0.10.7 Update (#101 )

* Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * fix: workstation handlers and vessel_id parsing * fix: working dir error when input config path feat: report publish topic when error * modify default discovery_interval to 15s * feat: add trace log level * feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) * fix: drop_tips not using auto resource select * fix: discard_tips error * fix: discard_tips * fix: prcxi_res * add: prcxi res fix: startup slow * feat: workstation example * fix pumps and liquid_handler handle * feat: 优化protocol node节点运行日志 * fix all protocol_compilers and remove deprecated devices * feat: 新增use_remote_resource参数 * fix and remove redundant info * bugfixes on organic protocols * fix filter protocol * fix protocol node * 临时兼容错误的driver写法 * fix: prcxi import error * use call_async in all service to avoid deadlock * fix: figure_resource * Update recipe.yaml * add workstation template and battery example * feat: add sk & ak * update workstation base * Create workstation_architecture.md * refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode * refactor: ProtocolNode→WorkstationNode * Add:msgs.action (#83) * update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84) * Add:msgs.action * update: 将版本号从 0.10.3 更新为 0.10.4 * simplify resource system * uncompleted refactor * example for use WorkstationBase * feat: websocket * feat: websocket test * feat: workstation example * feat: action status * fix: station自己的方法注册错误 * fix: 还原protocol node处理方法 * fix: build * fix: missing job_id key * ws test version 1 * ws test version 2 * ws protocol * 增加物料关系上传日志 * 增加物料关系上传日志 * 修正物料关系上传 * 修复工站的tracker实例追踪失效问题 * 增加handle检测，增加material edge关系上传 * 修复event loop错误 * 修复edge上报错误 * 修复async错误 * 更新schema的title字段 * 主机节点信息等支持自动刷新 * 注册表编辑器 * 修复status密集发送时，消息出错 * 增加addr参数 * fix: addr param * fix: addr param * 取消labid 和强制config输入 * Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup - Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status. * Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists * Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml * result_info改为字典类型 * 新增uat的地址替换 * runze multiple pump support (cherry picked from commit 49354fcf39) * remove runze multiple software obtainer (cherry picked from commit 8bcc92a394) * support multiple backbone (cherry picked from commit 4771ff2347) * Update runze pump format * Correct runze multiple backbone * Update runze_multiple_backbone * Correct runze pump multiple receive method. * Correct runze pump multiple receive method. * 对于PRCXI9320的transfer_group，一对多和多对多 * 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5 * fix import error * fix dupe upload registry * refactor ws client * add server timeout * Fix: run-column with correct vessel id (#86) * fix run_column * Update run_column_protocol.py (cherry picked from commit e5aa4d940a) * resource_update use resource_add * 新增版位推荐功能 * 重新规定了版位推荐的入参 * update registry with nested obj * fix protocol node log_message, added create_resource return value * fix protocol node log_message, added create_resource return value * try fix add protocol * fix resource_add * 修复移液站错误的aspirate注册表 * Feature/xprbalance-zhida (#80) * feat(devices): add Zhida GC/MS pretreatment automation workstation * feat(devices): add mettler_toledo xpr balance * balance * 重新补全zhida注册表 * PRCXI9320 json * PRCXI9320 json * PRCXI9320 json * fix resource download * remove class for resource * bump version to 0.10.6 * 更新所有注册表 * 修复protocolnode的兼容性 * 修复protocolnode的兼容性 * Update install md * Add Defaultlayout * 更新物料接口 * fix dict to tree/nested-dict converter * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * frontend_docs * create/update resources with POST/PUT for big amount/ small amount data * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io * Workstation templates: Resources and its CRUD, and workstation tasks (#95) * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io --------- Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> * 更新物料接口 * Workstation dev yb2 (#100) * Refactor and extend reaction station action messages * Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities - Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability. - Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input. - Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input. - Refined `create_diamine_solution_task` to include additional parameters for better task configuration. - Enhanced schema descriptions and default values for improved user guidance. * 修复to_plr_resources * add update remove * 支持选择器注册表自动生成支持转运物料 * 修复资源添加 * 修复transfer_resource_to_another生成 * 更新transfer_resource_to_another参数，支持spot入参 * 新增test_resource动作 * fix host_node error * fix host_node test_resource error * fix host_node test_resource error * 过滤本地动作 * 移动内部action以兼容host node * 修复同步任务报错不显示的bug * feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了 * update todo * modify bioyond/plr converter, bioyond resource registry, and tests * pass the tests * update todo * add conda-pack-build.yml * add auto install script for conda-pack-build.yml (cherry picked from commit 172599adcf) * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * Add version in __init__.py Update conda-pack-build.yml Add create_zip_archive.py * Update conda-pack-build.yml * Update conda-pack-build.yml (with mamba) * Update conda-pack-build.yml * Fix FileNotFoundError * Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined> * Fix unilabos msgs search error * Fix environment_check.py * Update recipe.yaml * Update registry. Update uuid loop figure method. Update install docs. * Fix nested conda pack * Fix one-key installation path error * Bump version to 0.10.7 * Workshop bj (#99) * Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字 * 电池装配工站二次开发教程（带目录）上传至dev (#94) * 电池装配工站二次开发教程 * Update intro.md * 物料教程 * 更新物料教程，json格式注释 * Update prcxi driver & fix transfer_liquid mix_times (#90) * Update prcxi driver & fix transfer_liquid mix_times * fix: correct mix_times type * Update liquid_handler registry * test: prcxi.py * Update registry from pr * fix ony-key script not exist * clean files --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: LccLink <1951855008@qq.com> Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Co-authored-by: shiyubo0410 <shiyubo@dp.tech>
2026-02-06 15:05:13 +00:00 · 2025-10-12 23:34:26 +08:00
45 changed files with 7828 additions and 3934 deletions
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -42,7 +42,7 @@ jobs:
    defaults:
      run:
        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}
+        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}

