Device Visualization & Mock Devices (#44) [37-biomek-i5i7 (#40), Device visualization (#39), Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43)]

* add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑修改物料跟随与物料添加逻辑将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220af, reversing changes made to 498c997ad7. * 修改物料放下时的方法，如果选择修改物料放下时的方法，如果选择drop_trash，则删除物料显示如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e5. * Reapply "change to debug level" This reverts commit 2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑修改物料跟随与物料添加逻辑将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220af, reversing changes made to 498c997ad7. * 修改物料放下时的方法，如果选择修改物料放下时的方法，如果选择drop_trash，则删除物料显示如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e5. * Reapply "change to debug level" This reverts commit 2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑修改物料跟随与物料添加逻辑将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220af, reversing changes made to 498c997ad7. * 修改物料放下时的方法，如果选择修改物料放下时的方法，如果选择drop_trash，则删除物料显示如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e5. * Reapply "change to debug level" This reverts commit 2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn>
2025-12-17 13:01:12 +00:00 · 2025-06-12 21:01:04 +08:00
parent 3470a1cb69
commit aa1c67de29
264 changed files with 48914 additions and 2955 deletions
--- a/unilabos/registry/device_comms/modbus_ioboard.yaml
+++ b/unilabos/registry/device_comms/modbus_ioboard.yaml
@@ -5,6 +5,6 @@ io_snrd:
    type: python
    hardware_interface:
      name: modbus_client
-      extra_info: address
+      extra_info: []
      read: read_io_coil
      write: write_io_coil
--- a/unilabos/registry/devices/hotel.yaml
+++ b/unilabos/registry/devices/hotel.yaml
@@ -0,0 +1,9 @@
+hotel.thermo_orbitor_rs2_hotel:
+  description: Thermo Orbitor RS2 Hotel
+  class: 
+    module: unilabos.devices.resource_container.container:HotelContainer
+    type: python
+  model:
+    type: device
+    mesh: thermo_orbitor_rs2_hotel
+
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -1,5 +1,6 @@
 liquid_handler:
  description: Liquid handler device controlled by pylabrobot
+  icon: icon_yiyezhan.webp
  class:
    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
    type: python
@@ -22,8 +23,8 @@ liquid_handler:
          is_96_well: is_96_well
          top: top
          none_keys: none_keys
-        feedback: { }
-        result: { }
+        feedback: {}
+        result: {}
      add_liquid:
        type: LiquidHandlerAdd
        goal:
@@ -43,8 +44,8 @@ liquid_handler:
          mix_rate: mix_rate
          mix_liquid_height: mix_liquid_height
          none_keys: none_keys
-        feedback: { }
-        result: { }
+        feedback: {}
+        result: {}
      transfer_liquid:
        type: LiquidHandlerTransfer
        goal:
@@ -69,8 +70,8 @@ liquid_handler:
          mix_liquid_height: mix_liquid_height
          delays: delays
          none_keys: none_keys
-        feedback: { }
-        result: { }
+        feedback: {}
+        result: {}
      mix:
        type: LiquidHandlerMix
        goal:
@@ -81,16 +82,16 @@ liquid_handler:
          offsets: offsets
          mix_rate: mix_rate
          none_keys: none_keys
-        feedback: { }
-        result: { }
+        feedback: {}
+        result: {}
      move_to:
        type: LiquidHandlerMoveTo
        goal:
          well: well
          dis_to_top: dis_to_top
          channel: channel
-        feedback: { }
-        result: { }
+        feedback: {}
+        result: {}
      aspirate:
        type: LiquidHandlerAspirate
        goal:
@@ -245,6 +246,21 @@ liquid_handler:
          target_vols: target_vols
          aspiration_flow_rate: aspiration_flow_rate
          dispense_flow_rates: dispense_flow_rates
+  handles:
+    input:
+    - handler_key: liquid-input
+      label: Liquid Input
+      data_type: resource
+      io_type: target
+      data_source: handle
+      data_key: liquid
+    output:
+    - handler_key: liquid-output
+      label: Liquid Output
+      data_type: resource
+      io_type: source
+      data_source: executor
+      data_key: liquid
  schema:
    type: object
    properties:
@@ -272,3 +288,174 @@ liquid_handler.revvity:
          status: status
        result:
          success: success
+
+liquid_handler.biomek:
+  description: Biomek液体处理器设备，基于pylabrobot控制
+  icon: icon_yiyezhan.webp
+  class:
+    module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek
+    type: python
+    status_types: {}
+    action_value_mappings:
+      create_protocol:
+        type: LiquidHandlerProtocolCreation
+        goal:
+          protocol_name: protocol_name
+          protocol_description: protocol_description
+          protocol_version: protocol_version
+          protocol_author: protocol_author
+          protocol_date: protocol_date
+          protocol_type: protocol_type
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      run_protocol:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      transfer_liquid:
+        type: LiquidHandlerTransfer
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: liquid-input
+              label: Liquid Input
+              data_type: resource
+              io_type: target
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: liquid-output
+              label: Liquid Output
+              data_type: resource
+              io_type: source
+              data_source: executor
