fix: Protocol node resource run (#65)

* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>

.gitignore

@@ -241,4 +241,4 @@ unilabos/device_mesh/view_robot.rviz
 # Certs
 **/.certs
 local_test2.py
-ros-humble-unilabos-msgs-0.9.12-h6403a04_5.tar.bz2
+ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.12-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.12-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

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

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.12
+  version: 0.9.13
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.12"
+  version: "0.9.13"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.12',
+    version='0.9.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/compile/adjustph_protocol.py

@@ -1,6 +1,6 @@
 import networkx as nx
 import logging
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Union
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
@@ -216,7 +216,7 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
 
 def generate_adjust_ph_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel:Union[dict,str],  # 🔧 修改：从字符串改为字典类型
     ph_value: float,
     reagent: str,
     **kwargs
@@ -235,8 +235,17 @@ def generate_adjust_ph_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     
-    # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    # 统一处理vessel参数
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    
+    if not vessel_id:
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
+        raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
     
     debug_print("=" * 60)
     debug_print("🧪 开始生成pH调节协议")

unilabos/compile/evaporate_protocol.py

@@ -22,7 +22,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
     """
     if isinstance(time_input, (int, float)):
         debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
-        return float(time_input)
+        return float(time_input)  # 🔧 确保返回float
     
     if not time_input or not str(time_input).strip():
         debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
@@ -48,7 +48,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
         try:
             value = float(time_str)
             debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
-            return value
+            return float(value)  # 🔧 确保返回float
         except ValueError:
             debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
             return 180.0
@@ -70,7 +70,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
         time_sec = value  # 已经是s
         debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
     
-    return time_sec
+    return float(time_sec)  # 🔧 确保返回float
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
@@ -389,12 +389,12 @@ def generate_evaporate_protocol(
         "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": target_vessel,  # 使用 target_vessel
-            "pressure": pressure,
-            "temp": temp,
-            "time": final_time,
-            "stir_speed": stir_speed,
-            "solvent": solvent
+            "vessel": target_vessel,
+            "pressure": float(pressure),
+            "temp": float(temp),
+            "time": float(final_time),  # 🔧 强制转换为float类型
+            "stir_speed": float(stir_speed),
+            "solvent": str(solvent)
         }
     }
     action_sequence.append(evaporate_action)

unilabos/compile/recrystallize_protocol.py

@@ -170,33 +170,94 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
             debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
             return vessel_name
     
-    # 第二步：通过模糊匹配
+    # 第二步：通过模糊匹配（节点ID和名称）
     debug_print("  🔍 步骤2: 模糊名称匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             node_name = G.nodes[node_id].get('name', '').lower()
             
             if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
-                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} ✨")
+                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
                 return node_id
     
-    # 第三步：通过液体类型匹配
-    debug_print("  🧪 步骤3: 液体类型匹配...")
+    # 第三步：通过配置中的试剂信息匹配
+    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查 config 中的 reagent 字段
+            node_config = G.nodes[node_id].get('config', {})
+            config_reagent = node_config.get('reagent', '').lower()
+            
+            if config_reagent and solvent.lower() == config_reagent:
+                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
+                return node_id
+    
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤4: 数据试剂信息匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
             
+            # 检查 data 中的 reagent_name 字段
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            if reagent_name and solvent.lower() == reagent_name:
+                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
+                return node_id
+            
+            # 检查 data 中的液体信息
+            liquids = vessel_data.get('liquid', [])
             for liquid in liquids:
                 if isinstance(liquid, dict):
                     liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
-                    reagent_name = vessel_data.get('reagent_name', '').lower()
                     
-                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
-                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} ✨")
+                    if solvent.lower() in liquid_type:
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
                         return node_id
     
+    # 第五步：部分匹配（如果前面都没找到）
+    debug_print("  🔍 步骤5: 部分匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            config_reagent = node_config.get('reagent', '').lower()
+            data_reagent = node_data.get('reagent_name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if (solvent.lower() in config_reagent or 
+                solvent.lower() in data_reagent or 
+                solvent.lower() in node_name or
+                solvent.lower() in node_id.lower()):
+                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
+                debug_print(f"    - 节点名称: {node_name}")
+                debug_print(f"    - 配置试剂: {config_reagent}")
+                debug_print(f"    - 数据试剂: {data_reagent}")
+                return node_id
+    
+    # 调试信息：列出所有容器
+    debug_print("  🔎 调试信息：列出所有容器...")
+    container_list = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '')
+            
+            container_info = {
+                'id': node_id,
+                'name': node_name,
+                'config_reagent': node_config.get('reagent', ''),
+                'data_reagent': node_data.get('reagent_name', '')
+            }
+            container_list.append(container_info)
+            debug_print(f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
+    
     debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
+    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
+    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
+    
     raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
 
 

unilabos/compile/stir_protocol.py

@@ -149,7 +149,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/compile/wash_solid_protocol.py

@@ -165,7 +165,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -590,14 +590,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             else:
                 # 首先应该对任务分组，然后每次1个/8个进行操作处理
                 if len(use_channels) == 1 and self.backend.num_channels == 1:
-                    tip = []
-                    for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
 
-                    for _ in range(len(waste_liquid)):
+                    for _ in range(len(sources)):
+                        tip = []
+                        for __ in range(len(use_channels)):
+                            tip.extend(next(self.current_tip))
+                        await self.pick_up_tips(tip)
                         await self.aspirate(
-                            resources=sources,
+                            resources=[sources[_]],
                             vols=[vols[_]],
                             use_channels=use_channels,
                             flow_rates=[flow_rates[0]] if flow_rates else None,
@@ -608,8 +608,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         )
                         if delays is not None:
                             await self.custom_delay(seconds=delays[0])
+
                         await self.dispense(
-                            resources=[waste_liquid[_]],
+                            resources=[waste_liquid],
                             vols=[vols[_]],
                             use_channels=use_channels,
                             flow_rates=[flow_rates[1]] if flow_rates else None,
@@ -618,7 +619,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             liquid_height=[liquid_height[1]] if liquid_height else None,
                             spread=spread,
                         )
-                    await self.discard_tips()
+                        await self.discard_tips()
                 elif len(use_channels) == 8 and self.backend.num_channels == 8:
                     tip = []
                     for _ in range(len(use_channels)):
@@ -706,9 +707,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_liquid_height: Optional[float] = None,
         none_keys: List[str] = [],
     ):
-        """A complete *add* (aspirate reagent → dispense into targets) operation."""
+        # """A complete *add* (aspirate reagent → dispense into targets) operation."""
 
-        try:
+        # # try:
             if is_96_well:
                 pass  # This mode is not verified.
             else:
@@ -720,9 +721,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     tip = []
                     for _ in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
-
-                    await self.pick_up_tips(tip)
+                    await self.pick_up_tips(tip)             
                     for _ in range(len(targets)):
+                        print(use_channels, reagent_sources)
                         await self.aspirate(
                             resources=reagent_sources,
                             vols=[asp_vols[_]],
@@ -733,6 +734,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
                             spread=spread,
                         )
+                        
                         if delays is not None:
                             await self.custom_delay(seconds=delays[0])
                         await self.dispense(
@@ -749,7 +751,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
                         await self.mix(
-                            targets=targets[_],
+                            targets=[targets[_]],
                             mix_time=mix_time,
                             mix_vol=mix_vol,
                             offsets=offsets if offsets else None,
@@ -759,7 +761,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(targets[_])
-
+                    await self.discard_tips()
                 elif len(use_channels) == 8:
 
                     # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
@@ -825,9 +827,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         await self.discard_tips()
 
 
-        except Exception as e:
-            traceback.print_exc()
-            raise RuntimeError(f"Liquid addition failed: {e}") from e
+        # except Exception as e:
+        #     traceback.print_exc()
+        #     raise RuntimeError(f"Liquid addition failed: {e}") from e
 