    steps:
      - name: Check if platform should be built
@@ -73,6 +73,7 @@ jobs:
          channels: conda-forge,robostack-staging,uni-lab,defaults
          channel-priority: flexible
          activate-environment: unilab
+          auto-activate-base: true
          auto-update-conda: false
          show-channel-urls: true

@@ -81,7 +82,7 @@ jobs:
        run: |
          echo Installing unilabos and dependencies to unilab environment...
          echo Using mamba for faster and more reliable dependency resolution...
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y

      - name: Install conda-pack, unilabos and dependencies (Unix)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -89,15 +90,15 @@ jobs:
        run: |
          echo "Installing unilabos and dependencies to unilab environment..."
          echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y

      - name: Get latest ros-humble-unilabos-msgs version (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        id: msgs_version_win
        run: |
          echo Checking installed ros-humble-unilabos-msgs version...
-          conda list -n unilab ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          conda list ros-humble-unilabos-msgs
+          for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
          echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
          echo Installed ros-humble-unilabos-msgs version: %VERSION%

@@ -107,7 +108,7 @@ jobs:
        shell: bash
        run: |
          echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
          echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
          echo "Installed ros-humble-unilabos-msgs version: $VERSION"

@@ -118,7 +119,7 @@ jobs:
          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
          echo.
          echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version

      - name: Check for newer ros-humble-unilabos-msgs (Unix)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -128,65 +129,65 @@ jobs:
          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
          echo ""
          echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"

      - name: Install latest unilabos from source (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          echo Uninstalling existing unilabos...
-          mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
+          pip uninstall unilabos -y || echo unilabos not installed via pip
          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
-          mamba run -n unilab pip install .
+          pip install .
          echo Verifying installation...
-          mamba run -n unilab pip show unilabos
+          pip show unilabos

      - name: Install latest unilabos from source (Unix)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
        shell: bash
        run: |
          echo "Uninstalling existing unilabos..."
-          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
+          pip uninstall unilabos -y || echo "unilabos not installed via pip"
          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
-          mamba run -n unilab pip install .
+          pip install .
          echo "Verifying installation..."
-          mamba run -n unilab pip show unilabos
+          pip show unilabos

      - name: Display environment info (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          echo === Environment Information ===
-          mamba env list
+          conda env list
          echo.
          echo === Installed Packages ===
-          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
+          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
          echo.
          echo === Python Packages ===
-          mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
+          pip list | findstr unilabos || pip list

      - name: Display environment info (Unix)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
        shell: bash
        run: |
          echo "=== Environment Information ==="
-          mamba env list
+          conda env list
          echo ""
          echo "=== Installed Packages ==="
-          mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
+          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
          echo ""
          echo "=== Python Packages ==="
-          mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
+          pip list | grep unilabos || pip list

      - name: Verify environment integrity (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          echo Verifying Python version...
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
+          python -c "import sys; print(f'Python version: {sys.version}')"
          echo Verifying unilabos import...
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
          echo Checking critical packages...
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
          echo Running comprehensive verification script...
-          mamba run -n unilab python scripts\verify_installation.py --auto-install || echo Warning: Verification script reported issues
+          python scripts\verify_installation.py || echo Warning: Verification script reported issues
          echo Environment verification complete!

