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>

.gitignore

@@ -233,3 +233,4 @@ CATKIN_IGNORE
 /**/local_config.py
 
 *.graphml
+unilabos/device_mesh/view_robot.rviz

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.1
+  version: 0.9.4
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.1"
+  version: "0.9.4"
 
 source:
   path: ../..

setup.cfg

@@ -1,4 +1,2 @@
-[develop]
-script_dir=$base/lib/unilabos
 [install]
 install_scripts=$base/lib/unilabos

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.1',
+    version='0.9.4',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/biomek.json

@@ -0,0 +1,22 @@
+{
+    "nodes": [
+        {
+            "id": "BIOMEK",
+            "name": "BIOMEK",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler.biomek",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {},
+            "children": [
+            ]
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_all.json

@@ -0,0 +1,296 @@
+{
+    "nodes": [
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        },
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        },
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        },
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        },
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        },
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        },
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        },
+        {  
+            "id": "MockStirrer1NEW",  
+            "name": "模拟搅拌器(new)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        },
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        },
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_chiller.json

@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_filter.json

@@ -0,0 +1,36 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_heater.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_pump.json

@@ -0,0 +1,44 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_rotavap.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_separator.json

@@ -0,0 +1,43 @@
+{
+    "nodes": [
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_solenoid_valve.json

@@ -0,0 +1,25 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer_new.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1COPY",  
+            "name": "模拟搅拌器(Copy)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_vacuum.json

@@ -0,0 +1,31 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_protocol/addteststation.json

@@ -0,0 +1,250 @@
+{
+    "nodes": [
+        {
+            "id": "AddTestStation",
+            "name": "添加试剂测试工作站",
+            "children": [
+                "pump_add",
+                "flask_1",
+                "flask_2", 
+                "flask_3",
+                "flask_4",
+                "reactor",
+                "stirrer",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 698.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_1",
+            "name": "通用试剂瓶1",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_2",
+            "name": "通用试剂瓶2",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_3",
+            "name": "通用试剂瓶3",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_4",
+            "name": "通用试剂瓶4",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "reactor",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "flask_air",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_1",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_3",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_3": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_4",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_4": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/centrifugeteststation.json

@@ -0,0 +1,271 @@
+{
+    "nodes": [
+        {
+            "id": "CentrifugeTestStation",
+            "name": "离心机测试工作站",
+            "children": [
+                "pump_add",
+                "flask_1",
+                "flask_2", 
+                "flask_3",
+                "reactor",
+                "stirrer",
+                "centrifuge_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "CentrifugeProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_1",
+            "name": "样品瓶1",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_2",
+            "name": "样品瓶2",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_3",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_1",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_3",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_3": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_1",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_1": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_2",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_2": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/cleanvesselteststation.json

@@ -0,0 +1,362 @@
+{
+    "nodes": [
+        {
+            "id": "CleanVesselTestStation",
+            "name": "容器清洗测试工作站",
+            "children": [
+                "transfer_pump_cleaner",
+                "heatchill_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_waste",
+                "reactor",
+                "flask_buffer",
+                "flask_sample",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["CleanVesselProtocol", "TransferProtocol", "AddProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_cleaner",
+            "name": "清洗转移泵",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 1800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "residue",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "4",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "8",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/dissolveteststation.json

@@ -0,0 +1,343 @@
+{
+    "nodes": [
+        {
+            "id": "DissolveTestStation",
+            "name": "溶解测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_dmso",
+                "reactor",
+                "flask_sample",
+                "flask_buffer"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["DissolveProtocol", "TransferProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_dmso",
+            "name": "DMSO溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "dmso",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_sample",
+                        "volume": 10.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_dmso",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_dmso": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterteststation.json

@@ -0,0 +1,270 @@
+{
+    "nodes": [
+        {
+            "id": "FilterTestStation",
+            "name": "过滤器测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_filtrate", 
+                "flask_buffer",
+                "reactor",
+                "stirrer",
+                "filter_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_filtrate",
+            "name": "滤液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_filtrate",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_filtrate": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "flask_sample": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_filtrate",
+            "type": "logical",
+            "port": {
+                "filter_1": "output",
+                "flask_filtrate": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterthroughteststation.json

@@ -0,0 +1,388 @@
+{
+    "nodes": [
+        {
+            "id": "FilterThroughTestStation",
+            "name": "过滤通过测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "flask_celite",
+                "flask_silica"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["FilterThroughProtocol", "TransferProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_product",
+                        "volume": 200.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "sample_mixture",
+                        "volume": 100.0,
+                        "concentration": 50.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_celite",
+            "name": "硅藻土容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "celite",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_silica",
+            "name": "硅胶容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "silica",
+                        "volume": 30.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/heatchillteststation.json

@@ -0,0 +1,262 @@
+{
+    "nodes": [
+        {
+            "id": "HeatChillTestStation",
+            "name": "加热冷却测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "heatchill_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/runcolumnteststation.json

@@ -0,0 +1,412 @@
+{
+    "nodes": [
+        {
+            "id": "RunColumnTestStation",
+            "name": "柱层析测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "column_1",
+                "flask_sample",
+                "flask_hexane",
+                "flask_ethyl_acetate",
+                "flask_methanol",
+                "collection_flask_1",
+                "collection_flask_2",
+                "collection_flask_3",
+                "waste_flask",
+                "reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["RunColumnProtocol", "TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "柱层析设备",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5
+            },
+            "data": {
+                "status": "Idle",
+                "column_state": "Ready",
+                "current_flow_rate": 0.0,
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5,
+                "processed_volume": 0.0,
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_mixture",
+                        "volume": 200.0,
+                        "concentration": 70.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "hexane",
+                        "volume": 1500.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethyl_acetate",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 750,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1050,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1200,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "reaction_mixture",
+                        "volume": 300.0,
+                        "concentration": 85.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_hexane",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_hexane": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethyl_acetate",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_ethyl_acetate": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "column_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "column_1": "inlet"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "collection_flask_3": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "10",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_3": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/stirteststation.json

@@ -0,0 +1,250 @@
+{
+    "nodes": [
+        {
+            "id": "StirTestStation",
+            "name": "搅拌测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "flask_waste",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "添加泵",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/transferteststation.json

@@ -0,0 +1,249 @@
+{
+    "nodes": [
+        {
+            "id": "TransferTestStation",
+            "name": "液体转移测试工作站",
+            "children": [
+                "transfer_pump",
+                "flask_source1",
+                "flask_source2",
+                "flask_target1",
+                "flask_target2",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump",
+            "name": "转移泵",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_source1",
+            "name": "源容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_source2",
+            "name": "源容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target1",
+            "name": "目标容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target2",
+            "name": "目标容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump",
+            "target": "flask_source1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_source2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_rinsing": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/washsolidteststation.json

