v0.9.7 (#50)

注册表单独上传、新增大量模拟节点与Protocol、新增container管理、修复pip install出现的文件缺失问题


* 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>

* bump version & protocol fix

* hotfix: Add macos_sdk_config (#46)

Co-authored-by: quehh <scienceol@outlook.com>

* include device_mesh when pip install

* 测试自动构建

* try build fix

* try build

* test artifacts

* hotfix: Add .certs in .gitignore

* create container

* container 添加和更新完成

* Device registry port (#49)

* 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

* unify liquid_handler definition

* Update virtual_device.yaml

* 更正了stir和heater的连接方式

* 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动

* 修改了add protocol

* 修复了阀门更新版的bug

* 修复了添加protocol前缀导致的不能启动的bug

* Fix handles

* bump version to 0.9.6

* add resource edge upload

* update container registry and handles

* add virtual_separator virtual_rotavap
fix transfer_pump

* fix container value
add parent_name to edge device id

* 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表

* default resource upload mode is false

* 添加了icon的文件名在注册表里面

* 修改了json图中link的格式

* fix resource and edge upload

* fix device ports

* Fix edge id

* 移除device的父节点关联

* separate registry sync and resource_add

* 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数

* 完善tip

* protocol node不再嵌套显示

* bump version to 0.9.7  新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配

* protocol node 执行action不应携带自身device id

* 添加了一套简易双八通阀工作站JSON，亲测能跑

* 修复了很多protocol，亲测能跑

* 添加了run column和filter through的protocol，亲测能跑

* fix mock_reactor

* 修改了大图和小图的json，但是在前端上没看到改变

---------

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: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

---------

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>
Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com>
Co-authored-by: quehh <scienceol@outlook.com>
Co-authored-by: Harvey Que <quehaohui@dp.tech>

unilabos/registry/devices/mock_devices.yaml

@@ -89,7 +89,7 @@ mock_filter:
       target_volume: Float64
     action_value_mappings:
       filter:
-        type: ProtocolFilter
+        type: Filter
         goal:
           vessel: vessel
           filtrate_vessel: filtrate_vessel
@@ -737,7 +737,7 @@ mock_stirrer_new:
       max_stir_speed: Float64
     action_value_mappings:
       start_stir:
-        type: ProtocolStartStir
+        type: StartStir
         goal:
           vessel: vessel
           stir_speed: stir_speed
@@ -760,7 +760,7 @@ mock_stirrer_new:
         result:
           success: success
       stop_stir:
-        type: ProtocolStopStir
+        type: StopStir
         goal:
           vessel: vessel
         feedback:

unilabos/registry/devices/pump_and_valve.yaml

@@ -48,14 +48,16 @@ solenoid_valve.mock:
         feedback: {}
         result: {}
   handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
+    - handler_key: in
+      label: in
+      io_type: target
       data_type: fluid
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
+      side: NORTH
+    - handler_key: out
+      label: out
+      io_type: source
       data_type: fluid
+      side: SOUTH
   init_param_schema:
     type: object
     properties:

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -23,20 +23,12 @@ vacuum_pump.mock:
         feedback: {}
         result: {}
   handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-      io_type: target
-      data_source: handle
-      data_key: fluid_in
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
+    - handler_key: out
+      label: out
       data_type: fluid
       io_type: source
-      data_source: executor
-      data_key: fluid_out
+      data_source: handle
+      data_key: fluid_in
   init_param_schema:
     type: object
     properties:
@@ -72,16 +64,8 @@ gas_source.mock:
         feedback: {}
         result: {}
   handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-      io_type: target
-      data_source: handle
-      data_key: fluid_in
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
+    - handler_key: out
+      label: out
       data_type: fluid
       io_type: source
       data_source: executor