      - name: Verify environment integrity (Unix)
@@ -194,20 +195,20 @@ jobs:
        shell: bash
        run: |
          echo "Verifying Python version..."
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
+          python -c "import sys; print(f'Python version: {sys.version}')"
          echo "Verifying unilabos import..."
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
          echo "Checking critical packages..."
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
          echo "Running comprehensive verification script..."
-          mamba run -n unilab python scripts/verify_installation.py --auto-install || echo "Warning: Verification script reported issues"
+          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
          echo "Environment verification complete!"

      - name: Pack conda environment (Windows)
        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
        run: |
          echo Packing unilab environment with conda-pack...
-          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
          echo Pack file created:
          dir unilab-env-${{ matrix.platform }}.tar.gz

@@ -216,7 +217,6 @@ jobs:
        shell: bash
        run: |
          echo "Packing unilab environment with conda-pack..."
-          mamba install conda-pack -c conda-forge -y
          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
          echo "Pack file created:"
          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
@@ -242,10 +242,6 @@ jobs:
          echo Adding: verify_installation.py
          copy scripts\verify_installation.py dist-package\

-          rem Copy source code repository (including .git)
-          echo Adding: Uni-Lab-OS source repository
-          robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
-
          rem Create README using Python script
          echo Creating: README.txt
          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
@@ -278,10 +274,6 @@ jobs:
          echo "Adding: verify_installation.py"
          cp scripts/verify_installation.py dist-package/

-          # Copy source code repository (including .git)
-          echo "Adding: Uni-Lab-OS source repository"
-          rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
-
          # Create README using Python script
          echo "Creating: README.txt"
          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
@@ -291,6 +283,46 @@ jobs:
          ls -lh dist-package/
          echo ""

+      - name: Finalize Windows distribution package
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo ==========================================
+          echo Windows distribution package ready
+          echo.
+          echo Package will be uploaded as artifact
+          echo GitHub Actions will automatically create ZIP
+          echo.
+          echo Contents:
+          dir /b dist-package
+          echo.
+          echo Users will download a ZIP containing:
+          echo   - install_unilab.bat
+          echo   - unilab-env-${{ matrix.platform }}.tar.gz
+          echo   - verify_installation.py
+          echo   - README.txt
+          echo ==========================================
+
+      - name: Create Unix/Linux TAR.GZ archive
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
+        run: |
+          echo "=========================================="
+          echo "Creating Unix/Linux TAR.GZ archive..."
+          echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
+          tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
+          echo "=========================================="
+
+          echo ""
+          echo "Final package created:"
+          ls -lh unilab-pack-*
+          echo ""
+          echo "Users can now:"
+          echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  3. Run: bash install_unilab.sh"
+          echo ""
+
      - name: Upload distribution package
        if: steps.should_build.outputs.should_build == 'true'
        uses: actions/upload-artifact@v4
@@ -333,8 +365,12 @@ jobs:
          echo "Distribution package contents:"
          ls -lh dist-package/
          echo ""
+          echo "Package size (tar.gz):"
+          ls -lh unilab-pack-*.tar.gz
+          echo ""
          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
          echo ""
          echo "After download:"
-          echo "  install_unilab.sh"
+          echo "  - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
          echo "=========================================="
--- a/.github/workflows/deploy-docs.yml
+++ b/.github/workflows/deploy-docs.yml
@@ -39,39 +39,24 @@ jobs:
        uses: actions/checkout@v4
        with:
          ref: ${{ github.event.inputs.branch || github.ref }}
-          fetch-depth: 0

-      - name: Setup Miniforge (with mamba)
-        uses: conda-incubator/setup-miniconda@v3
+      - name: Setup Python environment
+        uses: actions/setup-python@v5
        with:
-          miniforge-version: latest
-          use-mamba: true
-          python-version: '3.11.11'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: flexible
-          activate-environment: unilab
-          auto-update-conda: false
-          show-channel-urls: true
+          python-version: '3.10'

