
-from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+import rclpy
+from rosidl_runtime_py import message_to_ordereddict
+
+from unilabos.messages import *  # type: ignore  # protocol names
+from rclpy.action import ActionServer, ActionClient
+from rclpy.action.server import ServerGoalHandle
+from rclpy.callback_groups import ReentrantCallbackGroup
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore
+
+from unilabos.compile import action_protocol_generators
+from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
+from unilabos.ros.initialize_device import initialize_device_from_dict
+from unilabos.ros.msgs.message_converter import (
+    get_action_type,
+    convert_to_ros_msg,
+    convert_from_ros_msg,
+    convert_from_ros_msg_with_mapping,
+)
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
+from unilabos.utils.type_check import serialize_result_info, get_result_info_str
+
+if TYPE_CHECKING:
+    from unilabos.devices.workstation.workstation_base import WorkstationBase
 
 
-class WorkStationContainer(Plate, TipRack):
+class ROS2WorkstationNodeTempError(Exception):
+    pass
+
+
+class ROS2WorkstationNode(BaseROS2DeviceNode):
     """
-    WorkStation 专用 Container 类，继承自 Plate和TipRack
-    注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
+    ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
+    它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
+    它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
-        """
-        这里的初始化入参要和plr的保持一致
-        """
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
-        self._unilabos_state = {}  # 必须有此行，自己的类描述的是物料的
+    driver_instance: "WorkstationBase"
 
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """从给定的状态加载工作台信息。"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        data = super().serialize_state()
-        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
-        return data
-
-
-def get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个返回plr的方法
-    """
-    用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
-    可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
-    :param name: 资源名称
-    :return: Resource对象
-    """
-    plate = WorkStationContainer(name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    tip_rack = WorkStationContainer("tip_rack_inside_plate", size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict())
-    plate.assign_child_resource(tip_rack, Coordinate.zero())
-    return plate
-
-
-class WorkStationExample(ROS2ProtocolNode):
-    def __init__(self,
-                 # 你可以在这里增加任意的参数，对应启动json填写相应的参数内容
-                 device_id: str,
-                 children: dict,
-                 protocol_type: Union[str, list[str]],
-                 resource_tracker: DeviceNodeResourceTracker
-                 ):
-        super().__init__(device_id, children, protocol_type, resource_tracker)
-
-    def create_resource(
+    def __init__(
         self,
-        resource_tracker: DeviceNodeResourceTracker,
-        resources: list[Resource],
-        bind_parent_id: str,
-        bind_location: dict[str, float],
-        liquid_input_slot: list[int],
-        liquid_type: list[str],
-        liquid_volume: list[int],
-        slot_on_deck: int,
-    ) -> Dict[str, Any]:
-        return {  # edge侧返回给前端的创建物料的结果。云端调用初始化瓶子等。执行该函数时，物料已经上报给云端，一般不需要继承使用
+        protocol_type: List[str],
+        children: Dict[str, Any],
+        *,
+        driver_instance: "WorkstationBase",
+        device_id: str,
+        status_types: Dict[str, Any],
+        action_value_mappings: Dict[str, Any],
+        hardware_interface: Dict[str, Any],
+        print_publish=True,
+        resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
+    ):
+        self._setup_protocol_names(protocol_type)
 
-        }
+        # 初始化非BaseROSNode的属性
+        self.children = children
+        # 初始化基类，让基类处理常规动作
+        super().__init__(
+            driver_instance=driver_instance,
+            device_id=device_id,
+            status_types=status_types,
+            action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
+            hardware_interface=hardware_interface,
+            print_publish=print_publish,
+            resource_tracker=resource_tracker,
+        )
 
-    def transfer_bottle(self, tip_rack: PLRResource, base_plate: PLRResource):  # 使用自定义物料的举例
-        """
-        将tip_rack assign给base_plate，两个入参都得是PLRResource，unilabos会代替当前物料操作，自动刷新他们的父子关系等状态
-        """
-        pass
+        self._busy = False
+        self.sub_devices = {}
+        self._action_clients = {}
 
-    def trigger_resource_update(self, from_plate: PLRResource, to_base_plate: PLRResource):
-        """
-        有些时候物料发生了子设备的迁移，一般对该设备的最大一级的物料进行操作，例如要将A物料搬移到B物料上，他们不共同拥有一个物料
-        该步骤操作结束后，会主动刷新from_plate的父物料，与to_base_plate的父物料（如没有则刷新自身）
+        # 初始化子设备
+        self.communication_node_id_to_instance = {}
 
-        """
-        to_base_plate.assign_child_resource(from_plate, Coordinate.zero())
-        pass
+        for device_id, device_config in self.children.items():
+            if device_config.get("type", "device") != "device":
+                self.lab_logger().debug(
+                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
+                continue
+            try:
+                d = self.initialize_device(device_id, device_config)
+            except Exception as ex:
+                self.lab_logger().error(
+                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}"
+                )
+                d = None
+            if d is None:
+                continue
 
+            if "serial_" in device_id or "io_" in device_id:
+                self.communication_node_id_to_instance[device_id] = d
+                continue
+
+        for device_id, device_config in self.children.items():
+            if device_config.get("type", "device") != "device":
+                continue
+            # 设置硬件接口代理
+            if device_id not in self.sub_devices:
+                self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
+                continue
+            d = self.sub_devices[device_id]
+            if d:
+                hardware_interface = d.ros_node_instance._hardware_interface
+                if (
+                    hasattr(d.driver_instance, hardware_interface["name"])
+                    and hasattr(d.driver_instance, hardware_interface["write"])
+                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
+                ):
+
+                    name = getattr(d.driver_instance, hardware_interface["name"])
+                    read = hardware_interface.get("read", None)
+                    write = hardware_interface.get("write", None)
+
+                    # 如果硬件接口是字符串，通过通信设备提供
+                    if isinstance(name, str) and name in self.sub_devices:
+                        communicate_device = self.sub_devices[name]
+                        communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
+                        self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
+                        self.lab_logger().info(
+                            f"\n通信代理：为子设备{device_id}\n    "
+                            f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
+                            f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
+                        )
+
+        self.lab_logger().info(f"ROS2WorkstationNode {device_id} initialized with protocols: {self.protocol_names}")
+
+    def _setup_protocol_names(self, protocol_type):
+        # 处理协议类型
+        if isinstance(protocol_type, str):
+            if "," not in protocol_type:
+                self.protocol_names = [protocol_type]
+            else:
+                self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
+        else:
+            self.protocol_names = protocol_type
+        # 准备协议相关的动作值映射
+        self.protocol_action_mappings = {}
+        for protocol_name in self.protocol_names:
+            protocol_type = globals()[protocol_name]
+            self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
+
+    def initialize_device(self, device_id, device_config):
+        """初始化设备并创建相应的动作客户端"""
+        # device_id_abs = f"{self.device_id}/{device_id}"
+        device_id_abs = f"{device_id}"
+        self.lab_logger().info(f"初始化子设备: {device_id_abs}")
+        d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
+
+        # 为子设备的每个动作创建动作客户端
+        if d is not None and hasattr(d, "ros_node_instance"):
+            node = d.ros_node_instance
+            node.resource_tracker = self.resource_tracker  # 站内应当共享资源跟踪器
+            for action_name, action_mapping in node._action_value_mappings.items():
+                if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith(
+                    "UniLabJsonCommand"
+                ):
+                    continue
+                action_id = f"/devices/{device_id_abs}/{action_name}"
+                if action_id not in self._action_clients:
+                    try:
+                        self._action_clients[action_id] = ActionClient(
+                            self, action_mapping["type"], action_id, callback_group=self.callback_group
+                        )
+                    except Exception as ex:
+                        self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
+                        continue
+                    self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
+        return d
+
+    def create_ros_action_server(self, action_name, action_value_mapping):
+        """创建ROS动作服务器"""
+        if action_name not in self.protocol_names:
+            # 非protocol方法调用父类注册
+            return super().create_ros_action_server(action_name, action_value_mapping)
+        # 和Base创建的路径是一致的
+        protocol_name = action_name
+        action_type = action_value_mapping["type"]
+        str_action_type = str(action_type)[8:-2]
+        protocol_type = globals()[protocol_name]
+        protocol_steps_generator = action_protocol_generators[protocol_type]
+
+        self._action_servers[action_name] = ActionServer(
+            self,
+            action_type,
+            action_name,
+            execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
+            callback_group=ReentrantCallbackGroup(),
+        )
+        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
+        return
+
+    def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
+        async def execute_protocol(goal_handle: ServerGoalHandle):
+            """执行完整的工作流"""
+            # 初始化结果信息变量
+            execution_error = ""
+            execution_success = False
+            protocol_return_value = None
+            self.lab_logger().info(f"Executing {protocol_name} action...")
+            action_value_mapping = self._action_value_mappings[protocol_name]
+            step_results = []
+            try:
+                self.lab_logger().warning("+" * 30)
+                self.lab_logger().info(protocol_steps_generator)
+                # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
+                goal = goal_handle.request
+                protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
+
+                # # 🔧 添加调试信息
+                # print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
+                # print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+
+                # # 🔧 完全禁用Host查询，直接使用转换后的数据
+                # print(f"🔧 跳过Host查询，直接使用转换后的数据")
+                # 向Host查询物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceGet.Request()
+                        resource_id = (
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        )
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )
+
+                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+
+                from unilabos.resources.graphio import physical_setup_graph
+
+                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
+                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
+                logs = []
+                for step in protocol_steps:
+                    if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
+                        logs.append(step)
+                    elif isinstance(step, list):
+                        logs.append(step)
+                self.lab_logger().info(
+                    f"Goal received: {protocol_kwargs}, running steps: "
+                    f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
+                )
+
+                time_start = time.time()
+                time_overall = 100
+                self._busy = True
+
+                # 逐步执行工作流
+                for i, action in enumerate(protocol_steps):
+                    # self.get_logger().info(f"Running step {i + 1}: {action}")
+                    if isinstance(action, dict):
+                        # 如果是单个动作，直接执行
+                        if action["action_name"] == "wait":
+                            time.sleep(action["action_kwargs"]["time"])
+                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
+                        else:
+                            try:
+                                result = await self.execute_single_action(**action)
+                                step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                                ret_info = json.loads(getattr(result, "return_info", "{}"))
+                                if not ret_info.get("suc", False):
+                                    raise RuntimeError(f"Step {i + 1} failed.")
+                            except ROS2WorkstationNodeTempError as ex:
+                                step_results.append(
+                                    {"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
+                                )
+                    elif isinstance(action, list):
+                        # 如果是并行动作，同时执行
+                        actions = action
+                        futures = [
+                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
+                        ]
+                        results = [await f for f in futures]
+                        step_results.append(
+                            {
+                                "step": i + 1,
+                                "parallel_actions": [a["action_name"] for a in actions],
+                                "results": results,
+                            }
+                        )
+
+                # 向Host更新物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceUpdate.Request()
+                        r.resources = [
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)
+
+                # 设置成功状态和返回值
+                execution_success = True
+                protocol_return_value = {
+                    "protocol_name": protocol_name,
+                    "steps_executed": len(protocol_steps),
+                    "step_results": step_results,
+                    "total_time": time.time() - time_start,
+                }
+
+                goal_handle.succeed()
+
+            except Exception as e:
+                # 捕获并记录错误信息
+                str_step_results = [
+                    {
+                        k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
+                        for k, v in i.items()
+                    }
+                    for i in step_results
+                ]
+                execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
+                execution_success = False
+                self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
+
+                # 设置动作失败
+                goal_handle.abort()
+
+            finally:
+                self._busy = False
+
+            # 创建结果消息
+            result = action_value_mapping["type"].Result()
+            result.success = execution_success
+
+            # 获取结果消息类型信息，检查是否有return_info字段
+            result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
+
+            # 设置return_info字段（如果存在）
+            for attr_name in result_msg_types.keys():
+                if attr_name in ["success", "reached_goal"]:
+                    setattr(result, attr_name, execution_success)
+                elif attr_name == "return_info":
+                    setattr(
+                        result,
+                        attr_name,
+                        get_result_info_str(execution_error, execution_success, protocol_return_value),
+                    )
+
+            self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
+            return result
+
+        return execute_protocol
+
+    async def execute_single_action(self, device_id, action_name, action_kwargs):
+        """执行单个动作"""
+        # 构建动作ID
+        if action_name == "log_message":
+            self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
+            raise ROS2WorkstationNodeTempError(f"[Protocol Log] {action_kwargs}")
+        if device_id in ["", None, "self"]:
+            action_id = f"/devices/{self.device_id}/{action_name}"
+        else:
+            action_id = f"/devices/{device_id}/{action_name}"  # 执行时取消了主节点信息 /{self.device_id}
+
+        # 检查动作客户端是否存在
+        if action_id not in self._action_clients:
+            self.lab_logger().error(f"找不到动作客户端: {action_id}")
+            return None
+
+        # 发送动作请求
+        action_client = self._action_clients[action_id]
+        goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
+
+        ##### self.lab_logger().info(f"发送动作请求到: {action_id}")
+        action_client.wait_for_server()
+
+        # 等待动作完成
+        request_future = action_client.send_goal_async(goal_msg)
+        handle = await request_future
+
+        if not handle.accepted:
+            self.lab_logger().error(f"动作请求被拒绝: {action_name}")
+            return None
+
+        result_future = await handle.get_result_async()
+        ##### self.lab_logger().info(f"动作完成: {action_name}")
+
+        return result_future.result
+
+    """还没有改过的部分"""
+
+    def _setup_hardware_proxy(
+        self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
+    ):
+        """为设备设置硬件接口代理"""
+        # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
+        write_func = getattr(
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
+        )
+        read_func = getattr(
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
+        )
+
+        def _read(*args, **kwargs):
+            return read_func(*args, **kwargs)
+
+        def _write(*args, **kwargs):
+            return write_func(*args, **kwargs)
+
+        if read_method:
+            # bound_read = MethodType(_read, device.driver_instance)
+            setattr(device.driver_instance, read_method, _read)
+
+        if write_method:
+            # bound_write = MethodType(_write, device.driver_instance)
+            setattr(device.driver_instance, write_method, _write)
diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py
index a96c4459..da2b9271 100644
--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -1,13 +1,739 @@
-from typing import List, Tuple, Any
+import uuid
+from pydantic import BaseModel, field_serializer, field_validator
+from pydantic import Field
+from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
 