@@ -0,0 +1,494 @@
+{
+    "nodes": [
+        {
+            "id": "WashSolidTestStation",
+            "name": "固体清洗测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_acetone",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "filtrate_flask"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["WashSolidProtocol", "TransferProtocol", "FilterProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 850.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 800.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_product",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_solid",
+                        "volume": 30.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filtrate_flask",
+            "name": "滤液收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "filtrate_flask": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "filtrate_flask": "top"
+            }
+        }
+    ]
+}

test/experiments/test_moveit.json

@@ -0,0 +1,35 @@
+{
+    "nodes": [
+
+        {
+            "id": "benyao",
+            "name": "benyao",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "moveit.arm_slider",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "moveit_type": "arm_slider",
+                "joint_poses": {
+                    "arm": {
+                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
+                        "pick": [1.2, 0.0, 0.0, 0.0, 0.0]
+                    }
+                },
+                "device_config": {
+                }
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

unilabos/app/main.py

@@ -10,6 +10,8 @@ from copy import deepcopy
 
 import yaml
 
+from unilabos.resources.graphio import tree_to_list
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -144,19 +146,19 @@ def main():
             else read_graphml(args_dict["graph"])
         )
         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"] = 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)
-        # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
-
         args_dict["graph"] = graph_res.physical_setup_graph
     else:
         if args_dict["devices"] is None or args_dict["resources"] is None:
             print_status("Either graph or devices and resources must be provided.", "error")
             sys.exit(1)
         args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
-        args_dict["resources_config"] = initialize_resources(
-            list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
-        )
+        # args_dict["resources_config"] = initialize_resources(
+        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+        # )
+        args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
 
     print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
     for i in args_dict["resources_config"]:

unilabos/app/mq.py

@@ -1,6 +1,7 @@
 import json
 import time
 import traceback
+from typing import Optional
 import uuid
 
 import paho.mqtt.client as mqtt
@@ -161,12 +162,14 @@ class MQTTClient:
         status = {"data": device_status.get(device_id, {}), "device_id": device_id}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.critical(f"Device status published: address: {address}, {status}")
+        logger.debug(f"Device status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:
             return
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
+        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):

unilabos/app/web/client.py

@@ -30,18 +30,18 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> 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/",
+            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=5,
@@ -60,7 +60,7 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/",
+            f"{self.remote_addr}/lab/resource/?edge_format=1",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,
@@ -96,7 +96,7 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.patch(
-            f"{self.remote_addr}/lab/resource/batch_update/",
+            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,

unilabos/compile/__init__.py

@@ -5,6 +5,17 @@ from .separate_protocol import generate_separate_protocol
 from .evaporate_protocol import generate_evaporate_protocol
 from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
 from .agv_transfer_protocol import generate_agv_transfer_protocol
+from .add_protocol import generate_add_protocol
+from .centrifuge_protocol import generate_centrifuge_protocol
+from .filter_protocol import generate_filter_protocol
+from .heatchill_protocol import generate_heat_chill_protocol, generate_heat_chill_start_protocol, generate_heat_chill_stop_protocol
+from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
+from .transfer_protocol import generate_transfer_protocol
+from .clean_vessel_protocol import generate_clean_vessel_protocol
+from .dissolve_protocol import generate_dissolve_protocol
+from .filter_through_protocol import generate_filter_through_protocol
+from .run_column_protocol import generate_run_column_protocol
+from .wash_solid_protocol import generate_wash_solid_protocol
 
 
 # Define a dictionary of protocol generators.
@@ -15,5 +26,19 @@ action_protocol_generators = {
     EvaporateProtocol: generate_evaporate_protocol,
     EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
+    CentrifugeProtocol: generate_centrifuge_protocol,
+    AddProtocol: generate_add_protocol,
+    FilterProtocol: generate_filter_protocol,
+    HeatChillProtocol: generate_heat_chill_protocol,
+    HeatChillStartProtocol: generate_heat_chill_start_protocol,
+    HeatChillStopProtocol: generate_heat_chill_stop_protocol,
+    StirProtocol: generate_stir_protocol,
+    StartStirProtocol: generate_start_stir_protocol,
+    StopStirProtocol: generate_stop_stir_protocol,
+    TransferProtocol: generate_transfer_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,
+    DissolveProtocol: generate_dissolve_protocol,
+    FilterThroughProtocol: generate_filter_through_protocol,
+    RunColumnProtocol: generate_run_column_protocol,
+    WashSolidProtocol: generate_wash_solid_protocol,
 }
-# End Protocols

unilabos/compile/add_protocol.py

@@ -0,0 +1,74 @@
+import networkx as nx  
+from typing import List, Dict, Any  
+  
+def generate_add_protocol(  
+    G: nx.DiGraph,  
+    vessel: str,  
+    reagent: str,  
+    volume: float,  
+    mass: float,  
+    amount: str,  
+    time: float,  
+    stir: bool,  
+    stir_speed: float,  
+    viscous: bool,  
+    purpose: str  
+) -> List[Dict[str, Any]]:  
+    """  
+    生成添加试剂的协议序列 - 严格按照 Add.action
+    """  
+    action_sequence = []  
+      
+    # 如果指定了体积，执行液体转移  
+    if volume > 0:  
+        # 查找可用的试剂瓶
+        available_flasks = [node for node in G.nodes() 
+                           if node.startswith('flask_') 
+                           and G.nodes[node].get('type') == 'container']
+        
+        if not available_flasks:
+            raise ValueError("没有找到可用的试剂容器")
+            
+        reagent_vessel = available_flasks[0]
+        
+        # 查找泵设备
+        pump_nodes = [node for node in G.nodes() 
+                     if G.nodes[node].get('class') == 'virtual_pump']
+        
+        if pump_nodes:
+            pump_id = pump_nodes[0]
+            action_sequence.append({
+                "device_id": pump_id,
+                "action_name": "transfer",
+                "action_kwargs": {
+                    "from_vessel": reagent_vessel,
+                    "to_vessel": vessel,
+                    "volume": volume,
+                    "amount": amount,
+                    "time": time,
+                    "viscous": viscous,
+                    "rinsing_solvent": "",
+                    "rinsing_volume": 0.0,
+                    "rinsing_repeats": 0,
+                    "solid": False
+                }
+            })
+      
+    # 如果需要搅拌，使用 StartStir 而不是 Stir  
+    if stir:  
+        stirrer_nodes = [node for node in G.nodes()   
+                        if G.nodes[node].get('class') == 'virtual_stirrer']  
+          
+        if stirrer_nodes:  
+            stirrer_id = stirrer_nodes[0]  
+            action_sequence.append({  
+                "device_id": stirrer_id,  
+                "action_name": "start_stir",  # 使用 start_stir 而不是 stir
+                "action_kwargs": {  
+                    "vessel": vessel,
+                    "stir_speed": stir_speed,
+                    "purpose": f"添加 {reagent} 后搅拌"
+                }  
+            })  
+      
+    return action_sequence