-      - name: Install unilabos and dependencies
+      - name: Install system dependencies
        run: |
-          echo "Installing unilabos and dependencies to unilab environment..."
-          echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          sudo apt-get update
+          sudo apt-get install -y pandoc

-      - name: Install latest unilabos from source
+      - name: Install Python dependencies
        run: |
-          echo "Uninstalling existing unilabos..."
-          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source..."
-          mamba run -n unilab pip install .
-          echo "Verifying installation..."
-          mamba run -n unilab pip show unilabos
-
-      - name: Install documentation dependencies
-        run: |
-          echo "Installing documentation build dependencies..."
-          mamba run -n unilab pip install -r docs/requirements.txt
+          python -m pip install --upgrade pip
+          # Install package in development mode to get version info
+          pip install -e .
+          # Install documentation dependencies
+          pip install -r docs/requirements.txt

      - name: Setup Pages
        id: pages
@@ -83,8 +68,8 @@ jobs:
          cd docs
          # Clean previous builds
          rm -rf _build
-          # Build HTML documentation in conda environment
-          mamba run -n unilab python -m sphinx -b html . _build/html -v
+          # Build HTML documentation
+          python -m sphinx -b html . _build/html -v

      - name: Check build results
        run: |
--- a/README.md
+++ b/README.md
@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d

 Detailed documentation can be found at:

- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)

 ## Quick Start

@@ -55,7 +55,7 @@ pip install .

 3. Start Uni-Lab System:

-Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)

 ## Message Format

--- a/README_zh.md
+++ b/README_zh.md
@@ -31,7 +31,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控

 详细文档可在以下位置找到:

- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)

 ## 快速开始

@@ -57,7 +57,7 @@ pip install .

 3. 启动 Uni-Lab 系统:

-请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)

 ## 消息格式

--- a/docs/boot_examples/organic_synthesis.md
+++ b/docs/boot_examples/organic_synthesis.md
@@ -91,7 +91,7 @@
 使用以下命令启动模拟反应器：

 ```bash
-unilab -g test/experiments/mock_reactor.json
+unilab -g test/experiments/mock_reactor.json --app_bridges ""
 ```

 ### 2. 执行抽真空和充气操作
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -23,7 +23,7 @@ extensions = [
    "myst_parser",
    "sphinx.ext.autodoc",
    "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
-    "sphinx_rtd_theme",
+    "sphinx_rtd_theme"
 ]

 source_suffix = {
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -172,7 +172,7 @@ Examples:
        with open(output_path, "w", encoding="utf-8") as f:
            f.write(readme_content)

-        print(f"  README.txt created: {output_path}")
+        print(f"✓ README.txt created: {output_path}")
        print(f"  Platform: {args.platform}")
        print(f"  Branch:   {args.branch}")

--- a/scripts/verify_installation.py
+++ b/scripts/verify_installation.py
@@ -8,10 +8,7 @@ This script verifies that UniLabOS and its dependencies are correctly installed.
 Run this script after installing the conda-pack environment to ensure everything works.

 Usage:
-    python verify_installation.py [--auto-install]
-
-    Options:
-        --auto-install    Automatically install missing packages
+    python verify_installation.py

    Or in the conda environment:
    conda activate unilab
@@ -20,15 +17,14 @@ Usage:

 import sys
 import os
-import argparse

 # IMPORTANT: Set UTF-8 encoding BEFORE any other imports
 # This ensures all subsequent imports (including unilabos) can output UTF-8 characters
 if sys.platform == "win32":
    # Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
    try:
-        sys.stdout.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
-        sys.stderr.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
+        sys.stdout.reconfigure(encoding="utf-8", errors="replace")
+        sys.stderr.reconfigure(encoding="utf-8", errors="replace")
    except (AttributeError, OSError):
        pass

@@ -53,7 +49,7 @@ CHECK_MARK = "[OK]"
 CROSS_MARK = "[FAIL]"


-def check_package(package_name: str, display_name: str | None = None) -> bool:
+def check_package(package_name: str, display_name: str = None) -> bool:
    """
    Check if a package can be imported.