     # ---------------------------------------------------------------
     # TRANSFER LIQUID ------------------------------------------------
@@ -872,126 +874,126 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             Set *True* to use the 96‑channel head.
         """
 
-        try:
-            if is_96_well:
-                pass  # This mode is not verified.
-            else:
-                if len(asp_vols) != len(targets):
-                    raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
 
-                # 首先应该对任务分组，然后每次1个/8个进行操作处理
-                if len(use_channels) == 1:
+        if is_96_well:
+            pass  # This mode is not verified.
+        else:
+            if len(asp_vols) != len(targets):
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+
+            # 首先应该对任务分组，然后每次1个/8个进行操作处理
+            if len(use_channels) == 1:
+                for _ in range(len(targets)):
+                    tip = []
+                    for ___ in range(len(use_channels)):
+                        tip.extend(next(self.current_tip))
+                    await self.pick_up_tips(tip)
+
+                    await self.aspirate(
+                        resources=[sources[_]],
+                        vols=[asp_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
+                        offsets=[offsets[0]] if offsets else None,
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
+                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
+                        spread=spread,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[0])
+                    await self.dispense(
+                        resources=[targets[_]],
+                        vols=[dis_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
+                        offsets=[offsets[1]] if offsets else None,
+                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
+                        liquid_height=[liquid_height[1]] if liquid_height else None,
+                        spread=spread,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.mix(
+                        targets=[targets[_]],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.touch_tip(targets[_])
+                    await self.discard_tips()
+
+            elif len(use_channels) == 8:
+                # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
+                if len(targets) % 8 != 0:
+                    raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
+
+                # 8个8个来取任务序列
+
+                for i in range(0, len(targets), 8):
+                    # 取出8个任务
                     tip = []
                     for _ in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
                     await self.pick_up_tips(tip)
+                    current_targets = targets[i:i + 8]
+                    current_reagent_sources = sources[i:i + 8]
+                    current_asp_vols = asp_vols[i:i + 8]
+                    current_dis_vols = dis_vols[i:i + 8]
+                    current_asp_flow_rates = asp_flow_rates[i:i + 8]
+                    current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
+                    current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
+                    current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                    current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
+                    current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                    current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
+                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
 
-                    for _ in range(len(targets)):
-                        await self.aspirate(
-                            resources=sources,
-                            vols=[asp_vols[_]],
-                            use_channels=use_channels,
-                            flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
-                            offsets=[offsets[0]] if offsets else None,
-                            liquid_height=[liquid_height[0]] if liquid_height else None,
-                            blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
-                            spread=spread,
-                        )
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[0])
-                        await self.dispense(
-                            resources=[targets[_]],
-                            vols=[dis_vols[_]],
-                            use_channels=use_channels,
-                            flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
-                            offsets=[offsets[1]] if offsets else None,
-                            blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
-                            liquid_height=[liquid_height[1]] if liquid_height else None,
-                            spread=spread,
-                        )
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[1])
-                        await self.mix(
-                            targets=targets[_],
-                            mix_time=mix_times,
-                            mix_vol=mix_vol,
-                            offsets=offsets if offsets else None,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                            mix_rate=mix_rate if mix_rate else None,
-                        )
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[1])
-                        await self.touch_tip(targets[_])
+                    await self.aspirate(
+                        resources=current_reagent_sources,
+                        vols=current_asp_vols,
+                        use_channels=use_channels,
+                        flow_rates=current_asp_flow_rates,
+                        offsets=current_asp_offset,
+                        blow_out_air_volume=current_asp_blow_out_air_volume,
+                        liquid_height=current_asp_liquid_height,
+                        spread=spread,
+                    )
+
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[0])
+                    await self.dispense(
+                        resources=current_targets,
+                        vols=current_dis_vols,
+                        use_channels=use_channels,
+                        flow_rates=current_dis_flow_rates,
+                        offsets=current_dis_offset,
+                        blow_out_air_volume=current_dis_blow_out_air_volume,
+                        liquid_height=current_dis_liquid_height,
+                        spread=spread,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.touch_tip(current_targets)
                     await self.discard_tips()
-
-                elif len(use_channels) == 8:
-                    # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
-                    if len(targets) % 8 != 0:
-                        raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
-
-                    # 8个8个来取任务序列
-
-                    for i in range(0, len(targets), 8):
-                        # 取出8个任务
-                        tip = []
-                        for _ in range(len(use_channels)):
-                            tip.extend(next(self.current_tip))
-                        await self.pick_up_tips(tip)
-                        current_targets = targets[i:i + 8]
-                        current_reagent_sources = sources[i:i + 8]
-                        current_asp_vols = asp_vols[i:i + 8]
-                        current_dis_vols = dis_vols[i:i + 8]
-                        current_asp_flow_rates = asp_flow_rates[i:i + 8]
-                        current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                        current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
-                        current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                        current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
-                        current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                        current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-                        current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
-
-                        await self.aspirate(
-                            resources=current_reagent_sources,
-                            vols=current_asp_vols,
-                            use_channels=use_channels,
-                            flow_rates=current_asp_flow_rates,
-                            offsets=current_asp_offset,
-                            blow_out_air_volume=current_asp_blow_out_air_volume,
-                            liquid_height=current_asp_liquid_height,
-                            spread=spread,
-                        )
-
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[0])
-                        await self.dispense(
-                            resources=current_targets,
-                            vols=current_dis_vols,
-                            use_channels=use_channels,
-                            flow_rates=current_dis_flow_rates,
-                            offsets=current_dis_offset,
-                            blow_out_air_volume=current_dis_blow_out_air_volume,
-                            liquid_height=current_dis_liquid_height,
-                            spread=spread,
-                        )
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[1])
-
-                        await self.mix(
-                            targets=current_targets,
-                            mix_time=mix_times,
-                            mix_vol=mix_vol,
-                            offsets=offsets if offsets else None,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                            mix_rate=mix_rate if mix_rate else None,
-                        )
-                        if delays is not None:
-                            await self.custom_delay(seconds=delays[1])
-                        await self.touch_tip(current_targets)
-                        await self.discard_tips()
-                        
-        except Exception as e:
-            traceback.print_exc()
-            raise RuntimeError(f"Liquid addition failed: {e}") from e
+                    
+    # except Exception as e:
+    #     traceback.print_exc()
+    #     raise RuntimeError(f"Liquid addition failed: {e}") from e
 
 
     # ---------------------------------------------------------------

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -433,10 +433,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     
         plate_indexes = []
         for op in ops:
-            plate = op.resource.parent.parent
+            plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
+            print(f"Plate index: {plate_index}, Plate name: {plate.name}")
+            print(f"Number of children in deck: {len(deck.children)}")
+
             plate_indexes.append(plate_index)
+
         if len(set(plate_indexes)) != 1:
             raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) 
 
@@ -447,7 +451,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
             raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        
+        # print('111'*99)
+        # print(plate_indexes[0])
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
@@ -485,7 +490,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         
         plate_indexes = []
         for op in ops:
-            plate = op.resource.parent.parent
+            plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
@@ -532,11 +537,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         
         """Mix liquid in the specified resources."""
    