+              data_key: liquid
+      transfer_biomek:
+        type: LiquidHandlerTransferBiomek
+        goal:
+          sources: sources
+          targets: targets
+          tip_rack: tip_rack
+          volume: volume
+          aspirate_techniques: aspirate_techniques
+          dispense_techniques: dispense_techniques
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: sources
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+            - handler_key: tip_rack
+              label: tip_rack
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+          output:
+            - handler_key: sources_out
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets_out
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+      oscillation_biomek:
+        type: LiquidHandlerOscillateBiomek
+        goal:
+          rpm: rpm
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: plate_out
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+      move_biomek:
+        type: LiquidHandlerMoveBiomek
+        goal:
+          source: sources
+          target: targets
+        feedback: {}
+        result:
+          name: name
+        handles:
+          input:
+            - handler_key: sources
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+      incubation_biomek:
+        type: LiquidHandlerIncubateBiomek
+        goal:
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: plate_out
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+  schema:
+    type: object
+    properties: {}
+    required: []
+    additionalProperties: false
--- a/unilabos/registry/devices/mock_devices.yaml
+++ b/unilabos/registry/devices/mock_devices.yaml
@@ -0,0 +1,892 @@
+mock_chiller:
+  description: Mock Chiller Device
+  class:
+    module: unilabos.devices.mock.mock_chiller:MockChiller
+    type: python
+    status_types:
+      current_temperature: Float64
+      target_temperature: Float64
+      status: String
+      is_cooling: Bool
+      is_heating: Bool
+      vessel: String         # 新增
+      purpose: String        # 新增
+    action_value_mappings:
+      emergency_stop:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      heat_chill_start:
+        type: HeatChillStart
+        goal:
+          vessel: vessel
+          temp: temp
+          purpose: purpose
+        feedback: {}
+        result:
+          success: success
+          status: status
+      heat_chill_stop:
+        type: HeatChillStop
+        goal:
+          vessel: vessel
+        feedback: {}
+        result:
+          success: success
+          status: status
+  schema:
+    type: object
+    properties:
+      current_temperature:
+        type: number
+        description: Current temperature of the chiller in °C
+      target_temperature:
+        type: number
+        description: Target temperature setting in °C
+      status:
+        type: string
+        description: Current status of the device
+      is_cooling:
+        type: boolean
+        description: Whether the device is actively cooling
+      is_heating:
+        type: boolean
+        description: Whether the device is actively heating
+      vessel:                # 新增
+        type: string
+        description: Current vessel being processed
+      purpose:               # 新增
+        type: string
+        description: Purpose of the current operation
+    required:
+    - current_temperature
+    - target_temperature
+    - status
+    - vessel
+    - purpose
+    additionalProperties: false
+mock_filter:
+  description: Mock Filter Device
+  class:
+    module: unilabos.devices.mock.mock_filter:MockFilter
+    type: python
+    status_types:
+      status: String
+      is_filtering: Bool
+      flow_rate: Float64
+      pressure_drop: Float64
+      filter_life: Float64
+      vessel: String
+      filtrate_vessel: String
+      filtered_volume: Float64
+      progress: Float64
+      stir: Bool
+      stir_speed: Float64
+      temperature: Float64
+      continue_heatchill: Bool
+      target_volume: Float64
+    action_value_mappings:
+      filter:
+        type: ProtocolFilter
+        goal:
+          vessel: vessel
+          filtrate_vessel: filtrate_vessel
+          stir: stir
+          stir_speed: stir_speed
+          temp: temp
+          continue_heatchill: continue_heatchill
+          volume: volume
+        feedback:
+          progress: progress
+          current_temp: current_temp
+          filtered_volume: filtered_volume
+          current_status: current_status
+        result:
+          success: success
+          message: message
+      stop_filtering:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      replace_filter:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the filter
+      is_filtering:
+        type: boolean
+        description: Whether the filter is actively filtering
+      flow_rate:
+        type: number
+        description: Current flow rate in L/min
+      pressure_drop:
+        type: number
+        description: Pressure drop across the filter in Pa
+      filter_life:
+        type: number
+        description: Remaining filter life percentage
+      power_on:
+        type: boolean
+        description: Power state of the device
+    required:
+    - status
+    - is_filtering
+    - flow_rate
+    - filter_life
+    - vessel
+    - filtrate_vessel
+    - filtered_volume
+    - progress
+    additionalProperties: false
+mock_heater:
+  description: Mock Heater Device
+  class:
+    module: unilabos.devices.mock.mock_heater:MockHeater
+    type: python
+    status_types:
+      current_temperature: Float64
+      target_temperature: Float64
+      status: String
+      is_heating: Bool
+      heating_power: Float64
+      max_temperature: Float64
+      vessel: String
+      purpose: String
+      stir: Bool
+      stir_speed: Float64
+    action_value_mappings:
+      heat_chill_start:
+        type: HeatChillStart
+        goal:
+          vessel: vessel
+          temp: temp
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill_stop:
+        type: HeatChillStop
+        goal:
+          vessel: vessel
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill:
+        type: HeatChill
+        goal:
+          vessel: vessel
+          temp: temp
+          time: time
+          stir: stir
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      emergency_stop:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      current_temperature:
+        type: number
+        description: Current temperature of the heater in °C
+      target_temperature:
+        type: number
+        description: Target temperature setting in °C
+      status:
+        type: string
+        description: Current status of the device
+      is_heating:
+        type: boolean
+        description: Whether the device is actively heating
+      heating_power:
+        type: number
+        description: Current heating power percentage
+      max_temperature:
+        type: number
+        description: Maximum temperature limit
+      vessel:
+        type: string
+        description: Current vessel being heated
+      purpose:
+        type: string
+        description: Purpose of the heating operation
+      stir:
+        type: boolean
+        description: Whether stirring is enabled
+      stir_speed:
+        type: number
+        description: Current stirring speed
+    required:
+    - current_temperature
+    - target_temperature
+    - status
+    - vessel
+    - purpose
+    additionalProperties: false
+mock_pump:
+  description: Mock Pump Device
+  class:
+    module: unilabos.devices.mock.mock_pump:MockPump
+    type: python
+    status_types:
+      status: String
+      pump_state: String
+      flow_rate: Float64
+      target_flow_rate: Float64
+      pressure: Float64
+      total_volume: Float64
+      max_flow_rate: Float64
+      max_pressure: Float64
+      from_vessel: String
+      to_vessel: String
+      transfer_volume: Float64
+      amount: String
+      transfer_time: Float64
+      is_viscous: Bool
+      rinsing_solvent: String
+      rinsing_volume: Float64
+      rinsing_repeats: Int32
+      is_solid: Bool
+      time_spent: Float64
+      time_remaining: Float64
+      current_device: String
+    action_value_mappings:
+      pump_transfer:
+          type: PumpTransfer
+          goal:
+            from_vessel: from_vessel
+            to_vessel: to_vessel
+            volume: volume
+            amount: amount
+            time: time
+            viscous: viscous
+            rinsing_solvent: rinsing_solvent
+            rinsing_volume: rinsing_volume
+            rinsing_repeats: rinsing_repeats
+            solid: solid
+          feedback:
+            status: status
+            current_device: current_device
+            time_spent: time_spent
+            time_remaining: time_remaining
+          result:
+            success: success
+      pause_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      resume_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      reset_volume_counter:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the pump
+      pump_state:
+        type: string
+        description: Pump operation state (Running/Stopped/Paused)
+      flow_rate:
+        type: number
+        description: Current flow rate in mL/min
+      target_flow_rate:
+        type: number
+        description: Target flow rate in mL/min
+      pressure:
+        type: number
+        description: Current pressure in bar
+      total_volume:
+        type: number
+        description: Total accumulated volume in mL
+      max_flow_rate:
+        type: number
+        description: Maximum flow rate in mL/min
+      max_pressure:
+        type: number
+        description: Maximum pressure in bar
+      from_vessel:
+        type: string
+        description: Source vessel for transfer
+      to_vessel:
+        type: string
+        description: Target vessel for transfer
+      transfer_volume:
+        type: number
+        description: Volume to transfer in mL
+      amount:
+        type: string
+        description: Amount description
+      transfer_time:
+        type: number
+        description: Transfer time in seconds
+      is_viscous:
+        type: boolean
+        description: Whether the liquid is viscous
+      rinsing_solvent:
+        type: string
+        description: Solvent used for rinsing
+      rinsing_volume:
+        type: number
+        description: Volume used for rinsing
+      rinsing_repeats:
+        type: integer
+        description: Number of rinsing cycles
+      is_solid:
+        type: boolean
+        description: Whether transferring solid material
+      current_device:
+        type: string
+        description: Current device identifier
+    required:
+    - status
+    - pump_state
+    - flow_rate
+    - from_vessel
+    - to_vessel