unilabos/compile/centrifuge_protocol.py

@@ -0,0 +1,123 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    speed: float,
+    time: float,
+    temp: float = 25.0
+) -> List[Dict[str, Any]]:
+    """
+    生成离心操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 离心容器名称
+        speed: 离心速度 (rpm)
+        time: 离心时间 (秒)
+        temp: 温度 (摄氏度，可选)
+    
+    Returns:
+        List[Dict[str, Any]]: 离心操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到离心机设备时抛出异常
+    
+    Examples:
+        centrifuge_protocol = generate_centrifuge_protocol(G, "reactor", 5000, 300, 4.0)
+    """
+    action_sequence = []
+    
+    # 查找离心机设备
+    centrifuge_nodes = [node for node in G.nodes() 
+                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    
+    if not centrifuge_nodes:
+        raise ValueError("没有找到可用的离心机设备")
+    
+    # 使用第一个可用的离心机
+    centrifuge_id = centrifuge_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 执行离心操作
+    action_sequence.append({
+        "device_id": centrifuge_id,
+        "action_name": "centrifuge",
+        "action_kwargs": {
+            "vessel": vessel,
+            "speed": speed,
+            "time": time,
+            "temp": temp
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_multi_step_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    steps: List[Dict[str, Any]]
+) -> List[Dict[str, Any]]:
+    """
+    生成多步骤离心操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 离心容器名称
+        steps: 离心步骤列表，每个步骤包含 speed, time, temp 参数
+    
+    Returns:
+        List[Dict[str, Any]]: 多步骤离心操作的动作序列
+    
+    Examples:
+        steps = [
+            {"speed": 1000, "time": 60, "temp": 4.0},   # 低速预离心
+            {"speed": 12000, "time": 600, "temp": 4.0}  # 高速离心
+        ]
+        protocol = generate_multi_step_centrifuge_protocol(G, "reactor", steps)
+    """
+    action_sequence = []
+    
+    # 查找离心机设备
+    centrifuge_nodes = [node for node in G.nodes() 
+                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    
+    if not centrifuge_nodes:
+        raise ValueError("没有找到可用的离心机设备")
+    
+    centrifuge_id = centrifuge_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 执行每个离心步骤
+    for i, step in enumerate(steps):
+        speed = step.get('speed', 5000)
+        time = step.get('time', 300)
+        temp = step.get('temp', 25.0)
+        
+        action_sequence.append({
+            "device_id": centrifuge_id,
+            "action_name": "centrifuge",
+            "action_kwargs": {
+                "vessel": vessel,
+                "speed": speed,
+                "time": time,
+                "temp": temp
+            }
+        })
+        
+        # 步骤间等待时间（除了最后一步）
+        if i < len(steps) - 1:
+            action_sequence.append({
+                "action_name": "wait", 
+                "action_kwargs": {"time": 3}
+            })
+    
+    return action_sequence

unilabos/compile/clean_vessel_protocol.py

@@ -0,0 +1,126 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_clean_vessel_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    temp: float,
+    repeats: int = 1
+) -> List[Dict[str, Any]]:
+    """
+    生成容器清洗操作的协议序列，使用transfer操作实现清洗
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 要清洗的容器名称
+        solvent: 用于清洗容器的溶剂名称
+        volume: 清洗溶剂的体积
+        temp: 清洗时的温度
+        repeats: 清洗操作的重复次数，默认为 1
+    
+    Returns:
+        List[Dict[str, Any]]: 容器清洗操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        clean_vessel_protocol = generate_clean_vessel_protocol(G, "reactor", "water", 50.0, 25.0, 2)
+    """
+    action_sequence = []
+    
+    # 查找虚拟转移泵设备进行清洗操作
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备进行容器清洗")
+    
+    pump_id = pump_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        raise ValueError(f"溶剂容器 {solvent_vessel} 不存在于图中")
+    
+    # 查找废液容器
+    waste_vessel = "flask_waste"
+    if waste_vessel not in G.nodes():
+        raise ValueError(f"废液容器 {waste_vessel} 不存在于图中")
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 执行清洗操作序列
+    for repeat in range(repeats):
+        # 1. 如果需要加热，先设置温度
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": "cleaning"
+                }
+            })
+        
+        # 2. 使用transfer操作：从溶剂容器转移清洗溶剂到目标容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"cleaning with {solvent} - cycle {repeat + 1}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 3. 等待清洗作用时间（可选，可以添加wait操作）
+        # 这里省略wait操作，直接进行下一步
+        
+        # 4. 将清洗后的溶剂转移到废液容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": vessel,
+                "to_vessel": waste_vessel,
+                "volume": volume,
+                "amount": f"waste from cleaning {vessel} - cycle {repeat + 1}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 5. 如果加热了，停止加热
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_stop",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+    
+    return action_sequence

unilabos/compile/dissolve_protocol.py

@@ -0,0 +1,162 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    temp: float = 25.0,
+    time: float = 0.0,
+    stir_speed: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成溶解操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 装有要溶解物质的容器名称
+        solvent: 用于溶解物质的溶剂名称
+        volume: 溶剂的体积，可选参数
+        amount: 要溶解物质的量，可选参数
+        temp: 溶解时的温度，可选参数
+        time: 溶解的时间，可选参数
+        stir_speed: 搅拌速度，可选参数
+    
+    Returns:
+        List[Dict[str, Any]]: 溶解操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        dissolve_protocol = generate_dissolve_protocol(G, "reactor", "water", 100.0, "NaCl 5g", 60.0, 300.0, 500.0)
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        # 如果没有找到特定溶剂容器，查找可用的源容器
+        available_vessels = [node for node in G.nodes() 
+                           if node.startswith('flask_') and 
+                           G.nodes[node].get('type') == 'container']
+        if available_vessels:
+            solvent_vessel = available_vessels[0]
+        else:
+            raise ValueError(f"没有找到溶剂容器 {solvent}")
+    
+    # 查找转移泵设备
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 查找搅拌设备（如果需要搅拌）
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
+    
+    # 步骤1：如果需要加热，先设置温度
+    if temp > 25.0 and heatchill_id:
+        action_sequence.append({
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": temp,
+                "purpose": "dissolution"
+            }
+        })
+    
+    # 步骤2：添加溶剂到容器中
+    if volume > 0:
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"solvent {solvent} for dissolving {amount}",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+    
+    # 步骤3：如果需要搅拌，开始搅拌
+    if stir_speed > 0 and stirrer_id:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "stir_speed": stir_speed,
+                "purpose": f"dissolving {amount} in {solvent}"
+            }
+        })
+    
+    # 步骤4：如果指定了溶解时间，等待溶解完成
+    if time > 0:
+        # 这里可以添加等待操作，或者使用搅拌操作来模拟溶解时间
+        if stirrer_id and stir_speed > 0:
+            # 停止之前的搅拌，使用定时搅拌
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stop_stir",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+            
+            # 开始定时搅拌
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stir",
+                "action_kwargs": {
+                    "stir_time": time,
+                    "stir_speed": stir_speed,
+                    "settling_time": 10.0  # 搅拌后静置10秒
+                }
+            })
+    
+    # 步骤5：如果加热了，停止加热
+    if temp > 25.0 and heatchill_id:
+        action_sequence.append({
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": vessel
+            }
+        })
+    
+    # 步骤6：如果还在搅拌，停止搅拌（除非已经用定时搅拌）
+    if stir_speed > 0 and stirrer_id and time == 0:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {
+                "vessel": vessel
+            }
+        })
+    
+    return action_sequence