-
         plate_indexes = []
         for op in targets:
-            deck = op.parent.parent.parent
-            plate = op.parent.parent
+            deck = op.parent.parent
+            plate = op.parent
             plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
 
@@ -577,7 +581,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         plate_indexes = []
         for op in ops:
-            plate = op.resource.parent.parent
+            plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
@@ -617,7 +621,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         plate_indexes = []
         for op in ops:
-            plate = op.resource.parent.parent
+            plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
@@ -1244,7 +1248,7 @@ if __name__ == "__main__":
     handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
                                timeout=10.0, setup=False, debug=False, 
                                matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
-                               channel_num=1)
+                               channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
     
     handler.set_tiprack([plate8])  # Set the tip rack for the handler
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1262,32 +1266,78 @@ if __name__ == "__main__":
 
     print(plate11.get_well(0).tracker.get_used_volume())
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-    print(plate8.children[3])
-    asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
-    asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
-    asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
-    asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    asyncio.run(handler.discard_tips())
+
+    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
+    # print(plate8.children[8])
+    # # asyncio.run(handler.run_protocol())
+    # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
+    # print(plate11.children[0])
+    # # asyncio.run(handler.run_protocol())
+    # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
+    # print(plate1.children[0])
+    # # asyncio.run(handler.run_protocol())
+    # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # print(plate1.children[0])
+    # asyncio.run(handler.discard_tips())
+
+#     asyncio.run(handler.add_liquid(
+#     asp_vols=[10]*2,
+#     dis_vols=[10]*2,
+#     reagent_sources=[plate11.children[0]],
+#     targets=plate11.children[-2:],
+#     use_channels=[0],
+#     flow_rates=[None] * 4,
+#     offsets=[Coordinate(0, 0, 0)] * 4,
+#     liquid_height=[None] * 2,
+#     blow_out_air_volume=[None] * 2,
+#     delays=None,
+#     mix_time=3,
+#     mix_vol=5,
+#     spread="wide",
+# ))
+
+#     asyncio.run(handler.transfer_liquid(
+#     asp_vols=[10]*2,
+#     dis_vols=[10]*2,
+#     sources=plate11.children[:2],
+#     targets=plate11.children[-2:],
+#     use_channels=[0],
+#     offsets=[Coordinate(0, 0, 0)] * 4,
+#     liquid_height=[None] * 2,
+#     blow_out_air_volume=[None] * 2,
+#     delays=None,
+#     mix_times=3,
+#     mix_vol=5,
+#     spread="wide",
+#     tip_racks=[plate8]
+# ))
+
+    asyncio.run(handler.remove_liquid(
+    vols=[10]*2,
+    sources=plate11.children[:2],
+    waste_liquid=plate11.children[43],
+    use_channels=[0],
+    offsets=[Coordinate(0, 0, 0)] * 4,
+    liquid_height=[None] * 2,
+    blow_out_air_volume=[None] * 2,
+    delays=None,
+    spread="wide"
+))
+
+
+
+
+
+
+
+
+    asyncio.run(handler.run_protocol())
 
     # asyncio.run(handler.discard_tips())
     # asyncio.run(handler.mix(well_containers.children[:8
     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # asyncio.run(handler.add_liquid(
-    #     asp_vols=[100]*16,
-    #     dis_vols=[100]*16,
-    #     reagent_sources=final_plate_2.children[-16:],
-    #     targets=final_plate_2.children[:16],
-    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    #     flow_rates=[None] * 32,
-    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    #     liquid_height=[None] * 16,
-    #     blow_out_air_volume=[None] * 16,
-    #     delays=None,
-    #     mix_time=3,
-    #     mix_vol=50,
-    #     spread="wide",
-    # ))
+
 
     # asyncio.run(handler.remove_liquid(
     #     vols=[100]*16,

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -70,11 +70,32 @@ class VirtualMultiwayValve:
             command: 目标位置 (0-8) 或位置字符串
                     0: transfer pump位置
                     1-8: 其他设备位置
+                    'default': 默认位置（0号位）
         """
         try:
-            # 如果是字符串形式的位置，先转换为数字
+            # 🔧 处理特殊字符串命令
             if isinstance(command, str):
-                pos = int(command)
+                command_lower = command.lower().strip()
+                
+                # 处理特殊命令
+                if command_lower in ['default', 'pump', 'transfer_pump', 'home']:
+                    pos = 0  # 默认位置为0号位（transfer pump）
+                    self.logger.info(f"🔧 特殊命令 '{command}' 映射到位置 {pos}")
+                elif command_lower in ['open']:
+                    pos = 0  # open命令也映射到0号位
+                    self.logger.info(f"🔧 OPEN命令映射到位置 {pos}")
+                elif command_lower in ['close', 'closed']:
+                    # 关闭命令保持当前位置
+                    pos = self._current_position
+                    self.logger.info(f"🔧 CLOSE命令保持当前位置 {pos}")
+                else:
+                    # 尝试转换为数字
+                    try:
+                        pos = int(command)
+                    except ValueError:
+                        error_msg = f"无法识别的命令: '{command}'"
+                        self.logger.error(f"❌ {error_msg}")
+                        raise ValueError(error_msg)
             else:
                 pos = int(command)
                 

unilabos/devices/virtual/virtual_rotavap.py

@@ -88,6 +88,20 @@ class VirtualRotavap:
     ) -> bool:
         """Execute evaporate action - 简化版 🌪️"""
         
+        # 🔧 新增：确保time参数是数值类型
+        if isinstance(time, str):
+            try:
+                time = float(time)
+            except ValueError:
+                self.logger.error(f"❌ 无法转换时间参数 '{time}' 为数值，使用默认值180.0秒")
+                time = 180.0
+        elif not isinstance(time, (int, float)):
+            self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
+            time = 180.0
+        
+        # 确保time是float类型
+        time = float(time)
+        
         # 🔧 简化处理：如果vessel就是设备自己，直接操作
         if vessel == self.device_id:
             debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
@@ -158,7 +172,7 @@ class VirtualRotavap:
             })
             return False
 
-        # 开始蒸发
+        # 开始蒸发 - 🔧 现在time已经确保是float类型
         self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
         
         self.data.update({

unilabos/registry/device_comms/serial.yaml

@@ -1,4 +1,6 @@
 serial:
+  category:
+  - serial
   class:
     action_value_mappings:
       auto-handle_serial_request:
@@ -76,6 +78,7 @@ serial:
     module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
     status_types: {}
     type: ros2
+  config_info: []
   description: Serial communication interface, used when sharing same serial port
     for multiple devices
   handles: []
@@ -100,4 +103,4 @@ serial:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/camera.yaml

@@ -1,4 +1,6 @@
 camera:
+  category:
+  - camera
   class:
     action_value_mappings:
       auto-destroy_node:
@@ -44,6 +46,7 @@ camera:
     module: unilabos.ros.nodes.presets.camera:VideoPublisher
     status_types: {}
     type: ros2
+  config_info: []
   description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
   handles: []
   icon: ''
@@ -67,4 +70,4 @@ camera:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -1,4 +1,6 @@
 hplc.agilent:
+  category:
+  - characterization_optic
   class:
     action_value_mappings:
       auto-check_status:
@@ -176,6 +178,7 @@ hplc.agilent:
       status_text: str
       success: bool
     type: python
+  config_info: []
   description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
   handles: []
   icon: ''
@@ -215,8 +218,10 @@ hplc.agilent:
       - finish_status
       - data_file
       type: object
-  version: 0.0.1
+  version: 1.0.0
 raman_home_made:
+  category:
+  - characterization_optic
   class:
     action_value_mappings:
       auto-ccd_time:
@@ -378,6 +383,7 @@ raman_home_made:
     module: unilabos.devices.raman_uv.home_made_raman:RamanObj
     status_types: {}
     type: python
+  config_info: []
   description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。
   handles: []
   icon: ''
@@ -402,4 +408,4 @@ raman_home_made:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/hotel.yaml

@@ -1,10 +1,13 @@
 hotel.thermo_orbitor_rs2_hotel:
+  category:
+  - hotel
   class:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
       rotation: String
     type: python
+  config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。
   handles: []
   icon: ''
@@ -29,4 +32,4 @@ hotel.thermo_orbitor_rs2_hotel:
   model:
     mesh: thermo_orbitor_rs2_hotel
     type: device
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -1,4 +1,6 @@
 laiyu_add_solid:
+  category:
+  - laiyu_add_solid
   class:
     action_value_mappings:
       add_powder_tube:
@@ -355,6 +357,7 @@ laiyu_add_solid:
     status_types:
       status: str
     type: python
+  config_info: []
   description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。
   handles: []
   icon: ''
@@ -379,4 +382,4 @@ laiyu_add_solid:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/mock_devices.yaml