unilabos/registry/devices/virtual_device.yaml

@@ -1,3 +1,70 @@
+# 虚拟设备清单及连接特性
+
+# 1. virtual_pump - 虚拟泵
+# 描述：具有多通道阀门特性的泵，根据valve_position可连接多个容器
+# 连接特性：1个输入口 + 1个输出口
+# 数据类型：fluid（流体连接）
+
+# 2. virtual_stirrer - 虚拟搅拌器  
+# 描述：机械连接设备，提供搅拌功能
+# 连接特性：1个连接点
+# 数据类型：mechanical（机械连接）
+
+# 3a. virtual_valve - 虚拟八通阀门
+# 描述：8通阀门，可切换流向
+# 连接特性：1个口连接注射泵 + 多个输出口
+# 数据类型：fluid（流体连接）
+
+# 3b. virtual_solenoid_valve (电磁阀门)
+# 描述：简单的开关型电磁阀，只有开启和关闭两个状态
+# 连接特性：1个输入口 + 1个输出口，控制通断
+# 数据类型：fluid（流体连接）
+
+# 4. virtual_centrifuge - 虚拟离心机
+# 描述：单个样品处理设备，原地处理样品
+# 连接特性：1个输入口 + 1个输出口
+# 数据类型：resource（资源/样品连接）
+
+# 5. virtual_filter - 虚拟过滤器
+# 描述：分离设备，将样品分离为滤液和滤渣
+# 连接特性：1个输入口 + 2个输出口（滤液和滤渣）
+# 数据类型：resource（资源/样品连接）
+
+# 6. virtual_heatchill - 虚拟加热/冷却器
+# 描述：温控设备，容器直接放置在设备上进行温度控制
+# 连接特性：1个连接点
+# 数据类型：mechanical（机械/物理接触连接）
+
+# 7. virtual_transfer_pump - 虚拟转移泵（注射器式）
+# 描述：注射器式转移泵，通过同一个口吸入和排出液体
+# 连接特性：1个连接点
+# 数据类型：fluid（流体连接）
+
+# 8. virtual_column - 虚拟色谱柱
+# 描述：分离纯化设备，用于样品纯化
+# 连接特性：1个输入口 + 1个输出口
+# 数据类型：resource（资源/样品连接）
+
+# 9. virtual_rotavap - 虚拟旋转蒸发仪
+# 描述：旋转蒸发仪用于溶剂蒸发和浓缩，具有加热、旋转和真空功能
+# 连接特性：1个输入口（样品），1个输出口（浓缩物），1个冷凝器出口（回收溶剂）
+# 数据类型：resource（资源/样品连接）
+
+# 10. virtual_separator - 虚拟分液器
+# 描述：分液器用于两相液体的分离，可进行萃取和洗涤操作
+# 连接特性：1个输入口（混合液），2个输出口（上相和下相）
+# 数据类型：fluid（流体连接）
+
+# 11. virtual_vacuum_pump - 虚拟真空泵
+# 描述：真空泵设备，用于抽真空操作和真空/充气循环
+# 连接特性：1个输出口（连接需要抽真空的系统）
+# 数据类型：fluid（流体连接）
+
+# 12. virtual_gas_source - 虚拟气源
+# 描述：气源设备，用于充气操作和真空/充气循环
+# 连接特性：1个输出口（向系统提供加压气体）
+# 数据类型：fluid（流体连接）
+
 virtual_pump:
   description: Virtual Pump for PumpTransferProtocol Testing
   class:
@@ -6,7 +73,7 @@ virtual_pump:
     status_types:
       status: String
       position: Float64
-      valve_position: Int32  # 修复：使用 Int32 而不是 String
+      valve_position: Int32
       max_volume: Float64
       current_volume: Float64
     action_value_mappings:
@@ -30,11 +97,19 @@ virtual_pump:
       set_valve_position:
         type: FloatSingleInput
         goal:
-          Int32: Int32  
+          float_in: valve_position
         feedback:
           status: status
         result:
           success: success
+  handles:
+  - handler_key: pumpio
+    label: pumpio
+    data_type: fluid
+    io_type: source
+    data_source: handle
+    data_key: fluid_in
+    description: "泵的输出口"
   schema:
     type: object
     properties:
@@ -48,11 +123,17 @@ virtual_pump:
 