unilabos/compile/evacuateandrefill_protocol.py

@@ -69,14 +69,14 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["pump"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "ON"
+                    "string": "ON"
                 }
             },
             {
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             }
         ])
@@ -106,14 +106,14 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["pump"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             },
             {
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "ON"
+                    "string": "ON"
                 }
             }
         ])
@@ -125,7 +125,7 @@ def generate_evacuateandrefill_protocol(
                 "device_id": vacuum_backbone["gas"],
                 "action_name": "set_status",
                 "action_kwargs": {
-                    "command": "OFF"
+                    "string": "OFF"
                 }
             }
         )

unilabos/compile/filter_protocol.py

@@ -0,0 +1,70 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = "",
+    stir: bool = False,
+    stir_speed: float = 300.0,
+    temp: float = 25.0,
+    continue_heatchill: bool = False,
+    volume: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成过滤操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 过滤容器
+        filtrate_vessel: 滤液容器（可选）
+        stir: 是否搅拌
+        stir_speed: 搅拌速度（可选）
+        temp: 温度（可选，摄氏度）
+        continue_heatchill: 是否继续加热冷却
+        volume: 过滤体积（可选）
+    
+    Returns:
+        List[Dict[str, Any]]: 过滤操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到过滤设备时抛出异常
+    
+    Examples:
+        filter_protocol = generate_filter_protocol(G, "reactor", "filtrate_vessel", stir=True, volume=100.0)
+    """
+    action_sequence = []
+    
+    # 查找过滤设备
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    if not filter_nodes:
+        raise ValueError("没有找到可用的过滤设备")
+    
+    # 使用第一个可用的过滤器
+    filter_id = filter_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"过滤容器 {vessel} 不存在于图中")
+    
+    if filtrate_vessel and filtrate_vessel not in G.nodes():
+        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    
+    # 执行过滤操作
+    action_sequence.append({
+        "device_id": filter_id,
+        "action_name": "filter_sample",
+        "action_kwargs": {
+            "vessel": vessel,
+            "filtrate_vessel": filtrate_vessel,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "temp": temp,
+            "continue_heatchill": continue_heatchill,
+            "volume": volume
+        }
+    })
+    
+    return action_sequence

unilabos/compile/filter_through_protocol.py

@@ -0,0 +1,150 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_filter_through_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    filter_through: str,
+    eluting_solvent: str = "",
+    eluting_volume: float = 0.0,
+    eluting_repeats: int = 0,
+    residence_time: float = 0.0
+) -> List[Dict[str, Any]]:
+    """
+    生成通过过滤介质过滤的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器的名称，即物质起始所在的容器
+        to_vessel: 目标容器的名称，物质过滤后要到达的容器
+        filter_through: 过滤时所通过的介质，如滤纸、柱子等
+        eluting_solvent: 洗脱溶剂的名称，可选参数
+        eluting_volume: 洗脱溶剂的体积，可选参数
+        eluting_repeats: 洗脱操作的重复次数，默认为 0
+        residence_time: 物质在过滤介质中的停留时间，可选参数
+    
+    Returns:
+        List[Dict[str, Any]]: 过滤操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        filter_through_protocol = generate_filter_through_protocol(
+            G, "reactor", "collection_flask", "celite", "ethanol", 50.0, 2, 60.0
+        )
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于液体转移）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找过滤设备（可选，如果有专门的过滤设备）
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    filter_id = filter_nodes[0] if filter_nodes else None
+    
+    # 查找洗脱溶剂容器（如果需要洗脱）
+    eluting_vessel = None
+    if eluting_solvent and eluting_volume > 0:
+        eluting_vessel = f"flask_{eluting_solvent}"
+        if eluting_vessel not in G.nodes():
+            # 查找可用的溶剂容器
+            available_vessels = [node for node in G.nodes() 
+                               if node.startswith('flask_') and 
+                               G.nodes[node].get('type') == 'container']
+            if available_vessels:
+                eluting_vessel = available_vessels[0]
+            else:
+                raise ValueError(f"没有找到洗脱溶剂容器 {eluting_solvent}")
+    
+    # 步骤1：将样品从源容器转移到过滤装置（模拟通过过滤介质）
+    # 这里我们将过滤过程分解为多个转移步骤来模拟通过介质的过程
+    
+    # 首先转移样品（模拟样品通过过滤介质）
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": to_vessel,
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"通过 {filter_through} 过滤",
+            "time": residence_time if residence_time > 0 else 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": True  # 通过过滤介质可能涉及固体分离
+        }
+    })
+    
+    # 步骤2：如果有专门的过滤设备，使用过滤设备处理
+    if filter_id:
+        action_sequence.append({
+            "device_id": filter_id,
+            "action_name": "filter_sample",
+            "action_kwargs": {
+                "vessel": to_vessel,
+                "filtrate_vessel": to_vessel,
+                "stir": False,
+                "stir_speed": 0.0,
+                "temp": 25.0,
+                "continue_heatchill": False,
+                "volume": 0.0
+            }
+        })
+    
+    # 步骤3：洗脱操作（如果指定了洗脱溶剂和重复次数）
+    if eluting_solvent and eluting_volume > 0 and eluting_repeats > 0 and eluting_vessel:
+        for repeat in range(eluting_repeats):
+            # 添加洗脱溶剂
+            action_sequence.append({
+                "device_id": pump_id,
+                "action_name": "transfer",
+                "action_kwargs": {
+                    "from_vessel": eluting_vessel,
+                    "to_vessel": to_vessel,
+                    "volume": eluting_volume,
+                    "amount": f"洗脱溶剂 {eluting_solvent} - 第 {repeat + 1} 次",
+                    "time": 0.0,
+                    "viscous": False,
+                    "rinsing_solvent": "",
+                    "rinsing_volume": 0.0,
+                    "rinsing_repeats": 0,
+                    "solid": False
+                }
+            })
+            
+            # 如果有过滤设备，再次过滤洗脱液
+            if filter_id:
+                action_sequence.append({
+                    "device_id": filter_id,
+                    "action_name": "filter_sample",
+                    "action_kwargs": {
+                        "vessel": to_vessel,
+                        "filtrate_vessel": to_vessel,
+                        "stir": False,
+                        "stir_speed": 0.0,
+                        "temp": 25.0,
+                        "continue_heatchill": False,
+                        "volume": eluting_volume
+                    }
+                })
+    
+    return action_sequence