@@ -1,4 +1,6 @@
 mock_chiller:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       emergency_stop:
@@ -325,6 +327,7 @@ mock_chiller:
       target_temperature: float
       vessel: str
     type: python
+  config_info: []
   description: Mock Chiller Device
   handles: []
   icon: ''
@@ -364,8 +367,10 @@ mock_chiller:
       - purpose
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_filter:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-emergency_stop:
@@ -743,6 +748,7 @@ mock_filter:
       temperature: float
       vessel: str
     type: python
+  config_info: []
   description: Mock Filter Device
   handles: []
   icon: ''
@@ -803,8 +809,10 @@ mock_filter:
       - target_volume
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_heater:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-set_heating_power:
@@ -1361,6 +1369,7 @@ mock_heater:
       target_temperature: float
       vessel: str
     type: python
+  config_info: []
   description: Mock Heater Device
   handles: []
   icon: ''
@@ -1409,8 +1418,10 @@ mock_heater:
       - stir_speed
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_pump:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-emergency_stop:
@@ -1887,6 +1898,7 @@ mock_pump:
       transfer_time: float
       transfer_volume: float
     type: python
+  config_info: []
   description: Mock Pump Device
   handles: []
   icon: ''
@@ -1968,8 +1980,10 @@ mock_pump:
       - time_remaining
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_rotavap:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-emergency_stop:
@@ -2296,6 +2310,7 @@ mock_rotavap:
       temperature: float
       vacuum_level: float
     type: python
+  config_info: []
   description: Mock Rotavap Device
   handles: []
   icon: ''
@@ -2341,8 +2356,10 @@ mock_rotavap:
       - target_temperature
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_separator:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       separate:
@@ -3247,6 +3264,7 @@ mock_separator:
       valve_state: str
       waste_phase_to_vessel: str
     type: python
+  config_info: []
   description: Simplified Mock Separator Device
   handles: []
   icon: ''
@@ -3325,8 +3343,10 @@ mock_separator:
       - time_remaining
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_solenoid_valve:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-is_closed:
@@ -3481,6 +3501,7 @@ mock_solenoid_valve:
       status: str
       valve_status: str
     type: python
+  config_info: []
   description: Mock Solenoid Valve Device
   handles: []
   icon: ''
@@ -3502,8 +3523,10 @@ mock_solenoid_valve:
       - status
       - valve_status
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_stirrer:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-emergency_stop:
@@ -3749,6 +3772,7 @@ mock_stirrer:
       target_temperature: float
       temperature: float
     type: python
+  config_info: []
   description: Mock Stirrer Device
   handles: []
   icon: ''
@@ -3797,8 +3821,10 @@ mock_stirrer:
       - max_temperature
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_stirrer_new:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       start_stir:
@@ -4279,6 +4305,7 @@ mock_stirrer_new:
       target_stir_speed: float
       vessel: str
     type: python
+  config_info: []
   description: Mock Stirrer Device (Copy Version)
   handles: []
   icon: ''
@@ -4327,8 +4354,10 @@ mock_stirrer_new:
       - progress
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 mock_vacuum:
+  category:
+  - mock_devices
   class:
     action_value_mappings:
       auto-emergency_stop:
@@ -4610,6 +4639,7 @@ mock_vacuum:
       target_vacuum: float
       vacuum_level: float
     type: python
+  config_info: []
   description: Mock Vacuum Pump Device
   handles: []
   icon: ''
@@ -4652,4 +4682,4 @@ mock_vacuum:
       - max_pump_speed
       - status_info
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/moveit_config.yaml

@@ -1,4 +1,6 @@
 moveit.arm_slider:
+  category:
+  - moveit_config
   class:
     action_value_mappings:
       auto-check_tf_update_actions:
@@ -321,6 +323,7 @@ moveit.arm_slider:
     module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
     status_types: {}
     type: python
+  config_info: []
   description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
   handles: []
   icon: ''
@@ -346,8 +349,10 @@ moveit.arm_slider:
   model:
     mesh: arm_slider
     type: device
-  version: 0.0.1
+  version: 1.0.0
 moveit.toyo_xyz:
+  category:
+  - moveit_config
   class:
     action_value_mappings:
       auto-check_tf_update_actions:
@@ -670,6 +675,7 @@ moveit.toyo_xyz:
     module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
     status_types: {}
     type: python
+  config_info: []
   description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
   handles: []
   icon: ''
@@ -695,4 +701,4 @@ moveit.toyo_xyz:
   model:
     mesh: toyo_xyz
     type: device
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,4 +1,6 @@
 rotavap.one:
+  category:
+  - organic_miscellaneous
   class:
     action_value_mappings:
       auto-cmd_write:
@@ -140,6 +142,7 @@ rotavap.one:
     module: unilabos.devices.rotavap.rotavap_one:RotavapOne
     status_types: {}
     type: python
+  config_info: []
   description: 旋转蒸发仪设备，用于有机化学实验中的溶剂回收和浓缩操作。该设备通过串口通信控制，集成旋转和真空泵功能，支持定时控制和自动化操作。具备旋转速度调节、真空度控制、温度管理等功能，实现高效的溶剂蒸发和回收。适用于有机合成、天然产物提取、药物制备等需要溶剂去除和浓缩的实验室应用场景。
   handles: []
   icon: ''
@@ -158,8 +161,10 @@ rotavap.one:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0
 separator.homemade:
+  category:
+  - organic_miscellaneous
   class:
     action_value_mappings:
       auto-read_sensor_loop:
@@ -446,6 +451,7 @@ separator.homemade:
     module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
     status_types: {}
     type: python
+  config_info: []
   description: 液-液分离器设备，基于自制Grbl控制器的自动化分离系统。该设备集成搅拌、沉降、阀门控制和电导率传感器，通过串口通信实现精确的分离操作控制。支持自动搅拌、分层沉降、基于传感器反馈的智能分液等功能。适用于有机化学中的萃取分离、相分离、液-液提取等需要精确分离控制的实验应用。
   handles: []
   icon: ''
@@ -470,4 +476,4 @@ separator.homemade:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -1,4 +1,6 @@
 solenoid_valve:
+  category:
+  - pump_and_valve
   class:
     action_value_mappings:
       auto-close:
@@ -170,6 +172,7 @@ solenoid_valve:
       status: str
       valve_position: str
     type: python
+  config_info: []
   description: 电磁阀控制设备，用于精确的流体路径控制和开关操作。该设备通过串口通信控制电磁阀的开关状态，支持远程操作和状态监测。具备快速响应、可靠密封、状态反馈等特性，广泛应用于流体输送、样品进样、路径切换等需要精确流体控制的实验室自动化应用。
   handles: []
   icon: ''
@@ -191,8 +194,10 @@ solenoid_valve:
       - status
       - valve_position
       type: object
-  version: 0.0.1
+  version: 1.0.0
 solenoid_valve.mock:
+  category:
+  - pump_and_valve
   class:
     action_value_mappings:
       auto-is_closed:
@@ -328,6 +333,7 @@ solenoid_valve.mock:
       status: str
       valve_position: str
     type: python
+  config_info: []
   description: 模拟电磁阀设备，用于系统测试和开发调试。该设备模拟真实电磁阀的开关操作和状态变化，提供与实际设备相同的控制接口和反馈机制。支持流体路径的虚拟控制，便于在没有实际硬件的情况下进行流体系统的集成测试和算法验证。适用于系统开发、流程调试和培训演示等场景。
   handles:
   - data_type: fluid
@@ -359,8 +365,10 @@ solenoid_valve.mock:
       - status
       - valve_position
       type: object
-  version: 0.0.1
+  version: 1.0.0
 syringe_pump_with_valve.runze:
+  category:
+  - pump_and_valve
   class:
     action_value_mappings:
       auto-close:
@@ -754,6 +762,7 @@ syringe_pump_with_valve.runze:
       velocity_grade: String
       velocity_init: String
     type: python
+  config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
   handles: []
   icon: ''
@@ -804,4 +813,4 @@ syringe_pump_with_valve.runze:
       - position
       - plunger_position
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/robot_agv.yaml