@@ -91,25 +87,9 @@ def check_python_version() -> bool:

 def main():
    """Run all verification checks."""
-    # Parse command line arguments
-    parser = argparse.ArgumentParser(
-        description="Verify UniLabOS installation",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-    )
-    parser.add_argument(
-        "--auto-install",
-        action="store_true",
-        help="Automatically install missing packages",
-    )
-    args = parser.parse_args()
-
    print("=" * 60)
    print("UniLabOS Installation Verification")
    print("=" * 60)
-    if args.auto_install:
-        print("Mode: Auto-install missing packages")
-    else:
-        print("Mode: Verification only")
    print()

    all_passed = True
@@ -133,16 +113,14 @@ def main():

        print(f"  {CHECK_MARK} UniLabOS installed")

-        # Check environment with optional auto-install
+        # Check environment without auto-install (verification only)
        # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
-        env_check_passed = check_environment(auto_install=args.auto_install, show_details=False)
+        env_check_passed = check_environment(auto_install=False, show_details=False)

        if env_check_passed:
            print(f"  {CHECK_MARK} All required packages available")
        else:
            print(f"  {CROSS_MARK} Some optional packages are missing")
-            if not args.auto_install:
-                print("  Hint: Run with --auto-install to automatically install missing packages")
    except ImportError:
        print(f"  {CROSS_MARK} UniLabOS not installed")
        all_passed = False
--- a/test/experiments/comprehensive_protocol/comprehensive_station.json
+++ b/test/experiments/comprehensive_protocol/comprehensive_station.json
@@ -170,16 +170,15 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 200,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
            },
            "data": {
-                "liquids": [["DMF", 500.0]],
-                "pending_liquids": [["DMF", 500.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 1000.0
+                    }
+                ]
            }
        },
        {
@@ -195,16 +194,15 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 200,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
            },
            "data": {
-                "liquids": [["ethyl_acetate", 1000.0]],
-                "pending_liquids": [["ethyl_acetate", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 1000.0
+                    }
+                ]
            }
        },
        {
@@ -220,16 +218,15 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 300,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
            },
            "data": {
-                "liquids": [["hexane", 1000.0]],
-                "pending_liquids": [["hexane", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 1000.0
+                    }
+                ]
            }
        },
        {
@@ -245,16 +242,15 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 900,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
            },
            "data": {
-                "liquids": [["methanol", 1000.0]],
-                "pending_liquids": [["methanol", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 1000.0
+                    }
+                ]
            }
        },
        {
@@ -270,16 +266,15 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 950,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
            },
            "data": {
-                "liquids": [["water", 1000.0]],
-                "pending_liquids": [["water", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 1000.0
+                    }
+                ]
            }
        },
        {
@@ -340,16 +335,14 @@
            },
            "config": {
                "max_volume": 500.0,
-                "type": "RegularContainer",
-                "category": "container",
                "max_temp": 200.0,
                "min_temp": -20.0,
                "has_stirrer": true,
                "has_heater": true
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -426,16 +419,11 @@
                "z": 0
            },
            "config": {
-                "max_volume": 2000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 500,
-                "size_y": 400,
-                "size_z": 0
+                "max_volume": 2000.0
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -451,16 +439,11 @@
                "z": 0
            },
            "config": {
-                "max_volume": 2000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 1100,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 2000.0
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -666,16 +649,11 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 900,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -691,16 +669,11 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 950,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -716,16 +689,11 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 1050,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
            },
            "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
            }
        },
        {
@@ -765,11 +733,6 @@
            },
            "config": {
                "max_volume": 500.0,
-                "size_x": 550,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                "reagent": "sodium_chloride",
                "physical_state": "solid"
            },
@@ -793,11 +756,6 @@
            },
            "config": {
                "volume": 500.0,
-                "size_x": 600,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                "reagent": "sodium_carbonate",
                "physical_state": "solid"
            },
@@ -821,11 +779,6 @@
            },
            "config": {
                "volume": 500.0,
-                "size_x": 650,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                "reagent": "magnesium_chloride",
                "physical_state": "solid"
            },
--- a/test/experiments/dispensing_station_bioyond.json
+++ b/test/experiments/dispensing_station_bioyond.json
@@ -8,7 +8,7 @@
            ],
            "parent": null,
            "type": "device",
-            "class": "workstation.bioyond_dispensing_station",
+            "class": "dispensing_station.bioyond",
            "config": {
                "config": {
                    "api_key": "DE9BDDA0",
@@ -20,6 +20,13 @@
                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
                    }
                },
+                "station_config": {
+                    "station_type": "dispensing_station",
+                    "enable_dispensing_station": true,
+                    "enable_reaction_station": false,
+                    "station_name": "DispensingStation_001",
+                    "description": "Bioyond配液工作站"
+                },
                "protocol_type": []
            },
            "data": {}
@@ -50,4 +57,4 @@
            "data": {}
        }
    ]
-}
+}
--- a/test/experiments/reaction_station_bioyond.json
+++ b/test/experiments/reaction_station_bioyond.json
@@ -10,7 +10,7 @@
            "type": "device",
            "class": "reaction_station.bioyond",
            "config": {
-                "config": {
+                "bioyond_config": {
                    "api_key": "DE9BDDA0",
                    "api_host": "http://192.168.1.200:44402",
                    "workflow_mappings": {
@@ -19,18 +19,14 @@
                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                    },
                    "material_type_mappings": {
-                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
                    }
                },
                "deck": {
@@ -46,6 +42,7 @@
        {
            "id": "Bioyond_Deck",
            "name": "Bioyond_Deck",
+            "sample_id": null,
            "children": [
            ],
            "parent": "reaction_station_bioyond",
--- a/test/resources/test_converter_bioyond.py
+++ b/test/resources/test_converter_bioyond.py
@@ -12,13 +12,23 @@ lab_registry.setup()