 from unilabos.utils.log import logger
 
+if TYPE_CHECKING:
+    from unilabos.devices.workstation.workstation_base import WorkstationBase
+    from pylabrobot.resources import Resource as PLRResource
+
+
+class ResourceDictPositionSize(BaseModel):
+    depth: float = Field(description="Depth", default=0.0)
+    width: float = Field(description="Width", default=0.0)
+    height: float = Field(description="Height", default=0.0)
+
+
+class ResourceDictPositionScale(BaseModel):
+    x: float = Field(description="x scale", default=0.0)
+    y: float = Field(description="y scale", default=0.0)
+    z: float = Field(description="z scale", default=0.0)
+
+
+class ResourceDictPositionObject(BaseModel):
+    x: float = Field(description="X coordinate", default=0.0)
+    y: float = Field(description="Y coordinate", default=0.0)
+    z: float = Field(description="Z coordinate", default=0.0)
+
+
+class ResourceDictPosition(BaseModel):
+    size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
+    scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
+    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
+    position: ResourceDictPositionObject = Field(
+        description="Resource position", default_factory=ResourceDictPositionObject
+    )
+    position3d: ResourceDictPositionObject = Field(
+        description="Resource position in 3D space", default_factory=ResourceDictPositionObject
+    )
+    rotation: ResourceDictPositionObject = Field(
+        description="Resource rotation", default_factory=ResourceDictPositionObject
+    )
+
+
+# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
+class ResourceDict(BaseModel):
+    id: str = Field(description="Resource ID")
+    uuid: str = Field(description="Resource UUID")
+    name: str = Field(description="Resource name")
+    description: str = Field(description="Resource description", default="")
+    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
+    model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
+    icon: str = Field(description="Resource icon", default="")
+    parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None)  # 先设定parent_uuid
+    parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
+    type: Literal["device"] | str = Field(description="Resource type")
+    klass: str = Field(alias="class", description="Resource class name")
+    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
+    config: Dict[str, Any] = Field(description="Resource configuration")
+    data: Dict[str, Any] = Field(description="Resource data")
+
+    @field_serializer("parent_uuid")
+    def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
+        return self.uuid_parent
+
+    @field_validator("parent", mode="before")
+    @classmethod
+    def _deserialize_parent(cls, parent: Optional["ResourceDict"]):
+        if isinstance(parent, ResourceDict):
+            return parent
+        else:
+            return None
+
+    @property
+    def uuid_parent(self) -> str:
+        """获取父节点的UUID"""
+        parent_instance_uuid = self.parent_instance_uuid
+        if parent_instance_uuid is not None and self.parent_uuid and parent_instance_uuid != self.parent_uuid:
+            logger.warning(f"{self.name}[{self.uuid}]的parent uuid未同步！")  # 现在强制要求设置
+        if parent_instance_uuid is not None:
+            return parent_instance_uuid
+        return self.parent_uuid
+
+    @property
+    def parent_instance_uuid(self) -> Optional[str]:
+        """获取父节点的UUID"""
+        return self.parent.uuid if self.parent is not None else None
+
+    @property
+    def parent_instance_name(self) -> Optional[str]:
+        """获取父节点的名字"""
+        return self.parent.name if self.parent is not None else None
+
+    @property
+    def is_root_node(self) -> bool:
+        """判断资源是否为根节点"""
+        return self.parent is None
+
+
+class GraphData(BaseModel):
+    """图数据结构，包含节点和边"""
+
+    nodes: List["ResourceTreeInstance"] = Field(description="Resource nodes list", default_factory=list)
+    links: List[Dict[str, Any]] = Field(description="Resource links/edges list", default_factory=list)
+
+
+class ResourceDictInstance(object):
+    """ResourceDict的实例，同时提供一些方法"""
+
+    def __init__(self, res_content: "ResourceDict"):
+        self.res_content = res_content
+        self.children: List[ResourceDictInstance] = []
+        self.typ = "dict"
+
+    @classmethod
+    def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
+        """从字典创建资源实例"""
+        if "id" not in content:
+            content["id"] = content["name"]
+        if "uuid" not in content:
+            content["uuid"] = str(uuid.uuid4())
+        if "description" in content and content["description"] is None:
+            del content["description"]
+        if "model" in content and content["model"] is None:
+            del content["model"]
+        if "schema" in content and content["schema"] is None:
+            del content["schema"]
+        if "x" in content.get("position", {}):
+            # 说明是老版本的position格式，转换成新的
+            content["position"] = {"position": content["position"]}
+        if not content.get("class"):
+            content["class"] = ""
+        if not content.get("config"):  # todo: 后续从后端保证字段非空
+            content["config"] = {}
+        if not content.get("data"):
+            content["data"] = {}
+        return ResourceDictInstance(ResourceDict.model_validate(content))
+
+    def get_nested_dict(self) -> Dict[str, Any]:
+        """获取资源实例的嵌套字典表示"""
+        res_dict = self.res_content.model_dump(by_alias=True)
+        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
+        res_dict["parent"] = self.res_content.parent_instance_name
+        res_dict["position"] = self.res_content.position.position.model_dump()
+        return res_dict
+
+
+class ResourceTreeInstance(object):
+    """
+    资源树，表示一个根节点及其所有子节点的层次结构，继承ResourceDictInstance表示自己是根节点
+    """
+
+    @staticmethod
+    def _build_uuid_map(resource_list: List[ResourceDictInstance]) -> Dict[str, ResourceDictInstance]:
+        """构建uuid到资源对象的映射，并检查重复"""
+        uuid_map: Dict[str, ResourceDictInstance] = {}
+        for res_instance in resource_list:
+            res = res_instance.res_content
+            if res.uuid in uuid_map:
+                raise ValueError(f"发现重复的uuid: {res.uuid}")
+            uuid_map[res.uuid] = res_instance
+        return uuid_map
+
+    @staticmethod
+    def _build_uuid_instance_map(
+        resource_list: List[ResourceDictInstance],
+    ) -> Dict[str, ResourceDictInstance]:
+        """构建uuid到资源实例的映射"""
+        return {res_instance.res_content.uuid: res_instance for res_instance in resource_list}
+
+    @staticmethod
+    def _collect_tree_nodes(
+        root_instance: ResourceDictInstance, uuid_map: Dict[str, ResourceDict]
+    ) -> List[ResourceDictInstance]:
+        """使用BFS收集属于某个根节点的所有节点"""
+        # BFS遍历，根据parent_uuid字段找到所有属于这棵树的节点
+        tree_nodes = [root_instance]
+        visited = {root_instance.res_content.uuid}
+        queue = [root_instance.res_content.uuid]
+
+        while queue:
+            current_uuid = queue.pop(0)
+            # 查找所有parent_uuid指向当前节点的子节点
+            for uuid_str, res in uuid_map.items():
+                if res.uuid_parent == current_uuid and uuid_str not in visited:
+                    child_instance = ResourceDictInstance(res)
+                    tree_nodes.append(child_instance)
+                    visited.add(uuid_str)
+                    queue.append(uuid_str)
+
+        return tree_nodes
+
+    def __init__(self, resource: ResourceDictInstance):
+        self.root_node = resource
+        self._validate_tree()
+
+    def _validate_tree(self):
+        """
+        验证树结构的一致性
+        - 验证uuid唯一性
+        - 验证parent-children关系一致性
+
+        Raises:
+            ValueError: 当发现不一致时
+        """
+        known_uuids: set = set()
+
+        def validate_node(node: ResourceDictInstance):
+            # 检查uuid唯一性
+            if node.res_content.uuid in known_uuids:
+                raise ValueError(f"发现重复的uuid: {node.res_content.uuid}")
+            if node.res_content.uuid:
+                known_uuids.add(node.res_content.uuid)
+            else:
+                print(f"警告: 资源 {node.res_content.id} 没有uuid")
+
+            # 验证并递归处理子节点
+            for child in node.children:
+                if child.res_content.parent != node.res_content:
+                    parent_id = child.res_content.parent.id if child.res_content.parent else None
+                    raise ValueError(
+                        f"节点 {child.res_content.id} 的parent引用不正确，应该指向 {node.res_content.id}，但实际指向 {parent_id}"
+                    )
+                validate_node(child)
+
+        validate_node(self.root_node)
+
+    def get_all_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取树中的所有节点（深度优先遍历）
+
+        Returns:
+            所有节点的资源实例列表
+        """
+        nodes = []
+