+    additionalProperties: false
+mock_rotavap:
+  description: Mock Rotavap Device
+  class:
+    module: unilabos.devices.mock.mock_rotavap:MockRotavap
+    type: python
+    status_types:
+      status: String
+      rotate_state: String
+      rotate_time: Float64
+      rotate_speed: Float64
+      pump_state: String
+      pump_time: Float64
+      vacuum_level: Float64
+      temperature: Float64
+      target_temperature: Float64
+      success: String
+    action_value_mappings:
+      set_timer:
+        type: StrSingleInput
+        goal:
+          string: command
+        feedback: {}
+        result:
+          success: success
+      set_rotate_time:
+        type: FloatSingleInput
+        goal:
+          float_in: time_seconds
+        feedback: {}
+        result:
+          success: success
+      set_pump_time:
+        type: FloatSingleInput
+        goal:
+          float_in: time_seconds
+        feedback: {}
+        result:
+          success: success
+      set_rotate_speed:
+        type: FloatSingleInput
+        goal:
+          float_in: speed
+        feedback: {}
+        result:
+          success: success
+      set_temperature:
+        type: FloatSingleInput
+        goal:
+          float_in: temperature
+        feedback: {}
+        result:
+          success: success
+      start_rotation:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      start_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the rotavap
+      rotate_state:
+        type: string
+        description: Rotation state (Running/Stopped)
+      rotate_time:
+        type: number
+        description: Remaining rotation time in seconds
+      rotate_speed:
+        type: number
+        description: Rotation speed in rpm
+      pump_state:
+        type: string
+        description: Pump state (Running/Stopped)
+      pump_time:
+        type: number
+        description: Remaining pump time in seconds
+      vacuum_level:
+        type: number
+        description: Current vacuum level in mbar
+      temperature:
+        type: number
+        description: Current water bath temperature
+      target_temperature:
+        type: number
+        description: Target water bath temperature
+      success:
+        type: string
+        description: Operation success status
+    required:
+    - status
+    - rotate_time
+    - pump_time
+    - temperature
+    additionalProperties: false
+mock_separator:
+  description: Simplified Mock Separator Device
+  class:
+    module: unilabos.devices.mock.mock_separator:MockSeparator
+    type: python
+    status_types:
+      status: String
+      settling_time: Float64
+      valve_state: String
+      shake_time: Float64
+      shake_status: String
+      current_device: String
+      purpose: String
+      product_phase: String
+      from_vessel: String
+      separation_vessel: String
+      to_vessel: String
+      waste_phase_to_vessel: String
+      solvent: String
+      solvent_volume: Float64
+      through: String
+      repeats: Int32
+      stir_time: Float64
+      stir_speed: Float64
+      time_spent: Float64
+      time_remaining: Float64
+    action_value_mappings:
+      separate:
+        type: Separate
+        goal:
+          purpose: purpose
+          product_phase: product_phase
+          from_vessel: from_vessel
+          separation_vessel: separation_vessel
+          to_vessel: to_vessel
+          waste_phase_to_vessel: waste_phase_to_vessel
+          solvent: solvent
+          solvent_volume: solvent_volume
+          through: through
+          repeats: repeats
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          status: status
+          current_device: current_device
+          time_spent: time_spent
+          time_remaining: time_remaining
+        result:
+          success: success
+      shake:
+        type: FloatSingleInput
+        goal:
+          float_in: shake_time
+        feedback:
+          status: status
+        result:
+          success: success
+      stop_operations:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      set_valve:
+        type: StrSingleInput
+        goal:
+          string: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the separator
+      settling_time:
+        type: number
+        description: Settling time in seconds
+      valve_state:
+        type: string
+        description: Valve state (Open/Closed)
+      shake_time:
+        type: number
+        description: Remaining shake time in seconds
+      shake_status:
+        type: string
+        description: Current shake state
+      purpose:
+        type: string
+        description: Separation purpose (wash/extract)
+      product_phase:
+        type: string
+        description: Product phase (top/bottom)
+      from_vessel:
+        type: string
+        description: Source vessel
+      separation_vessel:
+        type: string
+        description: Vessel for separation
+      to_vessel:
+        type: string
+        description: Target vessel
+    required:
+    - status
+    - valve_state
+    - shake_status
+    - current_device
+    additionalProperties: false
+mock_solenoid_valve:
+  description: Mock Solenoid Valve Device
+  class:
+    module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve
+    type: python
+    status_types:
+      status: String
+      valve_status: String
+    action_value_mappings:
+      set_valve_status:
+        type: StrSingleInput
+        goal:
+          string: status
+        feedback: {}
+        result:
+          success: success
+      open_valve:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      close_valve:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the valve
+      valve_status:
+        type: string
+        description: Valve status (Open/Closed)
+    required:
+    - status
+    - valve_status
+    additionalProperties: false
+mock_stirrer:
+  description: Mock Stirrer Device
+  class:
+    module: unilabos.devices.mock.mock_stirrer:MockStirrer
+    type: python
+    status_types:
+      status: String
+      stir_speed: Float64
+      target_stir_speed: Float64
+      stir_state: String
+      temperature: Float64
+      target_temperature: Float64
+      heating_state: String
+      heating_power: Float64
+      max_stir_speed: Float64
+      max_temperature: Float64
+    action_value_mappings:
+      set_stir_speed:
+        type: FloatSingleInput
+        goal:
+          float_in: speed
+        feedback: {}
+        result:
+          success: success
+      set_temperature:
+        type: FloatSingleInput
+        goal:
+          float_in: temperature
+        feedback: {}
+        result:
+          success: success
+      start_stirring:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      stop_stirring:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      heating_control:
+        type: StrSingleInput
+        goal:
+          string: heating_state
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the stirrer
+      stir_speed:
+        type: number
+        description: Current stirring speed in rpm
+      target_stir_speed:
+        type: number
+        description: Target stirring speed in rpm
+      stir_state:
+        type: string
+        description: Stirring state (Running/Stopped)
+      temperature:
+        type: number
+        description: Current temperature in °C
+      target_temperature:
+        type: number
+        description: Target temperature in °C
+      heating_state:
+        type: string
+        description: Heating state (On/Off)
+      heating_power:
+        type: number
+        description: Current heating power percentage
+      max_stir_speed:
+        type: number
+        description: Maximum stirring speed in rpm
+      max_temperature:
+        type: number
+        description: Maximum temperature in °C
+    required:
+    - status
+    - stir_speed
+    - temperature
+    - power_state
+    additionalProperties: false
+mock_stirrer_new:
+  description: Mock Stirrer Device (Copy Version)
+  class:
+    module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
+    type: python
+    status_types:
+      status: String
+      vessel: String
+      purpose: String
+      stir_speed: Float64
+      target_stir_speed: Float64
+      stir_state: String
+      stir_time: Float64
+      settling_time: Float64
+      progress: Float64
+      max_stir_speed: Float64
+    action_value_mappings:
+      start_stir:
+        type: ProtocolStartStir
+        goal:
+          vessel: vessel
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          progress: progress
+          current_speed: stir_speed
+          current_status: status
+        result:
+          success: success
+          message: message
+      stir:
+        type: Stir
+        goal:
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          status: status
+        result:
+          success: success
+      stop_stir:
+        type: ProtocolStopStir
+        goal:
+          vessel: vessel
+        feedback:
+          progress: progress
+          current_status: status
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+      vessel:
+        type: string
+      purpose:
+        type: string
+      stir_speed:
+        type: number
+      target_stir_speed:
+        type: number
+      stir_state:
+        type: string
+      stir_time:
+        type: number
+      settling_time:
+        type: number
+      progress:
+        type: number
+      max_stir_speed:
+        type: number
+    required:
+    - status
+    - stir_speed
+    - stir_state
+    - vessel
+    additionalProperties: false
+mock_vacuum:
+  description: Mock Vacuum Pump Device
+  class:
+    module: unilabos.devices.mock.mock_vacuum:MockVacuum
+    type: python
+    status_types:
+      status: String
+      power_state: String
+      pump_state: String
+      vacuum_level: Float64
+      target_vacuum: Float64
+      pump_speed: Float64
+      pump_efficiency: Float64
+      max_pump_speed: Float64
+    action_value_mappings:
+      power_control:
+        type: StrSingleInput
+        goal:
+          string: power_state
+        feedback: {}
+        result:
+          success: success
+      set_vacuum_level:
+        type: FloatSingleInput
+        goal:
+          float_in: vacuum_level
+        feedback: {}
+        result:
+          success: success
+      start_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      stop_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      pause_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      resume_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      vent_to_atmosphere:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the vacuum pump
+      power_state:
+        type: string
+        description: Power state (On/Off)
+      pump_state:
+        type: string
+        description: Pump operation state (Running/Stopped/Paused)
+      vacuum_level:
+        type: number
+        description: Current vacuum level in mbar
+      target_vacuum:
+        type: number
+        description: Target vacuum level in mbar
+      pump_speed:
+        type: number
+        description: Current pump speed in L/s
+      pump_efficiency:
+        type: number
+        description: Pump efficiency percentage
+      max_pump_speed:
+        type: number
+        description: Maximum pump speed in L/s
+    required:
+    - status
+    - power_state
+    - pump_state
+    - vacuum_level
+    additionalProperties: false
--- a/unilabos/registry/devices/moveit_config.yaml
+++ b/unilabos/registry/devices/moveit_config.yaml
@@ -0,0 +1,56 @@
+moveit.toyo_xyz:
+  description: Toyo XYZ
+  class:
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    type: python
+    action_value_mappings:
+      set_position:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: { }
+        result: { }
+      pick_and_place:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: { }
+        result: { }
+      set_status:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: { }
+        result: { }
+
+  model:
+    type: device
+    mesh: toyo_xyz
+
+moveit.arm_slider:
+  description: Arm with Slider
+  model:
+    type: device
+    mesh: arm_slider
+  class:
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    type: python
+    action_value_mappings:
+      set_position:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result: {}
+      pick_and_place:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result: {}
+      set_status:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result: {}
--- a/unilabos/registry/devices/pump_and_valve.yaml
+++ b/unilabos/registry/devices/pump_and_valve.yaml
@@ -23,20 +23,51 @@ syringe_pump_with_valve.runze:
        type: string
        description: The position of the valve
    required:
-      - status
-      - position
-      - valve_position
+    - status
+    - position
+    - valve_position
    additionalProperties: false

-
 solenoid_valve.mock:
  description: Mock solenoid valve
  class:
    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
    type: python
+    status_types:
+      status: String
+      valve_position: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port

 solenoid_valve:
  description: Solenoid valve
  class:
    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
-    type: python
+    type: python
--- a/unilabos/registry/devices/temperature.yaml
+++ b/unilabos/registry/devices/temperature.yaml
@@ -62,4 +62,4 @@ tempsensor:
          command: command
        feedback: {}
        result:
-          success: success
+          success: success
--- a/unilabos/registry/devices/vacuum_and_purge.yaml
+++ b/unilabos/registry/devices/vacuum_and_purge.yaml
@@ -22,9 +22,76 @@ vacuum_pump.mock:
          string: string
        feedback: {}
        result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+      io_type: target
+      data_source: handle
+      data_key: fluid_in
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+      io_type: source
+      data_source: executor
+      data_key: fluid_out
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port

 gas_source.mock:
  description: Mock gas source
  class:
    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      set_status:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+  handles:
+    input:
+    - handler_key: fluid-input
+      label: Fluid Input
+      data_type: fluid
+      io_type: target
+      data_source: handle
+      data_key: fluid_in
+    output:
+    - handler_key: fluid-output
+      label: Fluid Output
+      data_type: fluid
+      io_type: source
+      data_source: executor
+      data_key: fluid_out
+  init_param_schema:
+    type: object
+    properties:
+      port:
+        type: string
+        description: "通信端口"
+        default: "COM6"
+    required:
+    - port
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
@@ -0,0 +1,388 @@
+virtual_pump:
+  description: Virtual Pump for PumpTransferProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_pump:VirtualPump
+    type: python
+    status_types:
+      status: String
+      position: Float64
+      valve_position: Int32  # 修复：使用 Int32 而不是 String
+      max_volume: Float64
+      current_volume: Float64
+    action_value_mappings:
+      transfer:
+        type: PumpTransfer
+        goal:
+          from_vessel: from_vessel
+          to_vessel: to_vessel
+          volume: volume
+          amount: amount
+          time: time
+          viscous: viscous
+          rinsing_solvent: rinsing_solvent
+          rinsing_volume: rinsing_volume
+          rinsing_repeats: rinsing_repeats
+          solid: solid
+        feedback:
+          status: status
+        result:
+          success: success
+      set_valve_position:
+        type: FloatSingleInput
+        goal:
+          Int32: Int32  
+        feedback:
+          status: status
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_volume:
+        type: number
+        default: 25.0
+    additionalProperties: false
+
+virtual_stirrer:
+  description: Virtual Stirrer for StirProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      stir:
+        type: Stir
+        goal:
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          status: status