 virtual_stirrer:
   description: Virtual Stirrer for StirProtocol Testing
+  icon: Stirrer.webp
   class:
     module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer
     type: python
     status_types:
       status: String
+      operation_mode: String
+      current_vessel: String
+      current_speed: Float64
+      is_stirring: Bool
+      remaining_time: Float64
     action_value_mappings:
       stir:
         type: Stir
@@ -65,7 +146,7 @@ virtual_stirrer:
         result:
           success: success
       start_stir:
-        type: ProtocolStartStir
+        type: StartStir
         goal:
           vessel: vessel
           stir_speed: stir_speed
@@ -75,31 +156,41 @@ virtual_stirrer:
         result:
           success: success
       stop_stir:
-        type: ProtocolStopStir
+        type: StopStir
         goal:
           vessel: vessel
         feedback:
           status: status
         result:
           success: success
+  handles:
+  - handler_key: stirrer
+    label: stirrer
+    data_type: mechanical
+    side: NORTH
+    io_type: source
+    data_source: handle
+    data_key: vessel
+    description: "搅拌器的机械连接口"
   schema:
     type: object
     properties:
       port:
         type: string
         default: "VIRTUAL"
-      max_temp:
-        type: number
-        default: 100.0
       max_speed:
         type: number
-        default: 1000.0
+        default: 1500.0
+      min_speed:
+        type: number
+        default: 50.0
     additionalProperties: false
 
-virtual_valve:
-  description: Virtual Valve for AddProtocol Testing
+virtual_multiway_valve:
+  description: Virtual 8-Way Valve for flow direction control
+  icon: EightPipeline.webp
   class:
-    module: unilabos.devices.virtual.virtual_valve:VirtualValve
+    module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
     type: python
     status_types:
       status: String
@@ -111,22 +202,90 @@ virtual_valve:
       set_position:
         type: SendCmd
         goal:
-          command: position
+          command: command
         feedback: {}
         result:
           success: success
-      open:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result:
-          success: success
-      close:
-        type: EmptyIn
-        goal: {}
+      set_valve_position:
+        type: SendCmd
+        goal:
+          command: command
         feedback: {}
         result:
           success: success
+  handles:
+  - handler_key: transferpump
+    label: transferpump
+    data_type: fluid
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: fluid_in
+    description: "八通阀门进液口"
+  - handler_key: 1
+    label: 1
+    data_type: fluid
+    side: NORTH
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_1
+    description: "八通阀门端口1"
+  - handler_key: 2
+    label: 2
+    data_type: fluid
+    side: EAST
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_2
+    description: "八通阀门端口2"
+  - handler_key: 3
+    label: 3
+    data_type: fluid
+    side: EAST
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_3
+    description: "八通阀门端口3"
+  - handler_key: 4
+    label: 4
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_4
+    description: "八通阀门端口4"
+  - handler_key: 5
+    label: 5
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_5
+    description: "八通阀门端口5"
+  - handler_key: 6
+    label: 6
+    data_type: fluid
+    side: WEST
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_6
+    description: "八通阀门端口6"
+  - handler_key: 7
+    label: 7
+    data_type: fluid
+    side: WEST
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_7
+    description: "八通阀门端口7"
+  - handler_key: 8
+    label: 8
+    data_type: fluid
+    side: NORTH
+    io_type: source
+    data_source: executor
+    data_key: fluid_port_8
+    description: "八通阀门端口8"
   schema:
     type: object
     properties:
@@ -135,7 +294,76 @@ virtual_valve:
         default: "VIRTUAL"
       positions:
         type: integer
-        default: 6
+        default: 8
+    additionalProperties: false
+
+virtual_solenoid_valve:
+  description: Virtual Solenoid Valve for simple on/off flow control
+  class:
+    module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
+    type: python
+    status_types:
+      status: String
+      valve_state: String
+      is_open: Bool
+    action_value_mappings:
+      set_valve_position:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+      open:
+        type: SendCmd
+        goal:
+          command: "OPEN"
+        feedback: {}
+        result:
+          success: success
+      close:
+        type: SendCmd
+        goal:
+          command: "CLOSED"
+        feedback: {}
+        result:
+          success: success
+      set_state:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  handles:
+  - handler_key: in
+    label: in
+    data_type: fluid
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: fluid_port_in
+    description: "电磁阀的进液口"
+  - handler_key: out
+    label: out
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: handle
+    data_key: fluid_port_out
+    description: "电磁阀的出液口"
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      voltage:
+        type: number
+        default: 12.0
+      response_time:
+        type: number
+        default: 0.1
     additionalProperties: false
 