@@ -1,4 +1,6 @@
 agv.SEER:
+  category:
+  - robot_agv
   class:
     action_value_mappings:
       auto-send:
@@ -82,6 +84,7 @@ agv.SEER:
       pose: list
       status: str
     type: python
+  config_info: []
   description: SEER AGV自动导引车设备，用于实验室内物料和设备的自主移动运输。该AGV通过TCP socket与导航系统通信，具备精确的定位和路径规划能力。支持实时位置监控、状态查询和导航任务执行，可在预设的实验室环境中自主移动至指定位置。适用于样品运输、设备转移、多工位协作等实验室自动化物流场景。
   handles: []
   icon: ''
@@ -103,4 +106,4 @@ agv.SEER:
       - pose
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/robot_arm.yaml

@@ -1,4 +1,6 @@
 robotic_arm.UR:
+  category:
+  - robot_arm
   class:
     action_value_mappings:
       auto-arm_init:
@@ -140,6 +142,7 @@ robotic_arm.UR:
       gripper_pose: float
       gripper_status: str
     type: python
+  config_info: []
   description: Universal Robots机械臂设备，用于实验室精密操作和自动化作业。该设备集成了UR机械臂本体、Robotiq夹爪和RTDE通信接口，支持六自由度精确运动控制和力觉反馈。具备实时位置监控、状态反馈、轨迹规划等功能，可执行复杂的多点位运动任务。适用于样品抓取、精密装配、实验器具操作等需要高精度和高重复性的实验室自动化场景。
   handles: []
   icon: ''
@@ -170,4 +173,4 @@ robotic_arm.UR:
       - arm_status
       - gripper_status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/robot_gripper.yaml

@@ -1,4 +1,6 @@
 gripper.misumi_rz:
+  category:
+  - robot_gripper
   class:
     action_value_mappings:
       auto-data_loop:
@@ -417,6 +419,7 @@ gripper.misumi_rz:
     status_types:
       status: str
     type: python
+  config_info: []
   description: Misumi RZ系列电子夹爪设备，集成旋转和抓取双重功能的精密夹爪系统。该设备通过Modbus RTU协议与控制系统通信，支持位置、速度、力矩的精确控制。具备高精度的位置反馈、实时状态监控和故障检测功能。适用于需要精密抓取和旋转操作的实验室自动化场景，如样品管理、精密装配、器件操作等应用。
   handles: []
   icon: ''
@@ -444,8 +447,10 @@ gripper.misumi_rz:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0
 gripper.mock:
+  category:
+  - robot_gripper
   class:
     action_value_mappings:
       auto-edit_id:
@@ -563,6 +568,7 @@ gripper.mock:
       torque: float
       velocity: float
     type: python
+  config_info: []
   description: 模拟夹爪设备，用于系统测试和开发调试。该设备模拟真实夹爪的位置、速度、力矩等物理特性，支持虚拟的抓取和移动操作。提供与真实夹爪相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于软件开发、系统调试和培训演示等场景。
   handles: []
   icon: ''
@@ -587,4 +593,4 @@ gripper.mock:
       - torque
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -1,4 +1,6 @@
 linear_motion.grbl:
+  category:
+  - robot_linear_motion
   class:
     action_value_mappings:
       auto-initialize:
@@ -430,6 +432,7 @@ linear_motion.grbl:
       spindle_speed: float
       status: str
     type: python
+  config_info: []
   description: Grbl数控机床（CNC）设备，用于实验室精密加工和三轴定位操作。该设备基于Grbl固件，通过串口通信控制步进电机实现X、Y、Z三轴的精确运动。支持绝对定位、轨迹规划、主轴控制和实时状态监控。具备安全限位保护和运动平滑控制功能。适用于精密钻孔、铣削、雕刻、样品制备等需要高精度定位和加工的实验室应用场景。
   handles: []
   icon: ''
@@ -466,8 +469,10 @@ linear_motion.grbl:
       - position
       - spindle_speed
       type: object
-  version: 0.0.1
+  version: 1.0.0
 motor.iCL42:
+  category:
+  - robot_linear_motion
   class:
     action_value_mappings:
       auto-execute_run_motor:
@@ -604,6 +609,7 @@ motor.iCL42:
       motor_position: int
       success: bool
     type: python
+  config_info: []
   description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
   handles: []
   icon: ''
@@ -631,4 +637,4 @@ motor.iCL42:
       - is_executing_run
       - success
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/sim_nodes.yaml

@@ -1,4 +1,6 @@
 lh_joint_publisher:
+  category:
+  - sim_nodes
   class:
     action_value_mappings:
       auto-check_tf_update_actions:
@@ -285,6 +287,7 @@ lh_joint_publisher:
     module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
     status_types: {}
     type: ros2
+  config_info: []
   description: 液体处理器关节发布器，用于ROS2仿真系统中的液体处理设备运动控制。该节点通过发布关节状态驱动仿真模型中的机械臂运动，支持三维坐标到关节空间的逆运动学转换、多关节协调控制、资源跟踪和TF变换。具备精确的位置控制、速度调节、pick-and-place操作等功能。适用于液体处理系统的虚拟仿真、运动规划验证、系统集成测试等应用场景。
   handles: []
   icon: ''
@@ -309,4 +312,4 @@ lh_joint_publisher:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/temperature.yaml

@@ -1,4 +1,6 @@
 chiller:
+  category:
+  - temperature
   class:
     action_value_mappings:
       auto-build_modbus_frame:
@@ -156,6 +158,7 @@ chiller:
     module: unilabos.devices.temperature.chiller:Chiller
     status_types: {}
     type: python
+  config_info: []
   description: 实验室制冷设备，用于精确的温度控制和冷却操作。该设备通过Modbus RTU协议与控制系统通信，支持精确的温度设定和监控。具备快速降温、恒温控制和温度保持功能，广泛应用于需要低温环境的化学反应、样品保存、结晶操作等实验场景。提供稳定可靠的冷却性能，确保实验过程的温度精度。
   handles: []
   icon: ''
@@ -174,8 +177,10 @@ chiller:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0
 heaterstirrer.dalong:
+  category:
+  - temperature
   class:
     action_value_mappings:
       auto-close:
@@ -523,6 +528,7 @@ heaterstirrer.dalong:
       temp_target: float
       temp_warning: float
     type: python
+  config_info: []
   description: 大龙加热搅拌器，集成加热和搅拌双重功能的实验室设备。该设备通过串口通信控制，支持精确的温度调节、搅拌速度控制和安全保护功能。具备实时温度监测、目标温度设定、安全温度报警等特性。适用于化学合成、样品制备、反应控制等需要同时进行加热和搅拌的实验操作，提供稳定均匀的反应环境。
   handles: []
   icon: ''
@@ -559,8 +565,10 @@ heaterstirrer.dalong:
       - temp_warning
       - temp_target
       type: object
-  version: 0.0.1
+  version: 1.0.0
 tempsensor:
+  category:
+  - temperature
   class:
     action_value_mappings:
       auto-build_modbus_request:
@@ -719,6 +727,7 @@ tempsensor:
     status_types:
       value: float
     type: python
+  config_info: []
   description: 高精度温度传感器设备，用于实验室环境和设备的温度监测。该传感器通过Modbus RTU协议与控制系统通信，提供实时准确的温度数据。具备高精度测量、报警温度设定、数据稳定性好等特点。适用于反应器监控、环境温度监测、设备保护等需要精确温度测量的实验场景，为实验安全和数据可靠性提供保障。
   handles: []
   icon: ''
@@ -746,4 +755,4 @@ tempsensor:
       required:
       - value
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -1,4 +1,6 @@
 gas_source.mock:
+  category:
+  - vacuum_and_purge
   class:
     action_value_mappings:
       auto-is_closed:
@@ -149,6 +151,7 @@ gas_source.mock:
     status_types:
       status: str
     type: python
+  config_info: []
   description: 模拟气体源设备，用于系统测试和开发调试。该设备模拟真实气体源的开关控制和状态监测功能，支持气体供应的启停操作。提供与真实气体源相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于气路系统调试、软件开发和实验流程验证等场景。
   handles:
   - data_key: fluid_out
@@ -173,8 +176,10 @@ gas_source.mock:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0
 vacuum_pump.mock:
+  category:
+  - vacuum_and_purge
   class:
     action_value_mappings:
       auto-is_closed:
@@ -325,6 +330,7 @@ vacuum_pump.mock:
     status_types:
       status: str
     type: python
+  config_info: []
   description: 模拟真空泵设备，用于系统测试和开发调试。该设备模拟真实真空泵的抽气功能和状态控制，支持真空系统的启停操作和状态监测。提供与真实真空泵相同的接口和控制逻辑，便于在没有实际硬件的情况下进行真空系统的集成测试。适用于真空工艺调试、软件开发和实验流程验证等场景。
   handles:
   - data_key: fluid_in
@@ -349,4 +355,4 @@ vacuum_pump.mock:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/virtual_device.yaml

