diff --git a/unilabos/device_mesh/view_robot.rviz b/unilabos/device_mesh/view_robot.rviz
index ad6241a..50e0543 100644
--- a/unilabos/device_mesh/view_robot.rviz
+++ b/unilabos/device_mesh/view_robot.rviz
@@ -9,7 +9,7 @@ Panels:
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
       Splitter Ratio: 0.5016146302223206
-    Tree Height: 575
+    Tree Height: 1112
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -571,21 +571,21 @@ Visualization Manager:
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 1061
-  Hide Left Dock: true
+    collapsed: false
+  Height: 2032
+  Hide Left Dock: false
   Hide Right Dock: true
   MotionPlanning:
     collapsed: true
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000003f2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000170000027b000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004300fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000296000001730000013e00ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000003f200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1924
+  Width: 3956
   X: 140
   Y: 54
diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py
index ea71c6d..3fe3049 100644
--- a/unilabos/devices/liquid_handling/biomek.py
+++ b/unilabos/devices/liquid_handling/biomek.py
@@ -10,6 +10,7 @@ from pylabrobot.resources import (
     Container,
     Coordinate,
 )
+import copy
 from unilabos_msgs.msg import Resource
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
@@ -61,7 +62,7 @@ class LiquidHandlerBiomek:
                             'LocalPattern': True, 
                             'Operation': 'Aspirate', 
                             'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
                             'Prototype': 'MC P300 High', 
                             'ReferencedPattern': '', 
                             'RowsFirst': False, 
@@ -450,8 +451,8 @@ class LiquidHandlerBiomek:
         """
         items = []
 
-        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
-        dis_params = self.dispense_techniques.get(dispense_techniques, {})
+        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
+        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
 
         asp_params['Position'] = source
         dis_params['Position'] = target
@@ -564,7 +565,7 @@ class LiquidHandlerBiomek:
 
 
 if __name__ == "__main__":
-  
+
     print("=== Biomek完整流程测试 ===")
     print("包含: 仪器设置 + 完整实验步骤")
     
@@ -968,15 +969,6 @@ if __name__ == "__main__":
         "liquid_volume": [],
         "liquid_input_wells": []
     },
-    {
-        "id": "working plate on P12",
-        "parent": "deck",
-        "slot_on_deck": "P12",
-        "class_name": "BCDeep96Round",
-        "liquid_type": [],
-        "liquid_volume": [],
-        "liquid_input_wells": []
-    },
     {
         "id": "working plate on P13",
         "parent": "deck",
diff --git a/unilabos/devices/liquid_handling/biomek_test.py b/unilabos/devices/liquid_handling/biomek_test.py
index 1e56f18..af6339a 100644
--- a/unilabos/devices/liquid_handling/biomek_test.py
+++ b/unilabos/devices/liquid_handling/biomek_test.py
@@ -15,6 +15,7 @@ from typing import List, Sequence, Optional, Union, Literal
 import json
 import pathlib
 from typing import Sequence, Optional, List, Union, Literal
+import copy
 
 
 
@@ -67,7 +68,7 @@ class LiquidHandlerBiomek:
                             'LocalPattern': True, 
                             'Operation': 'Aspirate', 
                             'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
                             'Prototype': 'MC P300 High', 
                             'ReferencedPattern': '', 
                             'RowsFirst': False, 
@@ -351,8 +352,9 @@ class LiquidHandlerBiomek:
         """
         items = []
 
-        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
-        dis_params = self.dispense_techniques.get(dispense_techniques, {})
+        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
+        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
+
 
         asp_params['Position'] = source
         dis_params['Position'] = target
@@ -403,7 +405,9 @@ class LiquidHandlerBiomek:
         transfer_params["Solvent"] = 'Water'
         transfer_params["TipLocation"] = tip_rack
         tmp={'transfer': transfer_params}
+       
         self.temp_protocol["steps"].append(tmp)
+        
 
         return
 
@@ -872,15 +876,6 @@ if __name__ == "__main__":
         "liquid_volume": [],
         "liquid_input_wells": []
     },
-    {
-        "id": "working plate on P12",
-        "parent": "deck",
-        "slot_on_deck": "P12",
-        "class_name": "BCDeep96Round",
-        "liquid_type": [],
-        "liquid_volume": [],
-        "liquid_input_wells": []
-    },
     {
         "id": "working plate on P13",
         "parent": "deck",
@@ -968,6 +963,7 @@ if __name__ == "__main__":
         print(f"步骤 {step['step_number']}: {description}")
         
         if operation == 'transfer':
+            
             handler.transfer_biomek(
                 source=parameters['source'],
                 target=parameters['target'],