unilabos/compile/heatchill_protocol.py

@@ -0,0 +1,117 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_heat_chill_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    time: float,
+    stir: bool,
+    stir_speed: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成加热/冷却操作的协议序列 - 严格按照 HeatChill.action
+    """
+    action_sequence = []
+    
+    # 查找加热/冷却设备
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": temp,
+            "time": time,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_heat_chill_start_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成开始加热/冷却操作的协议序列 - 严格按照 HeatChillStart.action
+    """
+    action_sequence = []
+    
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": temp,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_heat_chill_stop_protocol(
+    G: nx.DiGraph,
+    vessel: str
+) -> List[Dict[str, Any]]:
+    """
+    生成停止加热/冷却操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 容器名称
+    
+    Returns:
+        List[Dict[str, Any]]: 停止加热/冷却操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找加热/冷却设备
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    if not heatchill_nodes:
+        raise ValueError("没有找到可用的加热/冷却设备")
+    
+    heatchill_id = heatchill_nodes[0]
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_stop",
+        "action_kwargs": {
+            "vessel": vessel
+        }
+    })
+    
+    return action_sequence

unilabos/compile/pump_protocol.py

@@ -24,10 +24,27 @@ def generate_pump_protocol(
     
     # 生成泵操作的动作序列
     pump_action_sequence = []
-    nodes = G.nodes(data=True)
-    # 从from_vessel到to_vessel的最短路径
-    shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
-    print(shortest_path)
+    
+    # 检查节点是否存在
+    if from_vessel not in G.nodes:
+        print(f"Warning: Source vessel '{from_vessel}' not found in graph. Skipping.")
+        return []
+    
+    if to_vessel not in G.nodes:
+        print(f"Warning: Target vessel '{to_vessel}' not found in graph. Skipping.")
+        return []
+    
+    # 检查是否存在路径
+    try:
+        shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
+    except nx.NetworkXNoPath:
+        print(f"Warning: No path from '{from_vessel}' to '{to_vessel}'. Skipping.")
+        return []
+    except nx.NodeNotFound as e:
+        print(f"Warning: Node not found: {e}. Skipping.")
+        return []
+    
+    print(f"Shortest path: {shortest_path}")
 
     pump_backbone = shortest_path
     if not from_vessel.startswith("pump"):
@@ -35,10 +52,34 @@ def generate_pump_protocol(
     if not to_vessel.startswith("pump"):
         pump_backbone = pump_backbone[:-1]
     
+    print(f"Pump backbone: {pump_backbone}")
+    
+    # 修复：检查pump_backbone是否为空
+    if not pump_backbone:
+        print(f"Warning: No pumps found in path from '{from_vessel}' to '{to_vessel}'. Skipping.")
+        return []
+    
     if transfer_flowrate == 0:
         transfer_flowrate = flowrate
     
-    min_transfer_volume = min([nodes[pump]["max_volume"] for pump in pump_backbone])
+    # 修复：正确访问节点数据
+    pump_max_volumes = []
+    for pump in pump_backbone:
+        # 直接使用 G.nodes[pump] 来访问节点数据
+        pump_data = G.nodes[pump] if pump in G.nodes else {}
+        # 尝试多种可能的键名，并提供默认值
+        max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
+        if max_vol is None:
+            # 如果是设备节点，尝试从config中获取
+            config = pump_data.get('config', {})
+            max_vol = config.get('max_volume', 25.0)
+        pump_max_volumes.append(float(max_vol))
+    
+    if pump_max_volumes:
+        min_transfer_volume = min(pump_max_volumes)
+    else:
+        min_transfer_volume = 25.0  # 默认值
+    
     repeats = int(np.ceil(volume / min_transfer_volume))
     if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
         raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
@@ -48,84 +89,102 @@ def generate_pump_protocol(
     # 生成泵操作的动作序列
     for i in range(repeats):
         # 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
-        if not from_vessel.startswith("pump"):
-            pump_action_sequence.extend([
-                {
-                    "device_id": pump_backbone[0], 
-                    "action_name": "set_valve_position",
-                    "action_kwargs": {
-                        "command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
+        if not from_vessel.startswith("pump") and pump_backbone:
+            # 修复：添加边缘数据检查
+            edge_data = G.get_edge_data(pump_backbone[0], from_vessel)
+            if edge_data and "port" in edge_data:
+                pump_action_sequence.extend([
+                    {
+                        "device_id": pump_backbone[0], 
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {
+                            "command": edge_data["port"][pump_backbone[0]]
+                        }
+                    },
+                    {
+                        "device_id": pump_backbone[0], 
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": float(min(volume_left, min_transfer_volume)),
+                            "max_velocity": transfer_flowrate
+                        }
                     }
-                },
-                {
-                    "device_id": pump_backbone[0], 
-                    "action_name": "set_position",
-                    "action_kwargs": {
-                        "position": float(min(volume_left, min_transfer_volume)),
-                        "max_velocity": transfer_flowrate
-                    }
-                }
-            ])
-            pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
-        for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
-            # 相邻两泵同时切换阀门至连通位置
-            pump_action_sequence.append([
-            {
-                "device_id": pumpA,
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": G.get_edge_data(pumpA, pumpB)["port"][pumpA]
-                }
-            },
-            {
-                "device_id": pumpB, 
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": G.get_edge_data(pumpB, pumpA)["port"][pumpB],
-                }
-            }
-            ])
-            # 相邻两泵液体转移：泵A排出液体，泵B吸入液体
-            pump_action_sequence.append([
-            {
-                "device_id": pumpA,
-                "action_name": "set_position",
-                "action_kwargs": {
-                    "position": 0.0,
-                    "max_velocity": transfer_flowrate
-                }
-            },
-            {
-                "device_id": pumpB, 
-                "action_name": "set_position",
-                "action_kwargs": {
-                    "position": float(min(volume_left, min_transfer_volume)),
-                    "max_velocity": transfer_flowrate
-                }
-            }
-            ])
-            pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
+                ])
+                pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
+            else:
+                print(f"Warning: No edge data found between {pump_backbone[0]} and {from_vessel}")
         
