bioyond_HR (#133)

* feat: Enhance Bioyond synchronization and resource management

- Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type.
- Improved error handling and logging during synchronization processes.
- Added functionality to save Bioyond material IDs in UniLab resources for future updates.
- Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond.
- Updated warehouse configurations to support new storage types and improved layout for better resource management.
- Introduced new resource types such as reactors and tip boxes, with detailed specifications.
- Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08).
- Improved resource tracking by merging extra attributes instead of overwriting them.
- Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes.

* feat: 添加TipBox和Reactor的配置到bottles.yaml

* fix: 修复液体投料方法中的volume参数处理逻辑

test/experiments/reaction_station_bioyond.json

@@ -24,13 +24,42 @@
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                        "烧杯": [
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
+                        ],
+                        "试剂瓶": [
+                            "BIOYOND_PolymerStation_1BottleCarrier",
+                            ""
+                        ],
+                        "样品板": [
+                            "BIOYOND_PolymerStation_6StockCarrier",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "分装板": [
+                            "BIOYOND_PolymerStation_6VialCarrier",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "样品瓶": [
+                            "BIOYOND_PolymerStation_Solid_Stock",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ],
+                        "90%分装小瓶": [
+                            "BIOYOND_PolymerStation_Solid_Vial",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "10%分装小瓶": [
+                            "BIOYOND_PolymerStation_Liquid_Vial",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "枪头盒": [
+                            "BIOYOND_PolymerStation_TipBox",
+                            ""
+                        ],
+                        "反应器": [
+                            "BIOYOND_PolymerStation_Reactor",
+                            ""
+                        ]
                     }
                 },
                 "deck": {
@@ -46,8 +75,7 @@
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",
-            "children": [
-            ],
+            "children": [],
             "parent": "reaction_station_bioyond",
             "type": "deck",
             "class": "BIOYOND_PolymerReactionStation_Deck",
@@ -69,4 +97,4 @@
             "data": {}
         }
     ]
-}
+}

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -233,7 +233,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-        """指定库位出库物料"""
+        """指定库位出库物料（通过库位名称）"""
         location_id = LOCATION_MAPPING.get(location_name, location_name)
 
         params = {
@@ -251,7 +251,36 @@ class BioyondV1RPC(BaseRequest):
             })
 
         if not response or response['code'] != 1:
-            return {}
+            return None
+        return response
+
+    def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
+        """指定库位出库物料（直接使用location_id）
+
+        Args:
+            material_id: 物料ID
+            location_id: 库位ID（不是库位名称，是UUID）
+            quantity: 数量
+
+        Returns:
+            dict: API响应，失败返回None
+        """
+        params = {
+            "materialId": material_id,
+            "locationId": location_id,
+            "quantity": quantity
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return None
         return response
 
     # ==================== 工作流查询相关接口 ====================
@@ -703,10 +732,10 @@ class BioyondV1RPC(BaseRequest):
         """预加载材料列表到缓存中"""
         try:
             print("正在加载材料列表缓存...")
-            
+
             # 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
             material_types = [1, 2]
-            
+
             for type_mode in material_types:
                 print(f"正在加载类型 {type_mode} 的材料...")
                 stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}'
@@ -723,7 +752,7 @@ class BioyondV1RPC(BaseRequest):
                     material_id = material.get("id")
                     if material_name and material_id:
                         self.material_cache[material_name] = material_id
-                    
+
                     # 处理样品板等容器中的detail材料
                     detail_materials = material.get("detail", [])
                     for detail_material in detail_materials:

unilabos/registry/resources/bioyond/bottles.yaml

@@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottles
+  - tip_boxes
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Reactor:
+  category:
+  - bottles
+  - reactors
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/resources/bioyond/bottles.py