@@ -1,4 +1,6 @@
 virtual_centrifuge:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -222,6 +224,7 @@ virtual_centrifuge:
       target_temp: float
       time_remaining: float
     type: python
+  config_info: []
   description: Virtual Centrifuge for CentrifugeProtocol Testing
   handles:
   - data_key: vessel
@@ -282,8 +285,10 @@ virtual_centrifuge:
       - progress
       - message
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_column:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -609,6 +614,7 @@ virtual_column:
       progress: float
       status: str
     type: python
+  config_info: []
   description: Virtual Column Chromatography Device for RunColumn Protocol Testing
   handles:
   - data_key: from_vessel
@@ -674,8 +680,10 @@ virtual_column:
       - current_phase
       - final_volume
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_filter:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -1002,6 +1010,7 @@ virtual_filter:
       progress: float
       status: str
     type: python
+  config_info: []
   description: Virtual Filter for FilterProtocol Testing
   handles:
   - data_key: vessel_in
@@ -1069,8 +1078,10 @@ virtual_filter:
       - max_stir_speed
       - max_volume
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_gas_source:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -1261,6 +1272,7 @@ virtual_gas_source:
     status_types:
       status: str
     type: python
+  config_info: []
   description: Virtual gas source
   handles:
   - data_key: fluid_out
@@ -1288,8 +1300,10 @@ virtual_gas_source:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_heatchill:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -1803,6 +1817,7 @@ virtual_heatchill:
       status: str
       stir_speed: float
     type: python
+  config_info: []
   description: Virtual HeatChill for HeatChillProtocol Testing
   handles:
   - data_key: vessel
@@ -1854,8 +1869,10 @@ virtual_heatchill:
       - min_temp
       - max_stir_speed
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_multiway_valve:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-close:
@@ -2155,6 +2172,7 @@ virtual_multiway_valve:
       valve_position: int
       valve_state: str
     type: python
+  config_info: []
   description: Virtual 8-Way Valve for flow direction control
   handles:
   - data_key: fluid_in
@@ -2275,8 +2293,10 @@ virtual_multiway_valve:
       - flow_path
       - info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_pump:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-clean_vessel:
@@ -2741,6 +2761,7 @@ virtual_pump:
       transferred_volume: float
       valve_position: int
     type: python
+  config_info: []
   description: Virtual Pump for PumpTransferProtocol Testing
   handles:
   - data_key: fluid_in
@@ -2794,8 +2815,10 @@ virtual_pump:
       - transferred_volume
       - current_status
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_rotavap:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -3048,6 +3071,7 @@ virtual_rotavap:
       status: str
       vacuum_pressure: float
     type: python
+  config_info: []
   description: Virtual Rotary Evaporator for EvaporateProtocol Testing
   handles:
   - data_key: vessel_in
@@ -3121,8 +3145,10 @@ virtual_rotavap:
       - max_rotation_speed
       - remaining_time
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_separator:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -3938,6 +3964,7 @@ virtual_separator:
       stir_speed: float
       volume: float
     type: python
+  config_info: []
   description: Virtual Separator for SeparateProtocol Testing
   handles:
   - data_key: from_vessel
@@ -4013,8 +4040,10 @@ virtual_separator:
       - progress
       - message
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_solenoid_valve:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -4277,6 +4306,7 @@ virtual_solenoid_valve:
       valve_position: str
       valve_state: str
     type: python
+  config_info: []
   description: Virtual Solenoid Valve for simple on/off flow control
   handles:
   - data_key: fluid_port_in
@@ -4324,8 +4354,10 @@ virtual_solenoid_valve:
       - valve_position
       - state
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_solid_dispenser:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       add_solid:
@@ -4548,7 +4580,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4556,30 +4587,6 @@ virtual_solid_dispenser:
           title: cleanup参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-find_solid_reagent_bottle:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reagent_name: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reagent_name:
-                  type: string
-              required:
-              - reagent_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: find_solid_reagent_bottle参数
-          type: object
-        type: UniLabJsonCommand
       auto-initialize:
         feedback: {}
         goal: {}
@@ -4592,7 +4599,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4600,62 +4606,14 @@ virtual_solid_dispenser:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-parse_mass_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mass_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mass_str:
-                  type: string
-              required:
-              - mass_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mass_string参数
-          type: object
-        type: UniLabJsonCommand
-      auto-parse_mol_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mol_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mol_str:
-                  type: string
-              required:
-              - mol_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mol_string参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
-      device_info: dict
       dispensed_amount: float
       status: str
       total_operations: int
     type: python
+  config_info: []
   description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and
     molar additions
   handles:
@@ -4683,14 +4641,18 @@ virtual_solid_dispenser:
           type: object
         device_id:
           type: string
+        max_capacity:
+          default: 100.0
+          type: number
+        precision:
+          default: 0.001
+          type: number
       required: []
       type: object
     data:
       properties:
         current_reagent:
           type: string
-        device_info:
-          type: object
         dispensed_amount:
           type: number
         status:
@@ -4702,10 +4664,11 @@ virtual_solid_dispenser:
       - current_reagent
       - dispensed_amount
       - total_operations
-      - device_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_stirrer:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -5219,6 +5182,7 @@ virtual_stirrer:
       remaining_time: float
       status: str
     type: python
+  config_info: []
   description: Virtual Stirrer for StirProtocol Testing
   handles:
   - data_key: vessel
@@ -5270,8 +5234,10 @@ virtual_stirrer:
       - min_speed
       - device_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_transfer_pump:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-aspirate:
@@ -5728,6 +5694,7 @@ virtual_transfer_pump:
       status: str
       transfer_rate: float
     type: python
+  config_info: []
   description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
   handles:
   - data_key: fluid_port
@@ -5773,8 +5740,10 @@ virtual_transfer_pump:
       - remaining_capacity
       - pump_info
       type: object
-  version: 0.0.1
+  version: 1.0.0
 virtual_vacuum_pump:
+  category:
+  - virtual_device
   class:
     action_value_mappings:
       auto-cleanup:
@@ -5965,6 +5934,7 @@ virtual_vacuum_pump:
     status_types:
       status: str
     type: python
+  config_info: []
   description: Virtual vacuum pump
   handles:
   - data_key: fluid_in
@@ -5992,4 +5962,4 @@ virtual_vacuum_pump:
       required:
       - status
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/work_station.yaml