 virtual_centrifuge:
@@ -154,9 +382,11 @@ virtual_centrifuge:
       min_temp: Float64
       centrifuge_state: String
       time_remaining: Float64
+      progress: Float64
+      message: String
     action_value_mappings:
       centrifuge:
-        type: ProtocolCentrifuge
+        type: Centrifuge
         goal:
           vessel: vessel
           speed: speed
@@ -170,6 +400,15 @@ virtual_centrifuge:
         result:
           success: success
           message: message
+  handles:
+  - handler_key: centrifuge
+    label: centrifuge
+    data_type: transport
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: vessel
+    description: "需要离心的样品容器"
   schema:
     type: object
     properties:
@@ -194,18 +433,17 @@ virtual_filter:
     type: python
     status_types:
       status: String
-      filter_state: String
-      current_temp: Float64
-      target_temp: Float64
-      max_temp: Float64
-      stir_speed: Float64
-      max_stir_speed: Float64
-      filtered_volume: Float64
       progress: Float64
+      current_temp: Float64
+      filtered_volume: Float64
+      current_status: String
       message: String
+      max_temp: Float64
+      max_stir_speed: Float64
+      max_volume: Float64
     action_value_mappings:
-      filter_sample:
-        type: ProtocolFilter
+      filter:
+        type: Filter
         goal:
           vessel: vessel
           filtrate_vessel: filtrate_vessel
@@ -218,10 +456,36 @@ virtual_filter:
           progress: progress
           current_temp: current_temp
           filtered_volume: filtered_volume
-          current_status: status
+          current_status: current_status
         result:
           success: success
           message: message
+          return_info: message
+  handles:
+  - handler_key: filter_in
+    label: filter_in
+    data_type: transport
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: vessel_in
+    description: "需要过滤的样品容器"
+  - handler_key: filtrate_out
+    label: filtrate_out
+    data_type: transport
+    side: SOUTH
+    io_type: source
+    data_source: handle
+    data_key: filtrate_out
+    description: "滤液出口"
+  - handler_key: retentate_out
+    label: retentate_out
+    data_type: transport
+    side: EAST
+    io_type: source
+    data_source: handle
+    data_key: retentate_out
+    description: "滤渣/固体出口"
   schema:
     type: object
     properties:
@@ -234,15 +498,22 @@ virtual_filter:
       max_stir_speed:
         type: number
         default: 1000.0
+      max_volume:
+        type: number
+        default: 500.0
     additionalProperties: false
 
 virtual_heatchill:
   description: Virtual HeatChill for HeatChillProtocol Testing
+  icon: Heater.webp
   class:
     module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
     type: python
     status_types:
       status: String
+      operation_mode: String
+      is_stirring: Bool
+      stir_speed: Float64
     action_value_mappings:
       heat_chill:
         type: HeatChill
@@ -275,6 +546,15 @@ virtual_heatchill:
           status: status
         result:
           success: success
+  handles:
+  - handler_key: heatchill
+    label: heatchill
+    data_type: mechanical
+    side: NORTH
+    io_type: source
+    data_source: handle
+    data_key: vessel
+    description: "加热/冷却器的物理连接口"
   schema:
     type: object
     properties:
@@ -286,14 +566,15 @@ virtual_heatchill:
         default: 200.0
       min_temp:
         type: number
-        default: -80.0
+        default: -80
       max_stir_speed:
         type: number
         default: 1000.0
     additionalProperties: false
 