@@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Reagent_Bottle",
     )
+
+
+def BIOYOND_PolymerStation_Reactor(
+    name: str,
+    diameter: float = 30.0,
+    height: float = 80.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建反应器"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reactor",
+    )
+
+
+def BIOYOND_PolymerStation_TipBox(
+    name: str,
+    size_x: float = 127.76,  # 枪头盒宽度
+    size_y: float = 85.48,   # 枪头盒长度
+    size_z: float = 100.0,   # 枪头盒高度
+    barcode: str = None,
+):
+    """创建4×6枪头盒 (24个枪头)
+
+    Args:
+        name: 枪头盒名称
+        size_x: 枪头盒宽度 (mm)
+        size_y: 枪头盒长度 (mm)
+        size_z: 枪头盒高度 (mm)
+        barcode: 条形码
+
+    Returns:
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+    """
+    from pylabrobot.resources import Container, Coordinate
+
+    # 创建枪头盒容器
+    tip_box = Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip_rack",
+        model="BIOYOND_PolymerStation_TipBox_4x6",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = 6  # 6列
+    tip_box.num_items_y = 4  # 4行
+
+    # 创建24个枪头孔位 (4行×6列)
+    # 假设孔位间距为 9mm
+    tip_spacing_x = 9.0  # 列间距
+    tip_spacing_y = 9.0  # 行间距
+    start_x = 14.38  # 第一个孔位的x偏移
+    start_y = 11.24  # 第一个孔位的y偏移
+
+    for row in range(4):  # A, B, C, D
+        for col in range(6):  # 1-6
+            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
+            x = start_x + col * tip_spacing_x
+            y = start_y + row * tip_spacing_y
+
+            # 创建枪头孔位容器
+            tip_spot = Container(
+                name=spot_name,
+                size_x=8.0,  # 单个枪头孔位大小
+                size_y=8.0,
+                size_z=size_z - 10.0,  # 略低于盒子高度
+                category="tip_spot",
+            )
+
+            # 添加到枪头盒
+            tip_box.assign_child_resource(
+                tip_spot,
+                location=Coordinate(x=x, y=y, z=0)
+            )
+
+    return tip_box

unilabos/resources/bioyond/decks.py

@@ -1,12 +1,27 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
+from unilabos.resources.bioyond.warehouses import (
+    bioyond_warehouse_1x4x4,
+    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
+    bioyond_warehouse_1x4x2,
+    bioyond_warehouse_liquid_and_lid_handling,
+    bioyond_warehouse_1x2x2,
+    bioyond_warehouse_1x3x3,
+    bioyond_warehouse_10x1x1,
+    bioyond_warehouse_3x3x1,
+    bioyond_warehouse_3x3x1_2,
+    bioyond_warehouse_5x1x1,
+    bioyond_warehouse_1x8x4,
+    bioyond_warehouse_reagent_storage,
+    bioyond_warehouse_liquid_preparation,
+    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+)
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerReactionStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -20,15 +35,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
     def setup(self) -> None:
         # 添加仓库
+        # 说明: 堆栈1物理上分为左右两部分
+        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
+        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
         self.warehouses = {
-            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
-            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
+            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
+            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
+            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
         }
         self.warehouse_locations = {
-            "堆栈1": Coordinate(0.0, 430.0, 0.0),
-            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
+            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
+            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
 
@@ -38,7 +60,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerPreparationStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -70,7 +92,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
 
 class BIOYOND_YB_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "YB_Deck",
         size_x: float = 4150,
         size_y: float = 1400.0,
@@ -114,7 +136,7 @@ class BIOYOND_YB_Deck(Deck):
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-            
+
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()

unilabos/resources/bioyond/warehouses.py

@@ -2,7 +2,7 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
     return warehouse_factory(
         name=name,
         num_items_x=4,
@@ -15,6 +15,25 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         item_dy=106.0,
         item_dz=130.0,
         category="warehouse",
+        col_offset=0,  # 从01开始: A01, A02, A03, A04
+    )
+
+
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,
+        num_items_y=4,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=4,  # 从05开始: A05, A06, A07, A08
     )
 
 
@@ -158,4 +177,72 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
         removed_positions=None
+    )
+
+
+def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
+    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=8,  # 8列（01-08）
+        num_items_y=4,  # 4行（A-D）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
     )

unilabos/resources/graphio.py

@@ -580,6 +580,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "trash": "trash",
             "deck": "deck",
             "tip_rack": "tip_rack",
+            "warehouse": "warehouse",
+            "container": "container",
         }
         if source in replace_info:
             return replace_info[source]
@@ -632,9 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
         )
 