@@ -1,4 +1,6 @@
 workstation:
+  category:
+  - work_station
   class:
     action_value_mappings:
       AGVTransferProtocol:
@@ -243,8 +245,13 @@ workstation:
         feedback: {}
         goal:
           amount: amount
+          equiv: equiv
+          event: event
           mass: mass
+          mol: mol
           purpose: purpose
+          rate_spec: rate_spec
+          ratio: ratio
           reagent: reagent
           stir: stir
           stir_speed: stir_speed
@@ -468,6 +475,11 @@ workstation:
           ph_value: ph_value
           reagent: reagent
           vessel: vessel
+          volume: volume
+          stir: stir
+          stir_speed: stir_speed
+          stir_time: stir_time
+          settling_time: settling_time
         goal_default:
           ph_value: 0.0
           reagent: ''
@@ -491,6 +503,11 @@ workstation:
                 z: 0.0
             sample_id: ''
             type: ''
+          volume: 0.0
+          stir: false
+          stir_speed: 300.0
+          stir_time: 60.0
+          settling_time: 30.0
         handles:
           input:
           - data_key: vessel
@@ -509,6 +526,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -603,6 +622,21 @@ workstation:
                   - data
                   title: Resource
                   type: object
+                volume:
+                  type: number
+                  description: 'Volume of the solution to adjust pH'
+                stir:
+                  type: boolean
+                  description: "是否启用搅拌"
+                stir_speed:
+                  type: number
+                  description: "搅拌速度(RPM)"
+                stir_time:
+                  type: number
+                  description: "搅拌时间(秒)"
+                settling_time:
+                  type: number
+                  description: "pH平衡时间(秒)"
               required:
               - vessel
               - ph_value
@@ -672,6 +706,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -851,6 +887,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1058,6 +1096,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1189,6 +1229,10 @@ workstation:
         feedback: {}
         goal:
           amount: amount
+          event: event
+          mass: mass
+          mol: mol
+          reagent: reagent
           solvent: solvent
           stir_speed: stir_speed
           temp: temp
@@ -1244,6 +1288,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1427,6 +1473,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1583,6 +1631,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1776,6 +1826,8 @@ workstation:
             data_type: resource
             handler_key: vessel_out
             label: Evaporation Vessel
+        placeholder_keys:
+          vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -2012,6 +2064,9 @@ workstation:
             data_type: resource
             handler_key: filtrate_out
             label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -2193,7 +2248,7 @@ workstation:
                   type: number
               required:
               - vessel
-              - filtrate_vessel
+              - #filtrate_vessel
               - stir
               - stir_speed
               - temp
@@ -2323,6 +2378,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2654,6 +2712,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2833,6 +2893,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2984,6 +3046,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -3133,6 +3197,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -3352,6 +3418,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -3665,6 +3734,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -4017,6 +4088,10 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          column: unilabos_devices
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -4420,6 +4495,11 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
+          waste_phase_to_vessel: unilabos_resources
+          waste_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5051,6 +5131,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5223,6 +5305,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5389,6 +5473,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5554,6 +5640,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -5720,6 +5809,9 @@ workstation:
             data_type: resource
             handler_key: filtrate_vessel_out
             label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -6033,6 +6125,7 @@ workstation:
     module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
     status_types: {}
     type: ros2
+  config_info: []
   description: Workstation
   handles: []
   icon: ''
@@ -6057,4 +6150,4 @@ workstation:
       properties: {}
       required: []
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/devices/zhida_hplc.yaml

@@ -1,4 +1,6 @@
 zhida_hplc:
+  category:
+  - zhida_hplc
   class:
     action_value_mappings:
       abort:
@@ -150,6 +152,7 @@ zhida_hplc:
       methods: dict
       status: dict
     type: python
+  config_info: []
   description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
   handles: []
   icon: ''
@@ -177,4 +180,4 @@ zhida_hplc:
       - status
       - methods
       type: object
-  version: 0.0.1
+  version: 1.0.0

unilabos/registry/registry.py

@@ -9,10 +9,11 @@ from typing import Any, Dict, List
 
 import yaml
 
+from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
 from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
 from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
-from unilabos.utils.import_manager import get_enhanced_class_info
+from unilabos.utils.import_manager import get_enhanced_class_info, get_class
 from unilabos.utils.type_check import NoAliasDumper
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
@@ -65,7 +66,9 @@ class Registry:
                                 },
                                 "feedback": {},
                                 "result": {"success": "success"},
-                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter, '用于创建或更新物料资源，每次传入多个物料信息。'),
+                                "schema": ros_action_to_json_schema(
+                                    self.ResourceCreateFromOuter, "用于创建或更新物料资源，每次传入多个物料信息。"
+                                ),
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
                                 ),
@@ -86,7 +89,9 @@ class Registry:
                                 },
                                 "feedback": {},
                                 "result": {"success": "success"},
-                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy, '用于创建或更新物料资源，每次传入一个物料信息。'),
+                                "schema": ros_action_to_json_schema(
+                                    self.ResourceCreateFromOuterEasy, "用于创建或更新物料资源，每次传入一个物料信息。"
+                                ),
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
@@ -113,13 +118,15 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
-                                "schema": ros_action_to_json_schema(self.EmptyIn, '用于测试延迟的动作，返回延迟时间和时间差。'),
+                                "schema": ros_action_to_json_schema(
+                                    self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
+                                ),
                                 "goal_default": {},
                                 "handles": {},
                             },
                         },
                     },
-                    "version": "0.0.1",
+                    "version": "1.0.0",
                     "icon": "icon_device.webp",
                     "registry_type": "device",
                     "handles": [],
@@ -147,20 +154,47 @@ class Registry:
         logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
         current_resource_number = len(self.resource_type_registry) + 1
         for i, file in enumerate(files):
-            data = yaml.safe_load(open(file, encoding="utf-8"))
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+            complete_data = {}
             if data:
                 # 为每个资源添加文件路径信息
                 for resource_id, resource_info in data.items():
                     resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
-                    if "description" not in resource_info:
-                        resource_info["description"] = ""
+                    if "version" not in resource_info:
+                        resource_info["version"] = "1.0.0"
+                    if "category" not in resource_info:
+                        resource_info["category"] = [file.stem]
+                    elif file.stem not in resource_info["category"]:
+                        resource_info["category"].append(file.stem)
+                    if "config_info" not in resource_info:
+                        resource_info["config_info"] = []
                     if "icon" not in resource_info:
                         resource_info["icon"] = ""
                     if "handles" not in resource_info:
                         resource_info["handles"] = []
                     if "init_param_schema" not in resource_info:
                         resource_info["init_param_schema"] = {}
+                    if complete_registry:
+                        class_info = resource_info.get("class", {})
+                        if len(class_info) and "module" in class_info:
+                            if class_info.get("type") == "pylabrobot":
+                                res_class = get_class(class_info["module"])
+                                if callable(res_class) and not isinstance(
+                                    res_class, type
+                                ):  # 有的是类，有的是函数，这里暂时只登记函数类的
+                                    res_instance = res_class(res_class.__name__)
+                                    res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
+                                    resource_info["config_info"] = res_ulr
                     resource_info["registry_type"] = "resource"
+                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))  # 稍后dump到文件
+
+                complete_data = dict(sorted(complete_data.items()))
+                complete_data = copy.deepcopy(complete_data)
+                if complete_registry:
+                    with open(file, "w", encoding="utf-8") as f:
+                        yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+
                 self.resource_type_registry.update(data)
                 logger.debug(
                     f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
@@ -344,6 +378,7 @@ class Registry:
         }
 