+        def collect_nodes(node: ResourceDictInstance):
+            nodes.append(node)
+            for child in node.children:
+                collect_nodes(child)
+
+        collect_nodes(self.root_node)
+        return nodes
+
+    def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
+        """
+        通过uuid查找节点
+
+        Args:
+            target_uuid: 目标uuid
+
+        Returns:
+            找到的节点资源实例，如果没找到返回None
+        """
+
+        def search(node: ResourceDictInstance) -> Optional[ResourceDictInstance]:
+            if node.res_content.uuid == target_uuid:
+                return node
+            for child in node.children:
+                res = search(child)
+                if res:
+                    return res
+            return None
+
+        result = search(self.root_node)
+        return result
+
+
+class ResourceTreeSet(object):
+    """
+    多个根节点的resource集合，包含多个ResourceTree
+    """
+
+    def __init__(self, resource_list: List[List[ResourceDictInstance]] | List[ResourceTreeInstance]):
+        """
+        初始化资源树集合
+
+        Args:
+            resource_list: 可以是以下两种类型之一：
+                - List[ResourceTree]: 已经构建好的树列表
+                - List[List[ResourceInstanceDict]]: 嵌套列表，每个内部列表代表一棵树
+
+        Raises:
+            TypeError: 当传入不支持的类型时
+        """
+        if not resource_list:
+            self.trees: List[ResourceTreeInstance] = []
+        elif isinstance(resource_list[0], ResourceTreeInstance):
+            # 已经是ResourceTree列表
+            self.trees = cast(List[ResourceTreeInstance], resource_list)
+        elif isinstance(resource_list[0], list):
+            pass
+        else:
+            raise TypeError(
+                f"不支持的类型: {type(resource_list[0])}。"
+                f"ResourceTreeSet 只接受 List[ResourceTree] 或 List[List[ResourceInstanceDict]]"
+            )
+
+    @classmethod
+    def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
+        """
+        从plr资源创建ResourceTreeSet
+        """
+
+        def replace_plr_type(source: str):
+            replace_info = {
+                "plate": "plate",
+                "well": "well",
+                "tip_spot": "container",
+                "trash": "container",
+                "deck": "deck",
+                "tip_rack": "container",
+            }
+            if source in replace_info:
+                return replace_info[source]
+            else:
+                print("转换pylabrobot的时候，出现未知类型", source)
+                return "container"
+
+        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
+            """递归构建uuid映射字典"""
+            uuid_list.append(getattr(res, "unilabos_uuid", ""))
+            for child in res.children:
+                build_uuid_mapping(child, uuid_list)
+
+        def resource_plr_inner(
+            d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
+        ) -> ResourceDictInstance:
+            current_uuid = uuids.pop(0)
+
+            # 先构建当前节点的字典（不包含children）
+            r_dict = {
+                "id": d["name"],
+                "uuid": current_uuid,
+                "name": d["name"],
+                "parent": parent_resource,  # 直接传入 ResourceDict 对象
+                "type": replace_plr_type(d.get("category", "")),
+                "class": d.get("class", ""),
+                "position": (
+                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                    if d["location"]
+                    else {"x": 0, "y": 0, "z": 0}
+                ),
+                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
+                "data": states[d["name"]],
+            }
+
+            # 先转换为 ResourceDictInstance，获取其中的 ResourceDict
+            current_instance = ResourceDictInstance.get_resource_instance_from_dict(r_dict)
+            current_resource = current_instance.res_content
+
+            # 递归处理子节点，传入当前节点的 ResourceDict 作为 parent
+            current_instance.children = [
+                resource_plr_inner(child, current_resource, states, uuids) for child in d["children"]
+            ]
+
+            return current_instance
+
+        trees = []
+        for resource in resources:
+            # 构建uuid列表
+            uuid_list = []
+            build_uuid_mapping(resource, uuid_list)
+
+            serialized_data = resource.serialize()
+            all_states = resource.serialize_all_state()
+
+            # 根节点没有父节点，传入 None
+            root_instance = resource_plr_inner(serialized_data, None, all_states, uuid_list)
+            tree_instance = ResourceTreeInstance(root_instance)
+            trees.append(tree_instance)
+        return cls(trees)
+
+    def to_plr_resources(self) -> List["PLRResource"]:
+        """
+        将 ResourceTreeSet 转换为 PLR 资源列表
+
+        Returns:
+            List[PLRResource]: PLR 资源实例列表
+        """
+        from pylabrobot.resources import Resource as PLRResource
+        from pylabrobot.utils.object_parsing import find_subclass
+        import inspect
+
+        # 类型映射
+        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
+
+        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
+            """一次遍历收集 name_to_uuid 和 all_states"""
+            name_to_uuid[node.res_content.name] = node.res_content.uuid
+            all_states[node.res_content.name] = node.res_content.data
+            for child in node.children:
+                collect_node_data(child, name_to_uuid, all_states)
+
+        def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
+            """转换节点为 PLR 字典格式"""
+            res = node.res_content
+            plr_type = TYPE_MAP.get(res.type, "tip_spot")
+            if res.type not in TYPE_MAP:
+                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
+
+            d = {
+                "name": res.name,
+                "type": plr_type,
+                "size_x": res.config.get("size_x", 0),
+                "size_y": res.config.get("size_y", 0),
+                "size_z": res.config.get("size_z", 0),
+                "location": {
+                    "x": res.position.position.x,
+                    "y": res.position.position.y,
+                    "z": res.position.position.z,
+                    "type": "Coordinate",
+                },
+                "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
+                "category": plr_type,
+                "children": [node_to_plr_dict(child, has_model) for child in node.children],
+                "parent_name": res.parent_instance_name,
+                **res.config,
+            }
+            if has_model:
+                d["model"] = res.config.get("model", None)
+            return d
+
+        plr_resources = []
+        trees = []
+        tracker = DeviceNodeResourceTracker()
+
+        for tree in self.trees:
+            name_to_uuid: Dict[str, str] = {}
+            all_states: Dict[str, Any] = {}
+            collect_node_data(tree.root_node, name_to_uuid, all_states)
+            has_model = tree.root_node.res_content.type != "deck"
+            plr_dict = node_to_plr_dict(tree.root_node, has_model)
+            try:
+                sub_cls = find_subclass(plr_dict["type"], PLRResource)
+                if sub_cls is None:
+                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
+                spec = inspect.signature(sub_cls)
+                if "category" not in spec.parameters:
+                    plr_dict.pop("category", None)
+                plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
+                plr_resource.load_all_state(all_states)
+                # 使用 DeviceNodeResourceTracker 设置 UUID
+                tracker.loop_set_uuid(plr_resource, name_to_uuid)
+                plr_resources.append(plr_resource)
+
+            except Exception as e:
+                logger.error(f"转换 PLR 资源失败: {e}")
+                import traceback
+
+                logger.error(f"堆栈: {traceback.format_exc()}")
+                raise
+
+        return plr_resources
+
+    @classmethod
+    def from_raw_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet":
+        """
+        从原始字典列表创建 ResourceTreeSet，自动建立 parent-children 关系
+
+        Args:
+            raw_list: 原始字典列表，每个字典代表一个资源节点
+
+        Returns:
+            ResourceTreeSet 实例
+
+        Raises:
+            ValueError: 当建立关系时发现不一致
+        """
+        # 第一步：将字典列表转换为 ResourceDictInstance 列表
+        instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in raw_list]
+
+        # 第二步：建立映射关系
+        uuid_to_instance: Dict[str, ResourceDictInstance] = {}
+        id_to_instance: Dict[str, ResourceDictInstance] = {}
+
+        for raw_node, instance in zip(raw_list, instances):
+            # 建立 uuid 映射
+            if instance.res_content.uuid:
+                uuid_to_instance[instance.res_content.uuid] = instance
+            # 建立 id 映射
+            if instance.res_content.id:
+                id_to_instance[instance.res_content.id] = instance
