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>

unilabos/compile/recrystallize_protocol.py

@@ -2,6 +2,7 @@ import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Tuple, Union
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
@@ -287,16 +288,7 @@ def generate_recrystallize_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     action_sequence = []