 type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
+    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
+    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
+    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
+    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
+}
+
+type_uuid_mapping = {
+    "烧杯": "",
+    "试剂瓶": "",
+    "样品板": "",
+    "分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
+    "样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+    "90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+    "10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
 }


--- a/test/resources/test_itemized_carrier.py
+++ b/test/resources/test_itemized_carrier.py
@@ -1,115 +0,0 @@
-#!/usr/bin/env python3
-"""
-测试修改后的 get_child_identifier 函数
-"""
-
-from unilabos.resources.itemized_carrier import ItemizedCarrier, Bottle
-from pylabrobot.resources.coordinate import Coordinate
-
-def test_get_child_identifier_with_indices():
-    """测试返回x,y,z索引的 get_child_identifier 函数"""
-    
-    # 创建一些测试瓶子
-    bottle1 = Bottle("bottle1", diameter=25.0, height=50.0, max_volume=15.0)
-    bottle1.location = Coordinate(10, 20, 5)
-    
-    bottle2 = Bottle("bottle2", diameter=25.0, height=50.0, max_volume=15.0) 
-    bottle2.location = Coordinate(50, 20, 5)
-    
-    bottle3 = Bottle("bottle3", diameter=25.0, height=50.0, max_volume=15.0) 
-    bottle3.location = Coordinate(90, 20, 5)
-    
-    # 创建载架，指定维度
-    sites = {
-        "A1": bottle1,
-        "A2": bottle2, 
-        "A3": bottle3,
-        "B1": None,  # 空位
-        "B2": None,
-        "B3": None
-    }
-    
-    carrier = ItemizedCarrier(
-        name="test_carrier",
-        size_x=150,
-        size_y=100,
-        size_z=30,
-        num_items_x=3,  # 3列
-        num_items_y=2,  # 2行  
-        num_items_z=1,  # 1层
-        sites=sites
-    )
-    
-    print("测试载架维度:")
-    print(f"num_items_x: {carrier.num_items_x}")
-    print(f"num_items_y: {carrier.num_items_y}")
-    print(f"num_items_z: {carrier.num_items_z}")
-    print()
-    
-    # 测试获取bottle1的标识符信息 (A1 = idx:0, x:0, y:0, z:0)
-    result1 = carrier.get_child_identifier(bottle1)
-    print("测试bottle1 (A1):")
-    print(f"  identifier: {result1['identifier']}")
-    print(f"  idx: {result1['idx']}")
-    print(f"  x index: {result1['x']}")
-    print(f"  y index: {result1['y']}")
-    print(f"  z index: {result1['z']}")
-    
-    # Assert 验证 bottle1 (A1) 的结果
-    assert result1['identifier'] == 'A1', f"Expected identifier 'A1', got '{result1['identifier']}'"
-    assert result1['idx'] == 0, f"Expected idx 0, got {result1['idx']}"
-    assert result1['x'] == 0, f"Expected x index 0, got {result1['x']}"
-    assert result1['y'] == 0, f"Expected y index 0, got {result1['y']}"
-    assert result1['z'] == 0, f"Expected z index 0, got {result1['z']}"
-    print("  ✓ bottle1 (A1) 测试通过")
-    print()
-    
-    # 测试获取bottle2的标识符信息 (A2 = idx:1, x:1, y:0, z:0)
-    result2 = carrier.get_child_identifier(bottle2)
-    print("测试bottle2 (A2):")
-    print(f"  identifier: {result2['identifier']}")
-    print(f"  idx: {result2['idx']}")
-    print(f"  x index: {result2['x']}")
-    print(f"  y index: {result2['y']}")
-    print(f"  z index: {result2['z']}")
-    
-    # Assert 验证 bottle2 (A2) 的结果
-    assert result2['identifier'] == 'A2', f"Expected identifier 'A2', got '{result2['identifier']}'"
-    assert result2['idx'] == 1, f"Expected idx 1, got {result2['idx']}"
-    assert result2['x'] == 1, f"Expected x index 1, got {result2['x']}"