+        result:
+          success: success
+      start_stir:
+        type: ProtocolStartStir
+        goal:
+          vessel: vessel
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      stop_stir:
+        type: ProtocolStopStir
+        goal:
+          vessel: vessel
+        feedback:
+          status: status
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_temp:
+        type: number
+        default: 100.0
+      max_speed:
+        type: number
+        default: 1000.0
+    additionalProperties: false
+
+virtual_valve:
+  description: Virtual Valve for AddProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_valve:VirtualValve
+    type: python
+    status_types:
+      status: String
+      valve_state: String
+      current_position: Int32
+      target_position: Int32
+      max_positions: Int32
+    action_value_mappings:
+      set_position:
+        type: SendCmd
+        goal:
+          command: position
+        feedback: {}
+        result:
+          success: success
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      positions:
+        type: integer
+        default: 6
+    additionalProperties: false
+
+virtual_centrifuge:
+  description: Virtual Centrifuge for CentrifugeProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge
+    type: python
+    status_types:
+      status: String
+      current_speed: Float64
+      target_speed: Float64
+      current_temp: Float64
+      target_temp: Float64
+      max_speed: Float64
+      max_temp: Float64
+      min_temp: Float64
+      centrifuge_state: String
+      time_remaining: Float64
+    action_value_mappings:
+      centrifuge:
+        type: ProtocolCentrifuge
+        goal:
+          vessel: vessel
+          speed: speed
+          time: time
+          temp: temp
+        feedback:
+          progress: progress
+          current_speed: current_speed
+          current_temp: current_temp
+          current_status: status
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_speed:
+        type: number
+        default: 15000.0
+      max_temp:
+        type: number
+        default: 40.0
+      min_temp:
+        type: number
+        default: 4.0
+    additionalProperties: false
+
+virtual_filter:
+  description: Virtual Filter for FilterProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_filter:VirtualFilter
+    type: python
+    status_types:
+      status: String
+      filter_state: String
+      current_temp: Float64
+      target_temp: Float64
+      max_temp: Float64
+      stir_speed: Float64
+      max_stir_speed: Float64
+      filtered_volume: Float64
+      progress: Float64
+      message: String
+    action_value_mappings:
+      filter_sample:
+        type: ProtocolFilter
+        goal:
+          vessel: vessel
+          filtrate_vessel: filtrate_vessel
+          stir: stir
+          stir_speed: stir_speed
+          temp: temp
+          continue_heatchill: continue_heatchill
+          volume: volume
+        feedback:
+          progress: progress
+          current_temp: current_temp
+          filtered_volume: filtered_volume
+          current_status: status
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_temp:
+        type: number
+        default: 100.0
+      max_stir_speed:
+        type: number
+        default: 1000.0
+    additionalProperties: false
+
+virtual_heatchill:
+  description: Virtual HeatChill for HeatChillProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      heat_chill:
+        type: HeatChill
+        goal:
+          vessel: vessel
+          temp: temp
+          time: time
+          stir: stir
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill_start:
+        type: HeatChillStart
+        goal:
+          vessel: vessel
+          temp: temp
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill_stop:
+        type: HeatChillStop
+        goal:
+          vessel: vessel
+        feedback:
+          status: status
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_temp:
+        type: number
+        default: 200.0
+      min_temp:
+        type: number
+        default: -80.0
+      max_stir_speed:
+        type: number
+        default: 1000.0
+    additionalProperties: false
+
+virtual_transfer_pump:
+  description: Virtual Transfer Pump for TransferProtocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
+    type: python
+    status_types:
+      status: String
+      current_volume: Float64
+      max_volume: Float64
+      transfer_rate: Float64
+      from_vessel: String
+      to_vessel: String
+      progress: Float64
+      transferred_volume: Float64
+      current_status: String
+    action_value_mappings:
+      transfer:
+        type: ProtocolTransfer
+        goal:
+          from_vessel: from_vessel
+          to_vessel: to_vessel
+          volume: volume
+          amount: amount
+          time: time
+          viscous: viscous
+          rinsing_solvent: rinsing_solvent
+          rinsing_volume: rinsing_volume
+          rinsing_repeats: rinsing_repeats
+          solid: solid
+        feedback:
+          progress: progress
+          transferred_volume: transferred_volume
+          current_status: current_status
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_volume:
+        type: number
+        default: 50.0
+      transfer_rate:
+        type: number
+        default: 5.0
+    additionalProperties: false
+
+virtual_column:
+  description: Virtual Column for RunColumn Protocol Testing
+  class:
+    module: unilabos.devices.virtual.virtual_column:VirtualColumn
+    type: python
+    status_types:
+      status: String
+      column_state: String
+      current_flow_rate: Float64
+      max_flow_rate: Float64
+      column_length: Float64
+      column_diameter: Float64
+      processed_volume: Float64
+      progress: Float64
+      current_status: String
+    action_value_mappings:
+      run_column:
+        type: ProtocolRunColumn
+        goal:
+          from_vessel: from_vessel
+          to_vessel: to_vessel
+          column: column
+        feedback:
+          status: current_status
+          progress: progress
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_flow_rate:
+        type: number
+        default: 10.0
+      column_length:
+        type: number
+        default: 25.0
+      column_diameter:
+        type: number
+        default: 2.0
+    additionalProperties: false
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
@@ -4,4 +4,4 @@ workstation:
    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
    type: ros2
  schema:
-    properties: {}
+    properties: {}
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -25,9 +25,7 @@ class Registry:
        self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
            "ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
        )
-        self.EmptyIn = self._replace_type_with_class(
-            "EmptyIn", "host_node", f""
-        )
+        self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"")
        self.device_type_registry = {}
        self.resource_type_registry = {}
        self._setup_called = False  # 跟踪setup是否已调用
@@ -66,6 +64,7 @@ class Registry:
                                "goal_default": yaml.safe_load(
                                    io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
                                ),
+                                "handles": {},
                            },
                            "create_resource": {
                                "type": self.ResourceCreateFromOuterEasy,
@@ -86,6 +85,15 @@ class Registry:
                                "goal_default": yaml.safe_load(
                                    io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                ),
+                                "handles": {
+                                    "output": [{
+                                        "handler_key": "labware",
+                                        "label": "Labware",
+                                        "data_type": "resource",
+                                        "data_source": "handle",
+                                        "data_key": "liquid"
+                                    }]
+                                },
                            },
                            "test_latency": {
                                "type": self.EmptyIn,
@@ -94,11 +102,14 @@ class Registry:
                                "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
                                "schema": ros_action_to_json_schema(self.EmptyIn),
                                "goal_default": {},
+                                "handles": {},
                            },
                        },
                    },
                    "icon": "icon_device.webp",
                    "registry_type": "device",
+                    "handles": [],
+                    "init_param_schema": {},
                    "schema": {"properties": {}, "additionalProperties": False, "type": "object"},
                    "file_path": "/",
                }
@@ -132,6 +143,10 @@ class Registry:
                        resource_info["description"] = ""
                    if "icon" not in resource_info:
                        resource_info["icon"] = ""
+                    if "handles" not in resource_info:
+                        resource_info["handles"] = []
+                    if "init_param_schema" not in resource_info:
+                        resource_info["init_param_schema"] = {}
                    resource_info["registry_type"] = "resource"
                self.resource_type_registry.update(data)
                logger.debug(
@@ -194,6 +209,10 @@ class Registry:
                        device_config["description"] = ""
                    if "icon" not in device_config:
                        device_config["icon"] = ""
+                    if "handles" not in device_config:
+                        device_config["handles"] = []
+                    if "init_param_schema" not in device_config:
+                        device_config["init_param_schema"] = {}
                    device_config["registry_type"] = "device"
                    if "class" in device_config:
                        # 处理状态类型
@@ -206,6 +225,8 @@ class Registry:
                        # 处理动作值映射
                        if "action_value_mappings" in device_config["class"]:
                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                if "handles" not in action_config:
+                                    action_config["handles"] = []
                                if "type" in action_config:
                                    action_config["type"] = self._replace_type_with_class(
                                        action_config["type"], device_id, f"动作 {action_name}"