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
+        # return
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
@@ -369,7 +404,13 @@ class Registry:
                 for device_id, device_config in data.items():
                     # 添加文件路径信息 - 使用规范化的完整文件路径
                     if "version" not in device_config:
-                        device_config["version"] = "0.0.1"
+                        device_config["version"] = "1.0.0"
+                    if "category" not in device_config:
+                        device_config["category"] = [file.stem]
+                    elif file.stem not in device_config["category"]:
+                        device_config["category"].append(file.stem)
+                    if "config_info" not in device_config:
+                        device_config["config_info"] = []
                     if "description" not in device_config:
                         device_config["description"] = ""
                     if "icon" not in device_config:
@@ -439,7 +480,9 @@ class Registry:
                             # 恢复原有的description信息（auto开头的不修改）
                             for action_name, description in old_descriptions.items():
                                 if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
-                                    device_config["class"]["action_value_mappings"][action_name]["schema"]["description"] = description
+                                    device_config["class"]["action_value_mappings"][action_name]["schema"][
+                                        "description"
+                                    ] = description
                             device_config["init_param_schema"] = {}
                             device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
                                 enhanced_info["init_params"], "__init__"

unilabos/registry/resources/opentrons/deck.yaml

@@ -1,8 +1,17 @@
 OTDeck:
-  description: Opentrons deck
-  class: 
+  category:
+  - deck
+  class:
     module: pylabrobot.resources.opentrons.deck:OTDeck
     type: pylabrobot
+  config_info: []
+  description: Opentrons deck
+  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
+  handles: []
+  icon: ''
+  init_param_schema: {}
   model:
+    mesh: opentrons_liquid_handler
     type: device
-    mesh: opentrons_liquid_handler
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -1,5 +1,39 @@
 Opentrons_96_adapter_Vb:
-  description: Opentrons 96 adapter Vb
-  class: 
+  category:
+  - plate_adapters
+  class:
     module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
-    type: pylabrobot
+    type: pylabrobot
+  config_info:
+  - children: []
+    class: ''
+    config:
+      barcode: null
+      category: plate_adapter
+      model: Opentrons_96_adapter_Vb
+      rotation:
+        type: Rotation
+        x: 0
+        y: 0
+        z: 0
+      size_x: 127.76
+      size_y: 85.48
+      size_z: 18.55
+      type: PlateAdapter
+    data: {}
+    id: Opentrons_96_adapter_Vb
+    name: Opentrons_96_adapter_Vb
+    parent: null
+    position:
+      x: 0
+      y: 0
+      z: 0
+    sample_id: null
+    type: container
+  description: Opentrons 96 adapter Vb
+  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/plate_adapters.yaml
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/organic/container.yaml

@@ -1,28 +1,35 @@
 container:
-  description: regular organic container
-  icon: Flask.webp
-  class: 
+  category:
+  - container
+  class:
     module: unilabos.resources.container:RegularContainer
     type: unilabos
+  config_info: []
+  description: regular organic container
+  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/organic/container.yaml
   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
+  - data_key: fluid_in
+    data_source: handle
+    data_type: fluid
+    handler_key: top
+    io_type: target
+    label: top
+    side: NORTH
+  - data_key: fluid_out
+    data_source: handle
+    data_type: fluid
+    handler_key: bottom
+    io_type: source
+    label: bottom
+    side: SOUTH
+  - data_key: mechanical_port
+    data_source: handle
+    data_type: mechanical
+    handler_key: bind
+    io_type: target
+    label: bind
+    side: SOUTH
+  icon: Flask.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/graphio.py

@@ -248,7 +248,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
     root_nodes = {
         node["id"]: node
         for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
     }
 
     # 如果存在多个根节点，返回所有根节点

unilabos/ros/nodes/base_device_node.py

@@ -656,6 +656,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
                         current_resources = []
+                        # TODO: resource后面需要分组
+                        only_one_resource = False
                         try:
                             if len(action_kwargs[k]) > 1:
                                 for i in action_kwargs[k]:
@@ -665,6 +667,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     response = await self._resource_clients["resource_get"].call_async(r)
                                     current_resources.extend(response.resources)
                             else:
+                                only_one_resource = True
                                 r = ResourceGet.Request()
                                 r.id = (
                                     action_kwargs[k]["id"]
@@ -682,7 +685,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         type_hint = action_paramtypes[k]
                         final_type = get_type_class(type_hint)
                         # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
-                        final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
+                        if only_one_resource:
+                            final_resource = convert_resources_to_type(resources_list, final_type)
+                        else:
+                            final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
                         action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
 
             ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")

unilabos/ros/nodes/presets/protocol_node.py

@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
                 # # 🔧 完全禁用Host查询，直接使用转换后的数据
                 # print(f"🔧 跳过Host查询，直接使用转换后的数据")
-                
-                # 🔧 额外验证：确保vessel数据完整
-                if 'vessel' in protocol_kwargs:
-                    vessel_data = protocol_kwargs['vessel']
-                    #print(f"🔍 验证vessel数据: {vessel_data}")
-                    
-                    # 如果vessel是空字典，尝试重新构建
-                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
-                    #    print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
-                        
-                        # 直接从原始goal提取vessel
-                        if hasattr(goal, 'vessel') and goal.vessel:
-                    #        print(f"🔍 原始goal.vessel: {goal.vessel}")
-                            # 手动转换vessel
-                            vessel_data = {
-                                'id': goal.vessel.id,
-                                'name': goal.vessel.name,
-                                'type': goal.vessel.type,
-                                'category': goal.vessel.category,
-                                'config': goal.vessel.config,
-                                'data': goal.vessel.data
-                            }
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"✅ 手动重建vessel数据: {vessel_data}")
-                        else:
-                    #        print(f"❌ 无法从原始goal提取vessel数据")
-                            # 创建一个基本的vessel
-                            vessel_data = {'id': 'default_vessel'}
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"🔧 创建默认vessel: {vessel_data}")
+                # 向Host查询物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceGet.Request()
+                        resource_id = (
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        )
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )
 
-                #print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
-                #print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+                self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
+                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
                 self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
-                self.lab_logger().info(f"Protocol kwargs: {goal}")
-                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                 protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
                 
                 self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             }
                         )
 
-                # # 向Host更新物料当前状态
-                # for k, v in goal.get_fields_and_field_types().items():
-                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                #         r = ResourceUpdate.Request()
-                #         r.resources = [
-                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                #         ]
-                #         response = await self._resource_clients["resource_update"].call_async(r)
+                # 向Host更新物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceUpdate.Request()
+                        r.resources = [
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)
 
                 # 设置成功状态和返回值
                 execution_success = True

unilabos/utils/type_check.py

@@ -1,5 +1,6 @@
 import collections.abc
 import json
+from collections import OrderedDict
 from typing import get_origin, get_args
 
 import yaml
@@ -29,6 +30,14 @@ class NoAliasDumper(yaml.SafeDumper):
         return True
 
 
+# 为NoAliasDumper添加OrderedDict的representation方法
+def represent_ordereddict(dumper, data):
+    return dumper.represent_mapping("tag:yaml.org,2002:map", data.items())
+
+
+# 注册OrderedDict的representer
+NoAliasDumper.add_representer(OrderedDict, represent_ordereddict)
+
 
 class ResultInfoEncoder(json.JSONEncoder):
     """专门用于处理任务执行结果信息的JSON编码器"""

unilabos_msgs/CMakeLists.txt

@@ -65,6 +65,7 @@ set(action_files
   "action/LiquidHandlerReturnTips.action"
   "action/LiquidHandlerReturnTips96.action"
   "action/LiquidHandlerSetLiquid.action"
+  "action/LiquidHandlerSetTipRack.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 

unilabos_msgs/action/LiquidHandlerSetTipRack.action

@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+string return_info
+bool success
+---