-        if not to_vessel.startswith("pump"):
+        # 修复：检查pump_backbone长度，避免多泵操作时出错
+        if len(pump_backbone) > 1:
+            for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
+                # 相邻两泵同时切换阀门至连通位置
+                edge_AB = G.get_edge_data(pumpA, pumpB)
+                edge_BA = G.get_edge_data(pumpB, pumpA)
+                
+                if edge_AB and "port" in edge_AB and edge_BA and "port" in edge_BA:
+                    pump_action_sequence.append([
+                    {
+                        "device_id": pumpA,
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {
+                            "command": edge_AB["port"][pumpA]
+                        }
+                    },
+                    {
+                        "device_id": pumpB, 
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {
+                            "command": edge_BA["port"][pumpB],
+                        }
+                    }
+                    ])
+                    # 相邻两泵液体转移：泵A排出液体，泵B吸入液体
+                    pump_action_sequence.append([
+                    {
+                        "device_id": pumpA,
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": 0.0,
+                            "max_velocity": transfer_flowrate
+                        }
+                    },
+                    {
+                        "device_id": pumpB, 
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": float(min(volume_left, min_transfer_volume)),
+                            "max_velocity": transfer_flowrate
+                        }
+                    }
+                    ])
+                    pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
+                else:
+                    print(f"Warning: No edge data found between {pumpA} and {pumpB}")
+        
+        if not to_vessel.startswith("pump") and pump_backbone:
             # 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
-            pump_action_sequence.extend([
-                {
-                    "device_id": pump_backbone[-1], 
-                    "action_name": "set_valve_position",
-                    "action_kwargs": {
-                        "command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
+            edge_data = G.get_edge_data(pump_backbone[-1], to_vessel)
+            if edge_data and "port" in edge_data:
+                pump_action_sequence.extend([
+                    {
+                        "device_id": pump_backbone[-1], 
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {
+                            "command": edge_data["port"][pump_backbone[-1]]
+                        }
+                    },
+                    {
+                        "device_id": pump_backbone[-1], 
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": 0.0,
+                            "max_velocity": flowrate
+                        }
                     }
-                },
-                {
-                    "device_id": pump_backbone[-1], 
-                    "action_name": "set_position",
-                    "action_kwargs": {
-                        "position": 0.0,
-                        "max_velocity": flowrate
-                    }
-                }
-            ])
-            pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
+                ])
+                pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
+            else:
+                print(f"Warning: No edge data found between {pump_backbone[-1]} and {to_vessel}")
         
         volume_left -= min_transfer_volume
     return pump_action_sequence
@@ -174,18 +233,52 @@ def generate_pump_protocol_with_rinsing(
     Examples:
         pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
     """
-    air_vessel = "flask_air"
-    waste_vessel = f"waste_workup"
+    # 修复：使用实际存在的节点名称
+    air_vessel = "flask_air"  # 这个在你的配置中存在
+    
+    # 寻找合适的废料容器，如果没有找到则使用空的容器作为替代
+    waste_vessel = None
+    available_vessels = [node for node in G.nodes if node.startswith("flask_") and node != air_vessel]
+    if available_vessels:
+        # 使用第一个可用的容器作为废料容器
+        waste_vessel = available_vessels[0]
+        print(f"Using {waste_vessel} as waste vessel")
+    else:
+        waste_vessel = "flask_1"  # 备用选择
+    
+    # 修复：添加路径检查
+    try:
+        shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
+        pump_backbone = shortest_path[1: -1]
+    except (nx.NetworkXNoPath, nx.NodeNotFound) as e:
+        print(f"Warning: Cannot find path from {from_vessel} to {to_vessel}: {e}")
+        return []
+    
+    # 修复：正确访问节点数据
+    pump_max_volumes = []
+    for pump in pump_backbone:
+        # 直接使用 G.nodes[pump] 来访问节点数据
+        pump_data = G.nodes[pump] if pump in G.nodes else {}
+        # 尝试多种可能的键名，并提供默认值
+        max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
+        if max_vol is None:
+            # 如果是设备节点，尝试从config中获取
+            config = pump_data.get('config', {})
+            max_vol = config.get('max_volume', 25.0)
+        pump_max_volumes.append(float(max_vol))
+    
+    if pump_max_volumes:
+        min_transfer_volume = float(min(pump_max_volumes))
+    else:
+        min_transfer_volume = 25.0  # 默认值
         
-    shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
-    pump_backbone = shortest_path[1: -1]
-    nodes = G.nodes(data=True)
-    min_transfer_volume = float(min([nodes[pump]["max_volume"] for pump in pump_backbone]))
     if time != 0:
         flowrate = transfer_flowrate = volume / time
     
     pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
-    if rinsing_solvent != "air":
+    
+    # 修复：只在需要清洗且相关节点存在时才执行清洗步骤
+    if rinsing_solvent != "air" and pump_backbone:
         if "," in rinsing_solvent:
             rinsing_solvents = rinsing_solvent.split(",")
             assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
@@ -194,20 +287,32 @@ def generate_pump_protocol_with_rinsing(
         
         for rinsing_solvent in rinsing_solvents:
             solvent_vessel = f"flask_{rinsing_solvent}"
-            # 清洗泵
-            pump_action_sequence.extend(
-                generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
-                generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
-                generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
-            )
-            # 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
-            if rinsing_solvent == rinsing_solvents[0]:
-                pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
-                pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
-            pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
-            pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
-    pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
-    pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
+            
+            # 检查溶剂容器是否存在
+            if solvent_vessel not in G.nodes:
+                print(f"Warning: Solvent vessel '{solvent_vessel}' not found in graph. Skipping rinsing step.")
+                continue
+            
+            # 清洗泵 - 只有当所有必需的节点都存在且pump_backbone不为空时才执行
+            if pump_backbone and len(pump_backbone) > 0 and waste_vessel in G.nodes:
+                pump_action_sequence.extend(
+                    generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
+                    generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
+                    generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
+                )
+                
+                # 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
+                if rinsing_solvent == rinsing_solvents[0]:
+                    pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                    pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                
+                pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
+                pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
+    
+    # 最后的空气清洗 - 只有当节点存在时才执行
+    if air_vessel in G.nodes:
+        pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
+        pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
     
     return pump_action_sequence
 # End Protocols

unilabos/compile/run_column_protocol.py

@@ -0,0 +1,102 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_run_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column: str
+) -> List[Dict[str, Any]]:
+    """
+    生成柱层析分离的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器的名称，即样品起始所在的容器
+        to_vessel: 目标容器的名称，分离后的样品要到达的容器
+        column: 所使用的柱子的名称
+    
+    Returns:
+        List[Dict[str, Any]]: 柱层析分离操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        run_column_protocol = generate_run_column_protocol(G, "reactor", "collection_flask", "silica_column")
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于样品转移）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找柱层析设备
+    column_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_column']
+    
+    if not column_nodes:
+        raise ValueError("没有找到可用的柱层析设备")
+    
+    column_id = column_nodes[0]
+    
+    # 步骤1：将样品从源容器转移到柱子上
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": column_id,  # 将样品转移到柱子设备
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"样品上柱 - 使用 {column}",
+            "time": 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": False
+        }
+    })
+    
+    # 步骤2：运行柱层析分离
+    action_sequence.append({
+        "device_id": column_id,
+        "action_name": "run_column",
+        "action_kwargs": {
+            "from_vessel": from_vessel,
+            "to_vessel": to_vessel,
+            "column": column
+        }
+    })
+    
+    # 步骤3：将分离后的产物从柱子转移到目标容器
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "from_vessel": column_id,  # 从柱子设备转移
+            "to_vessel": to_vessel,
+            "volume": 0.0,  # 转移所有液体，体积由系统确定
+            "amount": f"收集分离产物 - 来自 {column}",
+            "time": 0.0,
+            "viscous": False,
+            "rinsing_solvent": "",
+            "rinsing_volume": 0.0,
+            "rinsing_repeats": 0,
+            "solid": False
+        }
+    })
+    
+    return action_sequence