+
+        # 第三步：建立 parent-children 关系
+        for raw_node, instance in zip(raw_list, instances):
+            # 优先使用 parent_uuid 进行匹配，如果不存在则使用 parent (id)
+            parent_uuid = raw_node.get("parent_uuid")
+            parent_id = raw_node.get("parent")
+            parent_instance = None
+
+            # 优先用 parent_uuid 匹配
+            if parent_uuid and parent_uuid in uuid_to_instance:
+                parent_instance = uuid_to_instance[parent_uuid]
+            # 否则用 parent (id) 匹配
+            elif parent_id and parent_id in id_to_instance:
+                parent_instance = id_to_instance[parent_id]
+
+            # 设置 parent 引用并建立 children 关系
+            if parent_instance:
+                instance.res_content.parent = parent_instance.res_content
+                # 将当前节点添加到父节点的 children 列表（避免重复添加）
+                if instance not in parent_instance.children:
+                    parent_instance.children.append(instance)
+
+        # 第四步：使用 from_nested_list 创建 ResourceTreeSet
+        return cls.from_nested_list(instances)
+
+    @classmethod
+    def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
+        """
+        从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组
+
+        Args:
+            nested_list: 扁平化的资源实例列表，可能包含多个根节点
+
+        Returns:
+            ResourceTreeSet实例
+
+        Raises:
+            ValueError: 当没有找到任何根节点时
+        """
+        # 找到所有根节点
+        known_uuids = {res_instance.res_content.uuid for res_instance in nested_list}
+        root_instances = [
+            ResourceTreeInstance(res_instance)
+            for res_instance in nested_list
+            if res_instance.res_content.is_root_node or res_instance.res_content.uuid_parent not in known_uuids
+        ]
+        return cls(root_instances)
+
+    @property
+    def root_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树的根节点
+
+        Returns:
+            所有根节点的资源实例列表
+        """
+        return [tree.root_node for tree in self.trees]
+
+    @property
+    def all_nodes(self) -> List[ResourceDictInstance]:
+        """
+        获取所有树中的所有节点
+
+        Returns:
+            所有节点的资源实例列表
+        """
+        return [node for tree in self.trees for node in tree.get_all_nodes()]
+
+    @property
+    def all_nodes_uuid(self) -> List[str]:
+        """
+        获取所有树中的所有节点
+
+        Returns:
+            所有节点的资源实例列表
+        """
+        return [node.res_content.uuid for tree in self.trees for node in tree.get_all_nodes()]
+
+    def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
+        """
+        在所有树中通过uuid查找节点
+
+        Args:
+            target_uuid: 目标uuid
+
+        Returns:
+            找到的节点资源实例，如果没找到返回None
+        """
+        for tree in self.trees:
+            result = tree.find_by_uuid(target_uuid)
+            if result:
+                return result
+        return None
+
+    def merge_remote_resources(self, remote_tree_set: "ResourceTreeSet") -> "ResourceTreeSet":
+        """
+        将远端物料同步到本地物料中（以子树为单位）
+
+        同步规则：
+        1. 一级节点（根节点）：如果不存在的物料，引入整个子树
+        2. 一级设备下的二级物料：如果不存在，引入整个子树
+        3. 二级设备下的三级物料：如果不存在，引入整个子树
+        如果存在则跳过并提示
+
+        Args:
+            remote_tree_set: 远端的资源树集合
+
+        Returns:
+            合并后的资源树集合（self）
+        """
+        # 构建本地映射：一级 device id -> 根节点实例
+        local_device_map: Dict[str, ResourceDictInstance] = {}
+        for root_node in self.root_nodes:
+            if root_node.res_content.type == "device":
+                local_device_map[root_node.res_content.id] = root_node
+
+        # 记录需要添加的新根节点（不属于任何 device 的物料）
+        new_root_nodes: List[ResourceDictInstance] = []
+
+        # 遍历远端根节点
+        for remote_root in remote_tree_set.root_nodes:
+            remote_root_id = remote_root.res_content.id
+            remote_root_type = remote_root.res_content.type
+
+            if remote_root_type == "device":
+                # 情况1: 一级是 device
+                if remote_root_id not in local_device_map:
+                    logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
+                    continue
+
+                local_device = local_device_map[remote_root_id]
+
+                # 构建本地一级 device 下的子节点映射
+                local_children_map = {child.res_content.name: child for child in local_device.children}
+
+                # 遍历远端一级 device 的子节点
+                for remote_child in remote_root.children:
+                    remote_child_name = remote_child.res_content.name
+                    remote_child_type = remote_child.res_content.type
+
+                    if remote_child_type == "device":
+                        # 情况2: 二级是 device
+                        if remote_child_name not in local_children_map:
+                            logger.warning(f"Device '{remote_root_id}/{remote_child_name}' 在本地不存在，跳过")
+                            continue
+
+                        local_sub_device = local_children_map[remote_child_name]
+
+                        # 构建本地二级 device 下的子节点映射
+                        local_sub_children_map = {child.res_content.name: child for child in local_sub_device.children}
+
+                        # 遍历远端二级 device 的子节点（三级物料）
+                        added_count = 0
+                        for remote_material in remote_child.children:
+                            remote_material_name = remote_material.res_content.name
+
+                            # 情况3: 三级物料
+                            if remote_material_name not in local_sub_children_map:
+                                # 引入整个子树
+                                remote_material.res_content.parent = local_sub_device.res_content
+                                local_sub_device.children.append(remote_material)
+                                added_count += 1
+                            else:
+                                logger.info(
+                                    f"物料 '{remote_root_id}/{remote_child_name}/{remote_material_name}' "
+                                    f"已存在，跳过"
+                                )
+
+                        if added_count > 0:
+                            logger.info(
+                                f"Device '{remote_root_id}/{remote_child_name}': "
+                                f"从远端同步了 {added_count} 个物料子树"
+                            )
+                    else:
+                        # 情况2: 二级是物料（不是 device）
+                        if remote_child_name not in local_children_map:
+                            # 引入整个子树
+                            remote_child.res_content.parent = local_device.res_content
+                            local_device.children.append(remote_child)
+                            logger.info(f"Device '{remote_root_id}': 从远端同步物料子树 '{remote_child_name}'")
+                        else:
+                            logger.info(f"物料 '{remote_root_id}/{remote_child_name}' 已存在，跳过")
+            else:
+                # 情况1: 一级节点是物料（不是 device）
+                # 检查是否已存在
+                existing = False
+                for local_root in self.root_nodes:
+                    if local_root.res_content.name == remote_root.res_content.name:
+                        existing = True
+                        logger.info(f"根节点物料 '{remote_root.res_content.name}' 已存在，跳过")
+                        break
+
+                if not existing:
+                    # 引入整个子树
+                    new_root_nodes.append(remote_root)
+                    logger.info(f"添加远端独立物料根节点子树: '{remote_root_id}'")
+
+        # 将新的根节点添加到本地树集合
+        if new_root_nodes:
+            for new_root in new_root_nodes:
+                self.trees.append(ResourceTreeInstance(new_root))
+
+        return self
+
+    def dump(self) -> List[List[Dict[str, Any]]]:
+        """
+        将 ResourceTreeSet 序列化为嵌套列表格式
+
+        序列化时：
+        - parent 自动转换为 parent_uuid（在 ResourceDict.model_dump 中处理）
+        - children 不会被序列化（exclude=True）
+
+        Returns:
+            List[List[Dict]]: 每个内层列表代表一棵树的扁平化资源字典列表
+        """
+        result = []
+        for tree in self.trees:
+            # 获取树的所有节点并序列化
+            tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
+            result.append(tree_nodes)
+        return result
+
+    @classmethod
+    def load(cls, data: List[List[Dict[str, Any]]]) -> "ResourceTreeSet":
+        """
+        从序列化的嵌套列表格式反序列化为 ResourceTreeSet
+
+        Args:
+            data: List[List[Dict]]: 序列化的数据，每个内层列表代表一棵树
+
+        Returns:
+            ResourceTreeSet: 反序列化后的资源树集合
+        """
+        # 将每个字典转换为 ResourceInstanceDict
+        # FIXME: 需要重新确定parent关系
+        nested_lists = []
+        for tree_data in data:
+            flatten_instances = [
+                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
+            ]
+            nested_lists.append(flatten_instances)
+
+        # 使用现有的构造函数创建 ResourceTreeSet
+        return cls(nested_lists)
+
 