 virtual_transfer_pump:
-  description: Virtual Transfer Pump for TransferProtocol Testing
+  description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
+  icon: Pump.webp
   class:
     module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
     type: python
@@ -302,14 +583,10 @@ virtual_transfer_pump:
       current_volume: Float64
       max_volume: Float64
       transfer_rate: Float64
-      from_vessel: String
-      to_vessel: String
-      progress: Float64
-      transferred_volume: Float64
-      current_status: String
+      position: Float64
     action_value_mappings:
       transfer:
-        type: ProtocolTransfer
+        type: Transfer
         goal:
           from_vessel: from_vessel
           to_vessel: to_vessel
@@ -328,22 +605,46 @@ virtual_transfer_pump:
         result:
           success: success
           message: message
+      set_position:
+        type: SetPumpPosition
+        goal:
+          position: position
+          max_velocity: max_velocity
+        feedback:
+          status: status
+          current_position: current_position
+          progress: progress
+        result:
+          success: success
+          message: message
+  handles:
+  - handler_key: transferpump
+    label: transferpump
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: handle
+    data_key: fluid_port
+    description: "注射器式转移泵的连接口"
   schema:
     type: object
     properties:
       port:
         type: string
         default: "VIRTUAL"
+        description: "通信端口"
       max_volume:
         type: number
         default: 50.0
+        description: "最大注射器容量 (mL)"
       transfer_rate:
         type: number
         default: 5.0
+        description: "默认转移速率 (mL/s)"
     additionalProperties: false
 