unilabos/compile/stir_protocol.py

@@ -0,0 +1,137 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_stir_protocol(
+    G: nx.DiGraph,
+    stir_time: float,
+    stir_speed: float,
+    settling_time: float
+) -> List[Dict[str, Any]]:
+    """
+    生成搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        stir_time: 搅拌时间 (秒)
+        stir_speed: 搅拌速度 (rpm)
+        settling_time: 沉降时间 (秒)
+    
+    Returns:
+        List[Dict[str, Any]]: 搅拌操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到搅拌设备时抛出异常
+    
+    Examples:
+        stir_protocol = generate_stir_protocol(G, 300.0, 500.0, 60.0)
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    # 使用第一个可用的搅拌器
+    stirrer_id = stirrer_nodes[0]
+    
+    # 执行搅拌操作
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "stir",
+        "action_kwargs": {
+            "stir_time": stir_time,
+            "stir_speed": stir_speed,
+            "settling_time": settling_time
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_start_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    stir_speed: float,
+    purpose: str
+) -> List[Dict[str, Any]]:
+    """
+    生成开始搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 搅拌容器
+        stir_speed: 搅拌速度 (rpm)
+        purpose: 搅拌目的
+    
+    Returns:
+        List[Dict[str, Any]]: 开始搅拌操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    stirrer_id = stirrer_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "start_stir",
+        "action_kwargs": {
+            "vessel": vessel,
+            "stir_speed": stir_speed,
+            "purpose": purpose
+        }
+    })
+    
+    return action_sequence
+
+
+def generate_stop_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str
+) -> List[Dict[str, Any]]:
+    """
+    生成停止搅拌操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 搅拌容器
+    
+    Returns:
+        List[Dict[str, Any]]: 停止搅拌操作的动作序列
+    """
+    action_sequence = []
+    
+    # 查找搅拌设备
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    if not stirrer_nodes:
+        raise ValueError("没有找到可用的搅拌设备")
+    
+    stirrer_id = stirrer_nodes[0]
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 {vessel} 不存在于图中")
+    
+    action_sequence.append({
+        "device_id": stirrer_id,
+        "action_name": "stop_stir",
+        "action_kwargs": {
+            "vessel": vessel
+        }
+    })
+    
+    return action_sequence

unilabos/compile/transfer_protocol.py

@@ -0,0 +1,79 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_transfer_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    volume: float,
+    amount: str = "",
+    time: float = 0,
+    viscous: bool = False,
+    rinsing_solvent: str = "",
+    rinsing_volume: float = 0.0,
+    rinsing_repeats: int = 0,
+    solid: bool = False
+) -> List[Dict[str, Any]]:
+    """
+    生成液体转移操作的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        from_vessel: 源容器
+        to_vessel: 目标容器
+        volume: 转移体积 (mL)
+        amount: 数量描述 (可选)
+        time: 转移时间 (秒，可选)
+        viscous: 是否为粘性液体
+        rinsing_solvent: 冲洗溶剂 (可选)
+        rinsing_volume: 冲洗体积 (mL，可选)
+        rinsing_repeats: 冲洗重复次数
+        solid: 是否涉及固体
+    
+    Returns:
+        List[Dict[str, Any]]: 转移操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到合适的转移设备时抛出异常
+    
+    Examples:
+        transfer_protocol = generate_transfer_protocol(G, "flask_1", "reactor", 10.0)
+    """
+    action_sequence = []
+    
+    # 查找虚拟转移泵设备用于液体转移 - 修复：应该查找 virtual_transfer_pump
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备进行液体转移")
+    
+    # 使用第一个可用的泵
+    pump_id = pump_nodes[0]
+    
+    # 验证容器是否存在
+    if from_vessel not in G.nodes():
+        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+    
+    if to_vessel not in G.nodes():
+        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+    
+    # 执行液体转移操作 - 参数完全匹配Transfer.action
+    action_sequence.append({
+        "device_id": pump_id,
+        "action_name": "transfer",
+        "action_kwargs": {
+            "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
+        }
+    })
+    
+    return action_sequence