 class DeviceNodeResourceTracker(object):
 
     def __init__(self):
         self.resources = []
         self.resource2parent_resource = {}
+        self.uuid_to_resources = {}
         pass
 
     def prefix_path(self, resource):
@@ -19,6 +745,161 @@ class DeviceNodeResourceTracker(object):
 
         return resource_prefix_path
 
+    def map_uuid_to_resource(self, resource, uuid_map: Dict[str, str]):
+        for old_uuid, new_uuid in uuid_map.items():
+            if old_uuid != new_uuid:
+                if old_uuid in self.uuid_to_resources:
+                    instance = self.uuid_to_resources.pop(old_uuid)
+                    if isinstance(resource, dict):
+                        resource["uuid"] = new_uuid
+                    else:  # 实例的
+                        setattr(instance, "unilabos_uuid", new_uuid)
+                    self.uuid_to_resources[new_uuid] = instance
+                    print(f"更新uuid映射: {old_uuid} -> {new_uuid} | {instance}")
+
+    def _get_resource_attr(self, resource, attr_name: str, uuid_attr: Optional[str] = None):
+        """
+        获取资源的属性值，统一处理 dict 和 instance 两种类型
+
+        Args:
+            resource: 资源对象（dict或实例）
+            attr_name: dict类型使用的属性名
+            uuid_attr: instance类型使用的属性名（用于uuid字段），默认与attr_name相同
+
+        Returns:
+            属性值，不存在则返回None
+        """
+        if uuid_attr is None:
+            uuid_attr = attr_name
+
+        if isinstance(resource, dict):
+            return resource.get(attr_name)
+        else:
+            return getattr(resource, uuid_attr, None)
+
+    def _set_resource_uuid(self, resource, new_uuid: str):
+        """
+        设置资源的 uuid，统一处理 dict 和 instance 两种类型
+
+        Args:
+            resource: 资源对象（dict或实例）
+            new_uuid: 新的uuid值
+        """
+        if isinstance(resource, dict):
+            resource["uuid"] = new_uuid
+        else:
+            setattr(resource, "unilabos_uuid", new_uuid)
+
+    def _traverse_and_process(self, resource, process_func) -> int:
+        """
+        递归遍历资源树，对每个节点执行处理函数
+
+        Args:
+            resource: 资源对象（可以是list、dict或实例）
+            process_func: 处理函数，接收resource参数，返回处理的节点数量
+
+        Returns:
+            处理的节点总数量
+        """
+        if isinstance(resource, list):
+            return sum(self._traverse_and_process(r, process_func) for r in resource)
+
+        # 先递归处理所有子节点
+        count = 0
+        children = getattr(resource, "children", [])
+        for child in children:
+            count += self._traverse_and_process(child, process_func)
+
+        # 处理当前节点
+        count += process_func(resource)
+        return count
+
+    def loop_set_uuid(self, resource, name_to_uuid_map: Dict[str, str]) -> int:
+        """
+        递归遍历资源树，根据 name 设置所有节点的 uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            name_to_uuid_map: name到uuid的映射字典，{name: uuid}
+
+        Returns:
+            更新的资源数量
+        """
+
+        def process(res):
+            resource_name = self._get_resource_attr(res, "name")
+            if resource_name and resource_name in name_to_uuid_map:
+                new_uuid = name_to_uuid_map[resource_name]
+                self._set_resource_uuid(res, new_uuid)
+                self.uuid_to_resources[new_uuid] = res
+                logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
+                return 1
+            return 0
+
+        return self._traverse_and_process(resource, process)
+
+    def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int:
+        """
+        递归遍历资源树，更新所有节点的uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            uuid_map: uuid映射字典，{old_uuid: new_uuid}
+
+        Returns:
+            更新的资源数量
+        """
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid and current_uuid in uuid_map:
+                new_uuid = uuid_map[current_uuid]
+                if current_uuid != new_uuid:
+                    self._set_resource_uuid(res, new_uuid)
+                    # 更新uuid_to_resources映射
+                    if current_uuid in self.uuid_to_resources:
+                        self.uuid_to_resources.pop(current_uuid)
+                    self.uuid_to_resources[new_uuid] = res
+                    logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
+                    return 1
+            return 0
+
+        return self._traverse_and_process(resource, process)
+
+    def _collect_uuid_mapping(self, resource):
+        """
+        递归收集资源的 uuid 映射到 uuid_to_resources
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+        """
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid:
+                self.uuid_to_resources[current_uuid] = res
+                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res}")
+            return 0
+
+        self._traverse_and_process(resource, process)
+
+    def _remove_uuid_mapping(self, resource):
+        """
+        递归清除资源的 uuid 映射
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+        """
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid and current_uuid in self.uuid_to_resources:
+                self.uuid_to_resources.pop(current_uuid)
+                logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
+            return 0
+
+        self._traverse_and_process(resource, process)
+
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
             return self.resource2parent_resource[id(resource)]
@@ -26,35 +907,129 @@ class DeviceNodeResourceTracker(object):
             return resource
 
     def add_resource(self, resource):
+        """
+        添加资源到追踪器
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+        """
         for r in self.resources:
             if id(r) == id(resource):
                 return
         self.resources.append(resource)
+        # 递归收集uuid映射
+        self._collect_uuid_mapping(resource)
+
+    def remove_resource(self, resource) -> bool:
+        """
+        从追踪器中移除资源
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+
+        Returns:
+            bool: 如果成功移除返回True，资源不存在返回False
+        """
+        # 从 resources 列表中移除
+        resource_id = id(resource)
+        removed = False
+        for i, r in enumerate(self.resources):
+            if id(r) == resource_id:
+                self.resources.pop(i)
+                removed = True
+                break
+
+        if not removed:
+            logger.warning(f"尝试移除不存在的资源: {resource}")
+            return False
+
+        # 递归清除uuid映射
+        self._remove_uuid_mapping(resource)
+
+        # 清除 resource2parent_resource 中与该资源相关的映射
+        # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
+        keys_to_remove = []
+        for key, value in self.resource2parent_resource.items():
+            if id(value) == resource_id:
+                keys_to_remove.append(key)
+
+        if resource_id in self.resource2parent_resource:
+            keys_to_remove.append(resource_id)
+
+        for key in keys_to_remove:
+            self.resource2parent_resource.pop(key, None)
+
+        logger.debug(f"成功移除资源: {resource}")
+        return True
 
     def clear_resource(self):
+        """清空所有资源"""
         self.resources = []
+        self.uuid_to_resources.clear()
+        self.resource2parent_resource.clear()
 
     def figure_resource(self, query_resource, try_mode=False):
         if isinstance(query_resource, list):
             return [self.figure_resource(r, try_mode) for r in query_resource]
-        elif isinstance(query_resource, dict) and "id" not in query_resource and "name" not in query_resource:  # 临时处理，要删除的，driver有太多类型错误标注
+        elif (
+            isinstance(query_resource, dict)
+            and "id" not in query_resource
+            and "name" not in query_resource
+            and "uuid" not in query_resource
+        ):  # 临时处理，要删除的，driver有太多类型错误标注
             return [self.figure_resource(r, try_mode) for r in query_resource.values()]
-        res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
-        res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
+
+        # 优先尝试通过 uuid 查找
+        res_uuid = None
+        if isinstance(query_resource, dict):
+            res_uuid = query_resource.get("uuid")
+        else:
+            res_uuid = getattr(query_resource, "unilabos_uuid", None)
+
+        # 如果有 uuid，优先使用 uuid 查找
+        if res_uuid:
+            res_list = []
+            for r in self.resources:
+                if isinstance(query_resource, dict):
+                    res_list.extend(self.loop_find_resource(r, object, "uuid", res_uuid))
+                else:
+                    res_list.extend(self.loop_find_resource(r, type(query_resource), "unilabos_uuid", res_uuid))
+
+            if not try_mode:
+                assert len(res_list) > 0, f"没有找到资源 (uuid={res_uuid})，请检查资源是否存在"
+                assert len(res_list) == 1, f"通过uuid={res_uuid} 找到多个资源，请检查资源是否唯一: {res_list}"
+            else:
+                return [i[1] for i in res_list]
+
+            self.resource2parent_resource[id(query_resource)] = res_list[0][0]
+            self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0]
+            return res_list[0][1]
+
+        # 回退到 id/name 查找
+        res_id = (
+            query_resource.id  # type: ignore
+            if hasattr(query_resource, "id")
+            else (query_resource.get("id") if isinstance(query_resource, dict) else None)
+        )
+        res_name = (
+            query_resource.name  # type: ignore
+            if hasattr(query_resource, "name")
+            else (query_resource.get("name") if isinstance(query_resource, dict) else None)
+        )
         res_identifier = res_id if res_id else res_name
         identifier_key = "id" if res_id else "name"
         resource_cls_type = type(query_resource)
         if res_identifier is None:
-            logger.warning(f"resource {query_resource} 没有id或name，暂不能对应figure")
+            logger.warning(f"resource {query_resource} 没有id、name或uuid，暂不能对应figure")
         res_list = []
         for r in self.resources:
             if isinstance(query_resource, dict):
-                res_list.extend(
-                    self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
-                )
+                res_list.extend(self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key]))
             else:
                 res_list.extend(
-                    self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
+                    self.loop_find_resource(
+                        r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key)
+                    )
                 )
         if not try_mode:
             assert len(res_list) > 0, f"没有找到资源 {query_resource}，请检查资源是否存在"
@@ -66,20 +1041,30 @@ class DeviceNodeResourceTracker(object):
         self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0]
         return res_list[0][1]
 
-    def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]:
+    def loop_find_resource(
+        self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None
+    ) -> List[Tuple[Any, Any]]:
         res_list = []
         # print(resource, target_resource_cls_type, identifier_key, compare_value)
         children = getattr(resource, "children", [])
         for child in children:
-            res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource))
-        if target_resource_cls_type == type(resource):
+            res_list.extend(
+                self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
+            )
+        if issubclass(type(resource), target_resource_cls_type):
             if target_resource_cls_type == dict:
+                # 对于字典类型，直接检查 identifier_key
                 if identifier_key in resource:
                     if resource[identifier_key] == compare_value:
                         res_list.append((parent_res, resource))
-            elif hasattr(resource, identifier_key):
-                if getattr(resource, identifier_key) == compare_value:
-                    res_list.append((parent_res, resource))
+            else:
+                # 对于实例类型，需要特殊处理 uuid 字段
+                # 如果查找的是 unilabos_uuid，使用 getattr
+                if identifier_key == "uuid":
+                    identifier_key = "unilabos_uuid"
+                if hasattr(resource, identifier_key):
+                    if getattr(resource, identifier_key) == compare_value:
+                        res_list.append((parent_res, resource))
         return res_list
 