-        plr_material: ResourcePLR = initialize_resource(
+        plr_material_result = initialize_resource(
             {"name": material["name"], "class": className}, resource_type=ResourcePLR
         )
+
+        # initialize_resource 可能返回列表或单个对象
+        if isinstance(plr_material_result, list):
+            if len(plr_material_result) == 0:
+                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
+                continue
+            plr_material = plr_material_result[0]
+        else:
+            plr_material = plr_material_result
+
+        # 确保 plr_material 是 ResourcePLR 实例
+        if not isinstance(plr_material, ResourcePLR):
+            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
+            continue
+
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
         plr_material.unilabos_uuid = str(uuid.uuid4())
 
@@ -659,25 +676,66 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     ]
                     bottle.code = detail.get("code", "")
         else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-            bottle.tracker.liquids = [
-                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-            ]
+            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
+            if hasattr(plr_material, 'capacity'):
+                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+                bottle.tracker.liquids = [
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                ]
 
         plr_materials.append(plr_material)
 
         if deck and hasattr(deck, "warehouses"):
             for loc in material.get("locations", []):
-                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
-                    warehouse = deck.warehouses[loc["whName"]]
-                    idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
-                    )
+                wh_name = loc.get("whName")
+
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
+                if wh_name == "堆栈1":
+                    x_val = loc.get("x", 1)
+                    if 1 <= x_val <= 4:
+                        wh_name = "堆栈1左"
+                    elif 5 <= x_val <= 8:
+                        wh_name = "堆栈1右"
+                    else:
+                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        continue
+
+                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
+                    warehouse = deck.warehouses[wh_name]
+
+                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
+                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
+
+                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
+                    if wh_name == "堆栈1右":
+                        y = y - 4  # 将5-8映射到1-4
+
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
+                    else:
+                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
+                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
+                        row_idx = x - 1  # x表示行: 转为0-based
+                        col_idx = y - 1  # y表示列: 转为0-based
+                        layer_idx = z - 1  # 转为0-based
+                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
+                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
+
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                             warehouse[idx] = plr_material
+                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
+                    else:
+                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
 
     return plr_materials
 
@@ -714,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
             bottle = resource[0] if resource.capacity > 0 else resource
             material = {
                 "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.get("name", ""),
-                "unit": "",
+                "name": resource.name if hasattr(resource, "name") else "",
+                "unit": "个",  # 修复：Bioyond API 要求 unit 字段不能为空
                 "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                 "Parameters": "{}"
             }
@@ -759,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
     elif type(resource_class_config) == str:
         # Allow special resource class names to be used
         if resource_class_config not in lab_registry.resource_type_registry:
+            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
+            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
             return [resource_config]
         # If the resource class is a string, look up the class in the
         # resource_type_registry and import it

unilabos/resources/warehouse.py

@@ -23,6 +23,7 @@ def warehouse_factory(
     empty: bool = False,
     category: str = "warehouse",
     model: Optional[str] = None,
+    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
     # 创建16个板架位 (4层 x 4位置)
     locations = []
@@ -44,9 +45,11 @@ def warehouse_factory(
         name_prefix=name,
     )
     len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
+    # 应用列偏移量，支持A05-D08等命名
+    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
+    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
     sites = {i: site for i, site in zip(keys, _sites.values())}
-    
+
     return WareHouse(
         name=name,
         size_x=dx + item_dx * num_items_x,

unilabos/ros/nodes/resource_tracker.py

@@ -848,9 +848,15 @@ class DeviceNodeResourceTracker(object):
             extra: extra字典值
         """
         if isinstance(resource, dict):
-            resource["extra"] = extra
+            # ⭐ 修复：合并extra而不是覆盖
+            current_extra = resource.get("extra", {})
+            current_extra.update(extra)
+            resource["extra"] = current_extra
         else:
-            setattr(resource, "unilabos_extra", extra)
+            # ⭐ 修复：合并unilabos_extra而不是覆盖
+            current_extra = getattr(resource, "unilabos_extra", {})
+            current_extra.update(extra)
+            setattr(resource, "unilabos_extra", current_extra)
 
     def _traverse_and_process(self, resource, process_func) -> int:
         """