 virtual_column:
-  description: Virtual Column for RunColumn Protocol Testing
+  description: Virtual Column Chromatography Device for RunColumn Protocol Testing
   class:
     module: unilabos.devices.virtual.virtual_column:VirtualColumn
     type: python
@@ -359,17 +660,36 @@ virtual_column:
       current_status: String
     action_value_mappings:
       run_column:
-        type: ProtocolRunColumn
+        type: RunColumn
         goal:
           from_vessel: from_vessel
           to_vessel: to_vessel
           column: column
         feedback:
-          status: current_status
           progress: progress
+          processed_volume: processed_volume
+          current_status: current_status
         result:
           success: success
-          message: message
+          message: current_status
+          return_info: current_status
+  handles:
+  - handler_key: columnin
+    label: columnin
+    data_type: transport
+    side: WEST
+    io_type: target
+    data_source: handle
+    data_key: from_vessel
+    description: "样品输入口"
+  - handler_key: columnout
+    label: columnout
+    data_type: transport
+    side: EAST
+    io_type: source
+    data_source: handle
+    data_key: to_vessel
+    description: "产物输出口"
   schema:
     type: object
     properties:
@@ -385,4 +705,249 @@ virtual_column:
       column_diameter:
         type: number
         default: 2.0
+    additionalProperties: false
+
+virtual_rotavap:
+  description: Virtual Rotary Evaporator for EvaporateProtocol Testing
+  icon: Rotaryevaporator.webp
+  class:
+    module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap
+    type: python
+    status_types:
+      status: String
+      rotavap_state: String
+      current_temp: Float64
+      rotation_speed: Float64
+      vacuum_pressure: Float64
+      evaporated_volume: Float64
+      progress: Float64
+      remaining_time: Float64
+      message: String
+      max_temp: Float64
+      max_rotation_speed: Float64
+    action_value_mappings:
+      evaporate:
+        type: Evaporate
+        goal:
+          vessel: vessel
+          pressure: pressure
+          temp: temp
+          time: time
+          stir_speed: stir_speed
+        feedback:
+          progress: progress
+          current_temp: current_temp
+          evaporated_volume: evaporated_volume
+          status: status
+        result:
+          success: success
+          message: message
+  handles:
+  - handler_key: sample_in
+    label: sample_in
+    data_type: fluid
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: vessel_in
+    description: "样品连接口"
+  - handler_key: product_out
+    label: product_out
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: handle
+    data_key: product_out
+    description: "浓缩产物出口"
+  - handler_key: solvent_out
+    label: solvent_out
+    data_type: fluid
+    side: EAST
+    io_type: source
+    data_source: handle
+    data_key: solvent_out
+    description: "冷凝溶剂出口"
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      max_temp:
+        type: number
+        default: 180.0
+      max_rotation_speed:
+        type: number
+        default: 280.0
+    additionalProperties: false
+
+virtual_separator:
+  description: Virtual Separator for SeparateProtocol Testing
+  icon: Separator.webp
+  class:
+    module: unilabos.devices.virtual.virtual_separator:VirtualSeparator
+    type: python
+    status_types:
+      status: String
+      separator_state: String
+      volume: Float64
+      has_phases: Bool
+      phase_separation: Bool
+      stir_speed: Float64
+      settling_time: Float64
+      progress: Float64
+      message: String
+    action_value_mappings:
+      separate:
+        type: Separate
+        goal:
+          purpose: purpose
+          product_phase: product_phase
+          from_vessel: from_vessel
+          separation_vessel: separation_vessel
+          to_vessel: to_vessel
+          waste_phase_to_vessel: waste_phase_to_vessel
+          solvent: solvent
+          solvent_volume: solvent_volume
+          through: through
+          repeats: repeats
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          progress: progress
+          current_status: status
+        result:
+          success: success
+          message: message
+  handles:
+  - handler_key: separator_in
+    label: separator_in
+    data_type: fluid
+    side: NORTH
+    io_type: target
+    data_source: handle
+    data_key: from_vessel
+    description: "需要分离的混合液体输入口"
+  - handler_key: bottom_phase_out
+    label: bottom_phase_out
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: executor
+    data_key: bottom_outlet
+    description: "下相（重相）液体输出口"
+  - handler_key: top_phase_out
+    label: top_phase_out
+    data_type: fluid
+    side: EAST
+    io_type: source
+    data_source: executor
+    data_key: top_outlet
+    description: "上相（轻相）液体输出口"
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+      volume:
+        type: number
+        default: 250.0
+      has_phases:
+        type: boolean
+        default: true
+    additionalProperties: false
+
+virtual_vacuum_pump:
+  description: Virtual vacuum pump
+  icon: Vacuum.webp
+  class:
+    module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      set_status:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+  handles:
+  - handler_key: vacuumpump
+    label: vacuumpump
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: handle
+    data_key: fluid_in
+    description: "真空泵进气口"
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+        description: "通信端口"
+    additionalProperties: false
+
+virtual_gas_source:
+  description: Virtual gas source
+  class:
+    module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      open:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      close:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      set_status:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+  handles:
+  - handler_key: gassource
+    label: gassource
+    data_type: fluid
+    side: SOUTH
+    io_type: source
+    data_source: executor
+    data_key: fluid_out
+    description: "气源出气口"
+  schema:
+    type: object
+    properties:
+      port:
+        type: string
+        default: "VIRTUAL"
+        description: "通信端口"
+      gas_type:
+        type: string
+        default: "nitrogen"
+        description: "气体类型"
+      max_pressure:
+        type: number
+        default: 5.0
+        description: "最大输出压力 (bar)"
     additionalProperties: false

unilabos/registry/resources/organic/container.yaml

@@ -0,0 +1,27 @@
+container:
+  description: regular organic container
+  class: 
+    module: unilabos.resources.container:RegularContainer
+    type: unilabos
+  handles:
+    - handler_key: top
+      label: top
+      io_type: target
+      data_type: fluid
+      side: NORTH
+      data_source: handle
+      data_key: fluid_in
+    - handler_key: bottom
+      label: bottom
+      io_type: source
+      data_type: fluid
+      side: SOUTH
+      data_source: handle
+      data_key: fluid_out
+    - handler_key: bind
+      label: bind
+      io_type: target
+      data_type: mechanical
+      side: SOUTH
+      data_source: handle
+      data_key: mechanical_port