     def filter_find_list(self, res_list, compare_std_dict):
@@ -90,3 +1075,81 @@ class DeviceNodeResourceTracker(object):
                     if getattr(res, k) == v:
                         new_list.append(res)
         return new_list
+
+
+if __name__ == "__main__":
+    from pylabrobot.resources import corning_6_wellplate_16point8ml_flat
+
+    # 测试 from_plr_resources 和 to_plr_resources 的往返转换
+    print("=" * 60)
+    print("测试 PLR 资源转换往返")
+    print("=" * 60)
+
+    # 1. 创建一个 PLR 资源并设置 UUID
+    original_plate = corning_6_wellplate_16point8ml_flat("test_plate")
+
+    # 使用 DeviceNodeResourceTracker 设置 UUID
+    tracker = DeviceNodeResourceTracker()
+    name_to_uuid = {}
+
+    # 递归生成 name_to_uuid 映射
+    def build_uuid_map(resource):
+        name_to_uuid[resource.name] = str(uuid.uuid4())
+        for child in resource.children:
+            build_uuid_map(child)
+
+    build_uuid_map(original_plate)
+
+    # 使用 tracker 的 loop_set_uuid 方法设置 UUID
+    tracker.loop_set_uuid(original_plate, name_to_uuid)
+
+    print(f"\n1. 原始 PLR 资源: {original_plate.name}")
+    print(f"   - UUID: {getattr(original_plate, 'unilabos_uuid', 'N/A')}")
+    print(f"   - 子节点数量: {len(original_plate.children)}")
+    if original_plate.children:
+        print(f"   - 第一个子节点: {original_plate.children[0].name}")
+        print(f"   - 第一个子节点 UUID: {getattr(original_plate.children[0], 'unilabos_uuid', 'N/A')}")
+
+    # 2. 将 PLR 资源转换为 ResourceTreeSet
+    resource_tree_set = ResourceTreeSet.from_plr_resources([original_plate])
+    print(f"\n2. 转换为 ResourceTreeSet:")
+    print(f"   - 树的数量: {len(resource_tree_set.trees)}")
+    print(f"   - 根节点: {resource_tree_set.root_nodes[0].res_content.name}")
+    print(f"   - 所有节点数量: {len(resource_tree_set.all_nodes)}")
+
+    # 3. 将 ResourceTreeSet 转换回 PLR 资源
+    plr_resources = resource_tree_set.to_plr_resources()
+    converted_plate = plr_resources[0]
+    print(f"\n3. 转换回 PLR 资源: {converted_plate.name}")
+    print(f"   - 子节点数量: {len(converted_plate.children)}")
+    if converted_plate.children:
+        print(f"   - 第一个子节点: {converted_plate.children[0].name}")
+
+    # 4. 验证 unilabos_uuid 属性
+    print(f"\n4. 验证 unilabos_uuid 设置:")
+    if hasattr(converted_plate, "unilabos_uuid"):
+        print(f"   - 根节点 UUID: {getattr(converted_plate, 'unilabos_uuid')}")
+        if converted_plate.children and hasattr(converted_plate.children[0], "unilabos_uuid"):
+            print(f"   - 第一个子节点 UUID: {getattr(converted_plate.children[0], 'unilabos_uuid')}")
+    else:
+        print("   - 警告: unilabos_uuid 未设置")
+
+    # 5. 验证 UUID 保持不变
+    print(f"\n5. 验证 UUID 在往返过程中保持不变:")
+    original_uuid = getattr(original_plate, "unilabos_uuid")
+    converted_uuid = getattr(converted_plate, "unilabos_uuid")
+    print(f"   - 原始 UUID: {original_uuid}")
+    print(f"   - 转换后 UUID: {converted_uuid}")
+    print(f"   - UUID 保持不变: {original_uuid == converted_uuid}")
+
+    # 6. 再次往返转换，验证稳定性
+    resource_tree_set_2 = ResourceTreeSet.from_plr_resources([converted_plate])
+    plr_resources_2 = resource_tree_set_2.to_plr_resources()
+    print(f"\n6. 第二次往返转换:")
+    print(f"   - 资源名称: {plr_resources_2[0].name}")
+    print(f"   - 子节点数量: {len(plr_resources_2[0].children)}")
+    print(f"   - UUID 依然保持: {getattr(plr_resources_2[0], 'unilabos_uuid') == original_uuid}")
+
+    print("\n" + "=" * 60)
+    print("✅ 测试完成! 所有转换正常工作")
+    print("=" * 60)
diff --git a/unilabos/ros/utils/driver_creator.py b/unilabos/ros/utils/driver_creator.py
index 862f04c1..f72edf29 100644
--- a/unilabos/ros/utils/driver_creator.py
+++ b/unilabos/ros/utils/driver_creator.py
@@ -4,9 +4,9 @@
 这个模块包含用于创建设备类实例的工厂类。
 基础工厂类提供通用的实例创建方法，而特定工厂类提供针对特定设备类的创建方法。
 """
+
 import asyncio
 import inspect
-import json
 import traceback
 from abc import abstractmethod
 from typing import Type, Any, Dict, Optional, TypeVar, Generic
@@ -54,7 +54,6 @@ class DeviceClassCreator(Generic[T]):
                 if c["type"] != "device":
                     self.resource_tracker.add_resource(c)
 
-
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
         创建设备类实例
@@ -119,7 +118,9 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             return nested_dict_to_list(resource), Resource
         return resource, source_type
 
-    def _process_resource_references(self, data: Any, to_dict=False, states=None, prefix_path="") -> Any:
+    def _process_resource_references(
+        self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
+    ) -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
 
@@ -128,11 +129,13 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             to_dict: 是否返回字典形式的资源
             states: 用于保存所有资源状态
             prefix_path: 当前递归路径
+            name_to_uuid: name到uuid的映射字典
 
         Returns:
             处理后的数据
         """
         from pylabrobot.resources import Deck, Resource
+
         if states is None:
             states = {}
 
@@ -147,7 +150,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                             target_type = import_manager.get_class(type_path)
                             contain_model = not issubclass(target_type, Deck)
                             resource, target_type = self._process_resource_mapping(resource, target_type)
-                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
+                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -156,6 +159,9 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 return serialized
                             else:
                                 self.resource_tracker.add_resource(resource_instance)
+                                # 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
+                                if name_to_uuid:
+                                    self.resource_tracker.loop_set_uuid(resource_instance, name_to_uuid)
                             return resource_instance
                         except Exception as e:
                             logger.warning(f"无法导入资源类型 {type_path}: {e}")
@@ -170,12 +176,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             result = {}
             for key, value in data.items():
                 new_prefix = f"{prefix_path}.{key}" if prefix_path else key
-                result[key] = self._process_resource_references(value, to_dict, states, new_prefix)
+                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]")
+                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -194,31 +200,51 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         """
         deserialize_error = None
         stack = None
+
+        # 递归遍历 children 构建 name_to_uuid 映射
+        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
+            """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
+            for child in children_dict.values():
+                if isinstance(child, dict):
+                    result[child["name"]] = child["uuid"]
+                    collect_name_to_uuid(child["children"], result)
+
+        name_to_uuid = {}
+        collect_name_to_uuid(self.children, name_to_uuid)
         if self.has_deserialize:
             deserialize_method = getattr(self.device_cls, "deserialize")
             spect = inspect.signature(deserialize_method)
             spec_args = spect.parameters
             for param_name, param_value in data.copy().items():
-                if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
+                if (
+                    isinstance(param_value, dict)
+                    and "_resource_child_name" in param_value
+                    and "_resource_type" not in param_value
+                ):
                     arg_value = spec_args[param_name].annotation
                     data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                     logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
 
             # 首先处理资源引用
             states = {}
-            processed_data = self._process_resource_references(data, to_dict=True, states=states)
+            processed_data = self._process_resource_references(
+                data, to_dict=True, states=states, name_to_uuid=name_to_uuid
+            )
 
             try:
-                self.device_instance = deserialize_method(**processed_data)
+                from pylabrobot.resources import Resource
+
+                self.device_instance: Resource = deserialize_method(**processed_data)
+                self.resource_tracker.loop_set_uuid(self.device_instance, name_to_uuid)
                 all_states = self.device_instance.serialize_all_state()
                 for k, v in states.items():
                     logger.debug(f"PyLabRobot反序列化设置状态：{k}")
                     for kk, vv in all_states.items():
                         if kk not in v:
                             v[kk] = vv
-                    self.device_instance.deck.load_all_state(v)
+                    self.device_instance.load_all_state(v)
                 self.resource_tracker.add_resource(self.device_instance)
-                self.post_create()
+                self.post_create()  # 对应DeviceClassCreator进行调用
                 return self.device_instance  # type: ignore
             except Exception as e:
                 # 先静默继续，尝试另外一种创建方法
@@ -230,12 +256,16 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                 spect = inspect.signature(self.device_cls.__init__)
                 spec_args = spect.parameters
                 for param_name, param_value in data.copy().items():
-                    if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
+                    if (
+                        isinstance(param_value, dict)
+                        and "_resource_child_name" in param_value
+                        and "_resource_type" not in param_value
+                    ):
                         arg_value = spec_args[param_name].annotation
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
-                processed_data = self._process_resource_references(data, to_dict=False)
-                self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)
+                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
+                self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)  # 补全变量后直接调用，调用的自身的attach_resource
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
                 logger.error(f"PyLabRobot创建实例堆栈: {traceback.format_exc()}")
@@ -248,59 +278,77 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         return self.device_instance
 
     def post_create(self):
-        if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
+        if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(
+            getattr(self.device_instance, "setup")
+        ):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
             def done_cb(*args):
                 from pylabrobot.resources import set_volume_tracking
+
                 # from pylabrobot.resources import set_tip_tracking
                 set_volume_tracking(enabled=True)
                 # set_tip_tracking(enabled=True)  # 序列化tip_spot has为False
                 logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
                 from unilabos.config.config import BasicConfig
+
                 if BasicConfig.vis_2d_enable:
                     from pylabrobot.visualizer.visualizer import Visualizer
+
                     vis = Visualizer(resource=self.device_instance, open_browser=True)
+
                     def vis_done_cb(*args):
                         logger.info(f"PyLabRobot设备实例开启了Visualizer {self.device_instance}")
+
                     ROS2DeviceNode.run_async_func(vis.setup).add_done_callback(vis_done_cb)
                     logger.debug(f"PyLabRobot设备实例提交开启Visualizer {self.device_instance}")
+
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
-class ProtocolNodeCreator(DeviceClassCreator[T]):
+class WorkstationNodeCreator(DeviceClassCreator[T]):
     """
-    ProtocolNode设备类创建器
+    WorkstationNode设备类创建器
 
-    这个类提供了针对ProtocolNode设备类的实例创建方法，处理children参数。
+    这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
     def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
-        初始化ProtocolNode设备类创建器
+        初始化WorkstationNode设备类创建器
 