unilabos/compile/wash_solid_protocol.py

@@ -0,0 +1,216 @@
+from typing import List, Dict, Any
+import networkx as nx
+
+def generate_wash_solid_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    filtrate_vessel: str = "",
+    temp: float = 25.0,
+    stir: bool = False,
+    stir_speed: float = 0.0,
+    time: float = 0.0,
+    repeats: int = 1
+) -> List[Dict[str, Any]]:
+    """
+    生成固体清洗的协议序列
+    
+    Args:
+        G: 有向图，节点为设备和容器
+        vessel: 装有固体物质的容器名称
+        solvent: 用于清洗固体的溶剂名称
+        volume: 清洗溶剂的体积
+        filtrate_vessel: 滤液要收集到的容器名称，可选参数
+        temp: 清洗时的温度，可选参数
+        stir: 是否在清洗过程中搅拌，默认为 False
+        stir_speed: 搅拌速度，可选参数
+        time: 清洗的时间，可选参数
+        repeats: 清洗操作的重复次数，默认为 1
+    
+    Returns:
+        List[Dict[str, Any]]: 固体清洗操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        wash_solid_protocol = generate_wash_solid_protocol(
+            G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
+        )
+    """
+    action_sequence = []
+    
+    # 验证容器是否存在
+    if vessel not in G.nodes():
+        raise ValueError(f"固体容器 {vessel} 不存在于图中")
+    
+    if filtrate_vessel and filtrate_vessel not in G.nodes():
+        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    
+    # 查找转移泵设备（用于添加溶剂和转移滤液）
+    pump_nodes = [node for node in G.nodes() 
+                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    
+    if not pump_nodes:
+        raise ValueError("没有找到可用的转移泵设备")
+    
+    pump_id = pump_nodes[0]
+    
+    # 查找加热设备（如果需要加热）
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    
+    # 查找搅拌设备（如果需要搅拌）
+    stirrer_nodes = [node for node in G.nodes() 
+                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    
+    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
+    
+    # 查找过滤设备（用于分离固体和滤液）
+    filter_nodes = [node for node in G.nodes() 
+                   if G.nodes[node].get('class') == 'virtual_filter']
+    
+    filter_id = filter_nodes[0] if filter_nodes else None
+    
+    # 查找溶剂容器
+    solvent_vessel = f"flask_{solvent}"
+    if solvent_vessel not in G.nodes():
+        # 如果没有找到特定溶剂容器，查找可用的源容器
+        available_vessels = [node for node in G.nodes() 
+                           if node.startswith('flask_') and 
+                           G.nodes[node].get('type') == 'container']
+        if available_vessels:
+            solvent_vessel = available_vessels[0]
+        else:
+            raise ValueError(f"没有找到溶剂容器 {solvent}")
+    
+    # 如果没有指定滤液容器，使用废液容器
+    if not filtrate_vessel:
+        waste_vessels = [node for node in G.nodes() 
+                        if 'waste' in node.lower() and 
+                        G.nodes[node].get('type') == 'container']
+        filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
+    
+    # 重复清洗操作
+    for repeat in range(repeats):
+        repeat_num = repeat + 1
+        
+        # 步骤1：如果需要加热，先设置温度
+        if temp > 25.0 and heatchill_id:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": f"固体清洗 - 第 {repeat_num} 次"
+                }
+            })
+        
+        # 步骤2：添加清洗溶剂到固体容器
+        action_sequence.append({
+            "device_id": pump_id,
+            "action_name": "transfer",
+            "action_kwargs": {
+                "from_vessel": solvent_vessel,
+                "to_vessel": vessel,
+                "volume": volume,
+                "amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
+                "time": 0.0,
+                "viscous": False,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "solid": False
+            }
+        })
+        
+        # 步骤3：如果需要搅拌，开始搅拌
+        if stir and stir_speed > 0 and stirrer_id:
+            if time > 0:
+                # 定时搅拌
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "stir",
+                    "action_kwargs": {
+                        "stir_time": time,
+                        "stir_speed": stir_speed,
+                        "settling_time": 30.0  # 搅拌后静置30秒
+                    }
+                })
+            else:
+                # 开始搅拌（需要手动停止）
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
+                    }
+                })
+        
+        # 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
+        if time > 0 and (not stir or stir_speed == 0):
+            # 这里可以添加等待操作，暂时跳过
+            pass
+        
+        # 步骤5：如果有搅拌且没有定时，停止搅拌
+        if stir and stir_speed > 0 and time == 0 and stirrer_id:
+            action_sequence.append({
+                "device_id": stirrer_id,
+                "action_name": "stop_stir",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+        
+        # 步骤6：过滤分离固体和滤液
+        if filter_id:
+            action_sequence.append({
+                "device_id": filter_id,
+                "action_name": "filter_sample",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "filtrate_vessel": filtrate_vessel,
+                    "stir": False,
+                    "stir_speed": 0.0,
+                    "temp": temp,
+                    "continue_heatchill": temp > 25.0,
+                    "volume": volume
+                }
+            })
+        else:
+            # 没有专门的过滤设备，使用转移泵模拟过滤过程
+            # 将滤液转移到滤液容器
+            action_sequence.append({
+                "device_id": pump_id,
+                "action_name": "transfer",
+                "action_kwargs": {
+                    "from_vessel": vessel,
+                    "to_vessel": filtrate_vessel,
+                    "volume": volume,
+                    "amount": f"转移滤液 - 第 {repeat_num} 次清洗",
+                    "time": 0.0,
+                    "viscous": False,
+                    "rinsing_solvent": "",
+                    "rinsing_volume": 0.0,
+                    "rinsing_repeats": 0,
+                    "solid": False
+                }
+            })
+        
+        # 步骤7：如果加热了，停止加热（在最后一次清洗后）
+        if temp > 25.0 and heatchill_id and repeat_num == repeats:
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_stop",
+                "action_kwargs": {
+                    "vessel": vessel
+                }
+            })
+    
+    return action_sequence

unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03

unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml

@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml

@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}arm_slider" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/arm_slider/config/move_group.json

@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}

unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml

@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true

unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml

@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml

@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

unilabos/device_mesh/devices/arm_slider/joint_limit.yaml

@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03

unilabos/device_mesh/devices/arm_slider/macro_device.xacro

@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
+
+  <xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <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}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03

unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml

@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml

@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}benyao_arm" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>

unilabos/device_mesh/devices/benyao_arm/config/move_group.json

@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}

unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml

@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true

unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml

@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml

@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml

@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03

unilabos/device_mesh/devices/benyao_arm/macro_device.xacro

@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+
+  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <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}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro

@@ -3,11 +3,10 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:macro name="opentrons_liquid_handler" 
-  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
-
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0 mesh_path:=''">
 
     <joint name="${station_name}${device_name}base_link_joint" type="fixed">
-      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
       <parent link="${parent_link}"/>
       <child link="${station_name}${device_name}device_link"/>
       <axis xyz="0 0 0"/>

unilabos/device_mesh/devices/slide_w140/macro_device.xacro

@@ -8,11 +8,11 @@
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
+  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 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="0 0 ${r}" />
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
       <parent link="${parent_link}"/>
       <child link="${station_name}${device_name}device_link"/>
       <axis xyz="0 0 0"/>

unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/macro_device.xacro

@@ -0,0 +1,59 @@
+<?xml version='1.0'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="thermo_orbitor_rs2_hotel" 
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
+          mesh_path:=''">
+
+    <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>
+    <link name='${station_name}${device_name}base_link'>
+      <visual name='visual'>
+        <origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
+        </geometry>
+        <material name="clay">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
+
+    <xacro:property name="delta" value="0.073" />
+    <xacro:macro name='platetargets' params='num'>
+      <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_${num}_60_1' type='fixed'>
+        <parent link="${station_name}${device_name}base_link"/>
+        <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.002 0.011 ${(num - 1) * delta + 0.038}"/>
+      </joint>
+    </xacro:macro>
+
+    <xacro:platetargets num='1' />
+    <xacro:platetargets num='2' />
+    <xacro:platetargets num='3' />
+    <xacro:platetargets num='4' />
+    <xacro:platetargets num='5' />
+    <xacro:platetargets num='6' />
+    <xacro:platetargets num='7' />
+    <xacro:platetargets num='8' />
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meta.json

@@ -0,0 +1,10 @@
+{
+    "fileName": "thermo_orbitor_rs2_hotel",
+    "related": [
+        "thermo_skyline_stacker",
+        "thermo_cytomat2c_stacker_15",
+        "thermo_fisher_cytomat_stacker_16",
+        "thermo_cytomat2c_stacker_21",
+        "thermo_orbitor_rs2_hotel"
+    ]
+}

unilabos/device_mesh/devices/toyo_xyz/config/full_dev.urdf.xacro

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="full_dev">
+    <xacro:arg name="device_name" default=""/>
+    <xacro:arg name="mesh_path" default="/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh" />
+
+    <xacro:include filename="macro.ros2_control.xacro" />
+
+    <xacro:toyo_xyz_ros2_control device_name="$(arg device_name)" mesh_path="$(arg mesh_path)" />
+
+</robot>

unilabos/device_mesh/devices/toyo_xyz/config/initial_positions.yaml

@@ -0,0 +1,6 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  slider1_joint: 0
+  slider2_joint: 0
+  slider3_joint: 0