         Args:
-            cls: ProtocolNode设备类
+            cls: WorkstationNode设备类
             children: 子资源字典，用于资源替换
         """
         super().__init__(cls, children, resource_tracker)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
-        从数据创建ProtocolNode设备实例
+        从数据创建WorkstationNode设备实例
 
         Args:
             data: 用于创建实例的数据
 
         Returns:
-            ProtocolNode设备类实例
+            WorkstationNode设备类实例
         """
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            self.device_instance = super(ProtocolNodeCreator, self).create_instance(data)
+            deck_dict = data.get("deck")
+            if deck_dict:
+                from pylabrobot.resources import Deck, Resource
+
+                plrc = PyLabRobotCreator(Deck, self.children, self.resource_tracker)
+                deck = plrc.create_instance(deck_dict)
+                data["deck"] = deck
+            else:
+                data["deck"] = None
+            self.device_instance = super(WorkstationNodeCreator, self).create_instance(data)
             self.post_create()
             return self.device_instance
         except Exception as e:
-            logger.error(f"ProtocolNode创建实例失败: {e}")
-            logger.error(f"ProtocolNode创建实例堆栈: {traceback.format_exc()}")
+            logger.error(f"WorkstationNode创建实例失败: {e}")
+            logger.error(f"WorkstationNode创建实例堆栈: {traceback.format_exc()}")
             raise
diff --git a/unilabos/utils/environment_check.py b/unilabos/utils/environment_check.py
index 0c6ae4d7..66293e0e 100644
--- a/unilabos/utils/environment_check.py
+++ b/unilabos/utils/environment_check.py
@@ -7,7 +7,8 @@ import argparse
 import importlib
 import subprocess
 import sys
-from .banner_print import print_status
+
+from unilabos.utils.banner_print import print_status
 
 
 class EnvironmentChecker:
@@ -18,7 +19,8 @@ class EnvironmentChecker:
         self.required_packages = {
             # 包导入名 : pip安装名
             # "pymodbus.framer.FramerType": "pymodbus==3.9.2",
-            "paho.mqtt": "paho-mqtt",
+            "websockets": "websockets",
+            "msgcenterpy": "msgcenterpy",
             "opentrons_shared_data": "opentrons_shared_data",
         }
 
@@ -48,17 +50,17 @@ class EnvironmentChecker:
             result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)  # 5分钟超时
 
             if result.returncode == 0:
-                print_status(f"✅ {package_name} 安装成功", "success")
+                print_status(f"✓ {package_name} 安装成功", "success")
                 return True
             else:
-                print_status(f"❌ {package_name} 安装失败: {result.stderr}", "error")
+                print_status(f"× {package_name} 安装失败: {result.stderr}", "error")
                 return False
 
         except subprocess.TimeoutExpired:
-            print_status(f"❌ {package_name} 安装超时", "error")
+            print_status(f"× {package_name} 安装超时", "error")
             return False
         except Exception as e:
-            print_status(f"❌ {package_name} 安装异常: {str(e)}", "error")
+            print_status(f"× {package_name} 安装异常: {str(e)}", "error")
             return False
 
     def check_all_packages(self) -> bool:
@@ -76,7 +78,7 @@ class EnvironmentChecker:
                 self.missing_packages.append((package_name, install_url))
 
         if not self.missing_packages:
-            print_status("✅ 所有依赖包检查完成，环境正常", "success")
+            print_status("✓ 所有依赖包检查完成，环境正常", "success")
             return True
 
         print_status(f"发现 {len(self.missing_packages)} 个缺失的包", "warning")
@@ -108,7 +110,7 @@ class EnvironmentChecker:
                 print_status(f"  - {import_name} (pip install {pip_name})", "error")
             return False
 
-        print_status(f"✅ 成功安装 {success_count} 个包", "success")
+        print_status(f"✓ 成功安装 {success_count} 个包", "success")
         return True
 
     def verify_installation(self) -> bool:
@@ -129,7 +131,7 @@ class EnvironmentChecker:
                 print_status(f"  - {import_name}", "error")
             return False
 
-        print_status("✅ 所有包验证通过", "success")
+        print_status("✓ 所有包验证通过", "success")
         return True
 
 
diff --git a/unilabos/utils/import_manager.py b/unilabos/utils/import_manager.py
index 7a3066f9..4b873386 100644
--- a/unilabos/utils/import_manager.py
+++ b/unilabos/utils/import_manager.py
@@ -12,8 +12,7 @@ import traceback
 import ast
 import os
 from pathlib import Path
-from typing import Dict, List, Any, Optional, Callable, Type
-
+from typing import Dict, List, Any, Optional, Callable, Type, Union, Tuple
 
 __all__ = [
     "ImportManager",
@@ -383,7 +382,7 @@ class ImportManager:
         signature = inspect.signature(method)
         return self._get_type_string(signature.return_annotation)
 
-    def _get_type_string(self, annotation) -> str:
+    def _get_type_string(self, annotation) -> Union[str, Tuple[str, Any]]:
         """将类型注解转换为Class Library中可搜索的类名"""
         if annotation == inspect.Parameter.empty:
             return "Any"  # 如果没有注解，返回Any
@@ -400,7 +399,7 @@ class ImportManager:
                             return "Int64MultiArray"
                         elif isinstance(arg0, float):
                             return "Float64MultiArray"
-                return "list"
+                return "list", self._get_type_string(arg0)
             elif origin is dict:
                 return "dict"
             elif origin is Optional:
diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py
index c22de3c7..cffb4465 100644
--- a/unilabos/utils/type_check.py
+++ b/unilabos/utils/type_check.py
@@ -66,7 +66,7 @@ class ResultInfoEncoder(json.JSONEncoder):
             return str(obj)
 
 
-def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
+def get_result_info_str(error: str, suc: bool, return_value=None) -> str:
     """
     序列化任务执行结果信息
 
@@ -81,3 +81,21 @@ def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
     result_info = {"error": error, "suc": suc, "return_value": return_value}
 
     return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)
+
+
+
+def serialize_result_info(error: str, suc: bool, return_value=None) -> dict:
+    """
+    序列化任务执行结果信息
+
+    Args:
+        error: 错误信息字符串
+        suc: 是否成功的布尔值
+        return_value: 返回值，可以是任何类型
+
+    Returns:
+        JSON字符串格式的结果信息
+    """
+    result_info = {"error": error, "suc": suc, "return_value": return_value}
+
+    return json.loads(json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder))
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index 1c371397..46028fd9 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -68,12 +68,10 @@ set(action_files
   "action/LiquidHandlerSetTipRack.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
-
   "action/LiquidHandlerTransferBiomek.action"
   "action/LiquidHandlerIncubateBiomek.action"
   "action/LiquidHandlerMoveBiomek.action"
   "action/LiquidHandlerOscillateBiomek.action"
-
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"
   "action/LiquidHandlerMoveTo.action"
@@ -98,6 +96,23 @@ set(action_files
 
   "action/WorkStationRun.action"
   "action/AGVTransfer.action"
+
+  "action/DispenStationSolnPrep.action"
+  "action/DispenStationVialFeed.action"
+
+  "action/PostProcessGrab.action"
+  "action/PostProcessTriggerClean.action"
+  "action/PostProcessTriggerPostPro.action"
+
+  "action/ReactionStationDripBack.action"
+  "action/ReactionStationLiquidFeedBeaker.action"
+  "action/ReactionStationLiquidFeedSolvents.action"
+  "action/ReactionStationLiquidFeedTitration.action"
+  "action/ReactionStationLiquidFeedVialsNonTitration.action"
+  "action/ReactionStationProExecu.action"
+  "action/ReactionStationReactorTakenOut.action"
+  "action/ReactionStationReaTackIn.action"
+  "action/ReactionStationSolidFeedVial.action"
 )
 
 set(srv_files
diff --git a/unilabos_msgs/action/DefaultLayoutRecommendLayout.action b/unilabos_msgs/action/DefaultLayoutRecommendLayout.action
new file mode 100644
index 00000000..d84a1b24
--- /dev/null
+++ b/unilabos_msgs/action/DefaultLayoutRecommendLayout.action
@@ -0,0 +1,4 @@
+Tuple[] needs
+---
+Dict return_info
+---
\ No newline at end of file
diff --git a/unilabos_msgs/action/DispenStationSolnPrep.action b/unilabos_msgs/action/DispenStationSolnPrep.action
new file mode 100644
index 00000000..49afcac5
--- /dev/null
+++ b/unilabos_msgs/action/DispenStationSolnPrep.action
@@ -0,0 +1,15 @@
+# Goal - （二胺）溶液配置  
+string order_name                 # 任务名称
+string material_name              #固体物料名称
+string target_weigh               #固体重量
+string volume                     #液体体积
+string liquid_material_name       # 溶剂名称
+string speed                      #磁力转动速度
+string temperature                #温度
+string delay_time                 #等待时间
+string hold_m_name                #样品名称
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/DispenStationVialFeed.action b/unilabos_msgs/action/DispenStationVialFeed.action
new file mode 100644
index 00000000..6b85058e
--- /dev/null
+++ b/unilabos_msgs/action/DispenStationVialFeed.action
@@ -0,0 +1,29 @@
+# Goal - 小瓶投料  
+string order_name                 # 任务名称
+string percent_90_1_assign_material_name          
+string percent_90_1_target_weigh
+string percent_90_2_assign_material_name
+string percent_90_2_target_weigh
+string percent_90_3_assign_material_name
+string percent_90_3_target_weigh
+string percent_10_1_assign_material_name
+string percent_10_1_target_weigh
+string percent_10_1_volume
+string percent_10_1_liquid_material_name
+string percent_10_2_assign_material_name
+string percent_10_2_target_weigh
+string percent_10_2_volume
+string percent_10_2_liquid_material_name
+string percent_10_3_assign_material_name
+string percent_10_3_target_weigh
+string percent_10_3_volume
+string percent_10_3_liquid_material_name
+string speed
+string temperature
+string delay_time
+string hold_m_name
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/LiquidHandlerSetGroup.action b/unilabos_msgs/action/LiquidHandlerSetGroup.action
new file mode 100644
index 00000000..15a73719
--- /dev/null
+++ b/unilabos_msgs/action/LiquidHandlerSetGroup.action
@@ -0,0 +1,8 @@
+string group_name
+Resource[] wells
+float64[] volumes
+---
+string return_info
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/LiquidHandlerTransfer.action b/unilabos_msgs/action/LiquidHandlerTransfer.action
index 6130f20c..971fcba6 100644
--- a/unilabos_msgs/action/LiquidHandlerTransfer.action
+++ b/unilabos_msgs/action/LiquidHandlerTransfer.action
@@ -13,7 +13,7 @@ float64[] blow_out_air_volume
 string spread
 bool is_96_well
 string mix_stage
-int32[] mix_times
+int32 mix_times
 int32 mix_vol
 int32 mix_rate
 float64 mix_liquid_height
diff --git a/unilabos_msgs/action/LiquidHandlerTransferGroup.action b/unilabos_msgs/action/LiquidHandlerTransferGroup.action
new file mode 100644
index 00000000..d928bda7
--- /dev/null
+++ b/unilabos_msgs/action/LiquidHandlerTransferGroup.action
@@ -0,0 +1,8 @@
+string source_group_name
+string target_group_name
+float64 unit_volume
+---
+string return_info
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/PostProcessGrab.action b/unilabos_msgs/action/PostProcessGrab.action
new file mode 100644
index 00000000..88da7bae
--- /dev/null
+++ b/unilabos_msgs/action/PostProcessGrab.action
@@ -0,0 +1,8 @@
+# Goal - 抓取参数  
+int32 reaction_tank_number       #反应罐号码
+int32 raw_tank_number            #原料罐号码 
+---
+# Result - 操作结果
+string return_info  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/PostProcessTriggerClean.action b/unilabos_msgs/action/PostProcessTriggerClean.action
new file mode 100644
index 00000000..7308aca7
--- /dev/null
+++ b/unilabos_msgs/action/PostProcessTriggerClean.action
@@ -0,0 +1,46 @@
+# Goal - 清洗参数  
+float64 nmp_outer_wall_cleaning_injection
+int32 nmp_outer_wall_cleaning_count
+int32 nmp_outer_wall_cleaning_wait_time
+int32 nmp_outer_wall_cleaning_waste_time
+float64 nmp_inner_wall_cleaning_injection
+int32 nmp_inner_wall_cleaning_count
+int32 nmp_pump_cleaning_suction_count
+int32 nmp_inner_wall_cleaning_waste_time
+float64 nmp_stirrer_cleaning_injection
+int32 nmp_stirrer_cleaning_count
+int32 nmp_stirrer_cleaning_wait_time
+int32 nmp_stirrer_cleaning_waste_time
+float64 water_outer_wall_cleaning_injection
+int32 water_outer_wall_cleaning_count
+int32 water_outer_wall_cleaning_wait_time 
+int32 water_outer_wall_cleaning_waste_time
+float64 water_inner_wall_cleaning_injection
+int32 water_inner_wall_cleaning_count
+int32 water_pump_cleaning_suction_count
+int32 water_inner_wall_cleaning_waste_time
+float64 water_stirrer_cleaning_injection
+int32 water_stirrer_cleaning_count
+int32 water_stirrer_cleaning_wait_time
+int32 water_stirrer_cleaning_waste_time
+float64 acetone_outer_wall_cleaning_injection
+int32 acetone_outer_wall_cleaning_count
+int32 acetone_outer_wall_cleaning_wait_time 
+int32 acetone_outer_wall_cleaning_waste_time 
+float64 acetone_inner_wall_cleaning_injection
+int32 acetone_inner_wall_cleaning_count
+int32 acetone_pump_cleaning_suction_count 
+int32 acetone_inner_wall_cleaning_waste_time
+float64 acetone_stirrer_cleaning_injection
+int32 acetone_stirrer_cleaning_count
+int32 acetone_stirrer_cleaning_wait_time
+int32 acetone_stirrer_cleaning_waste_time
+int32 pipe_blowing_time
+int32 injection_pump_forward_empty_suction_count
+int32 injection_pump_reverse_empty_suction_count
+int32 filtration_liquid_selection
+---
+# Result - 操作结果  
+string return_info                     # 操作是否成功  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/PostProcessTriggerPostPro.action b/unilabos_msgs/action/PostProcessTriggerPostPro.action
new file mode 100644
index 00000000..a5fa0598
--- /dev/null
+++ b/unilabos_msgs/action/PostProcessTriggerPostPro.action
@@ -0,0 +1,20 @@
+# Goal - 后处理参数  
+float64 atomization_fast_speed
+float64 wash_slow_speed
+int32 injection_pump_suction_speed
+int32 injection_pump_push_speed
+int32 raw_liquid_suction_count
+float64 first_wash_water_amount
+float64 second_wash_water_amount
+int32 first_powder_mixing_tim 
+int32 second_powder_mixing_time
+int32 first_powder_wash_count
+int32 second_powder_wash_count
+float64 initial_water_amount 
+int32 pre_filtration_mixing_time
+int32 atomization_pressure_kpa
+---
+# Result - 操作结果  
+string return_info                      # 操作是否成功  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationDripBack.action b/unilabos_msgs/action/ReactionStationDripBack.action
new file mode 100644
index 00000000..4d35e963
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationDripBack.action
@@ -0,0 +1,13 @@
+# Goal - 滴回去操作参数
+string volume                   # 投料体积
+string assign_material_name     # 溶剂名称
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息
diff --git a/unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action b/unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action
new file mode 100644
index 00000000..ac8d8759
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action
@@ -0,0 +1,15 @@
+# Goal - 液体投料-烧杯操作参数
+string volume                    # 投料体积
+string assign_material_name      # 溶剂名称
+string titration_type           # 滴定类型1否2是
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
+string temperature              # 温度设置
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息
\ No newline at end of file
diff --git a/unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action b/unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action
new file mode 100644
index 00000000..c89050b7
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action
@@ -0,0 +1,15 @@
+# Goal - 液体投料-溶剂操作参数
+string volume                   # 投料体积
+string assign_material_name     # 溶剂名称
+string titration_type          # 滴定类型1否2是
+string time                    # 观察时间（单位min）
+string torque_variation        # 是否观察1否2是
+string temperature             # 温度设置
+---
+# Result - 操作结果
+bool success                   # 操作是否成功
+string return_info             # 结果消息
+int32 code                     # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                # 操作过程中的反馈信息
\ No newline at end of file
diff --git a/unilabos_msgs/action/ReactionStationLiquidFeedTitration.action b/unilabos_msgs/action/ReactionStationLiquidFeedTitration.action
new file mode 100644
index 00000000..f2885ac9
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationLiquidFeedTitration.action
@@ -0,0 +1,15 @@
+# Goal - 液体投料滴定操作参数
+string volume_formula          # 投料体积公式
+string assign_material_name    # 溶剂名称
+string titration_type         # 滴定类型1否2是
+string time                   # 观察时间（单位min）
+string torque_variation       # 是否观察1否2是
+string temperature            # 温度设置
+---
+# Result - 操作结果
+bool success                  # 操作是否成功
+string return_info            # 结果消息
+int32 code                    # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback               # 操作过程中的反馈信息
\ No newline at end of file
diff --git a/unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action b/unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action
new file mode 100644
index 00000000..b5e879b2
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action
@@ -0,0 +1,15 @@
+# Goal - 液体投料-小瓶非滴定操作参数
+string volume_formula           # 投料体积公式
+string assign_material_name     # 溶剂名称
+string titration_type          # 滴定类型1否2是
+string time                    # 观察时间（单位min）
+string torque_variation        # 是否观察1否2是
+string temperature             # 温度设置
+---
+# Result - 操作结果
+bool success                   # 操作是否成功
+string return_info             # 结果消息
+int32 code                     # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                # 操作过程中的反馈信息
\ No newline at end of file
diff --git a/unilabos_msgs/action/ReactionStationProExecu.action b/unilabos_msgs/action/ReactionStationProExecu.action
new file mode 100644
index 00000000..ceefc3d4
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationProExecu.action
@@ -0,0 +1,11 @@
+# Goal - 合并工作流+执行参数
+string workflow_name            # 工作流名称
+string task_name                # 任务名称
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息
diff --git a/unilabos_msgs/action/ReactionStationReaTackIn.action b/unilabos_msgs/action/ReactionStationReaTackIn.action
new file mode 100644
index 00000000..51362571
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationReaTackIn.action
@@ -0,0 +1,12 @@
+# Goal - 反应器放入操作参数
+string cutoff                   # 黏度设置
+string temperature              # 温度设置
+string assign_material_name     # 分液类型
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息
diff --git a/unilabos_msgs/action/ReactionStationReactorTakenOut.action b/unilabos_msgs/action/ReactionStationReactorTakenOut.action
new file mode 100644
index 00000000..29b841b5
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationReactorTakenOut.action
@@ -0,0 +1,12 @@
+# Goal - 反应器取出操作参数
+# 反应器取出操作不需要任何参数
+---
+# Result - 操作结果
+# 反应器取出操作的结果
+bool success         # 要求必须包含success，以便回传执行结果
+string return_info   # 要求必须包含return_info，以便回传执行结果
+int32 code           # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+# 反应器取出操作的反馈
+string feedback      # 操作过程中的反馈信息
diff --git a/unilabos_msgs/action/ReactionStationSolidFeedVial.action b/unilabos_msgs/action/ReactionStationSolidFeedVial.action
new file mode 100644
index 00000000..e7e677d5
--- /dev/null
+++ b/unilabos_msgs/action/ReactionStationSolidFeedVial.action
@@ -0,0 +1,13 @@
+# Goal - 固体投料-小瓶操作参数
+string assign_material_name     # 固体名称
+string material_id              # 固体投料类型
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息
diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml
index 95beaa4f..c6e274a2 100644
--- a/unilabos_msgs/package.xml
+++ b/unilabos_msgs/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.4</version>
+  <version>0.10.7</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
+  <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>