-    assert result2['y'] == 0, f"Expected y index 0, got {result2['y']}"
-    assert result2['z'] == 0, f"Expected z index 0, got {result2['z']}"
-    print("  ✓ bottle2 (A2) 测试通过")
-    print()
-        
-    # 测试获取bottle3的标识符信息 (A3 = idx:2, x:2, y:0, z:0)
-    result3 = carrier.get_child_identifier(bottle3)
-    print("测试bottle3 (A3):")
-    print(f"  identifier: {result3['identifier']}")
-    print(f"  idx: {result3['idx']}")
-    print(f"  x index: {result3['x']}")
-    print(f"  y index: {result3['y']}")
-    print(f"  z index: {result3['z']}")
-    
-    # Assert 验证 bottle3 (A3) 的结果
-    assert result3['identifier'] == 'A3', f"Expected identifier 'A3', got '{result3['identifier']}'"
-    assert result3['idx'] == 2, f"Expected idx 2, got {result3['idx']}"
-    assert result3['x'] == 2, f"Expected x index 2, got {result3['x']}"
-    assert result3['y'] == 0, f"Expected y index 0, got {result3['y']}"
-    assert result3['z'] == 0, f"Expected z index 0, got {result3['z']}"
-    print("  ✓ bottle3 (A3) 测试通过")
-    print()
-    
-    # 测试错误情况：查找不存在的资源
-    bottle_not_exists = Bottle("bottle_not_exists", diameter=25.0, height=50.0, max_volume=15.0)
-    try:
-        carrier.get_child_identifier(bottle_not_exists)
-        assert False, "应该抛出 ValueError 异常"
-    except ValueError as e:
-        print("✓ 正确抛出了 ValueError 异常：", str(e))
-        assert "is not assigned to this carrier" in str(e), "异常消息应该包含预期的文本"
-    
-    print("\n🎉 所有测试都通过了！")
-
-if __name__ == "__main__":
-    test_get_child_identifier_with_indices()
--- a/test/resources/test_resourcetreeset.py
+++ b/test/resources/test_resourcetreeset.py
@@ -1,68 +0,0 @@
-import pytest
-import json
-import os
-
-from pylabrobot.resources import Resource as ResourcePLR
-from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
-from unilabos.registry.registry import lab_registry
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-lab_registry.setup()
-
-
-type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
-}
-
-
-@pytest.fixture
-def bioyond_materials_reaction() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_1() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_2() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.mark.parametrize("materials_fixture", [
-    "bioyond_materials_reaction",
-    "bioyond_materials_liquidhandling_1",
-])
-def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
-    materials = request.getfixturevalue(materials_fixture)
-    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
-    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
-    print(deck.summary())
-
-    r = ResourceTreeSet.from_plr_resources([deck])
-    print(r.dump())
-    # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -11,14 +11,18 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml

+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
    sys.path.append(unilabos_dir)

-from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.resources.graphio import modify_to_backend_format
+

 def load_config_from_file(config_path):
    if config_path is None:
@@ -180,7 +184,6 @@ def main():
        working_dir = os.path.abspath(os.getcwd())
    else:
        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
    if args_dict.get("working_dir"):
        working_dir = args_dict.get("working_dir", "")
        if config_path and not os.path.exists(config_path):
@@ -212,14 +215,6 @@ def main():
    # 加载配置文件
    print_status(f"当前工作目录为 {working_dir}", "info")
    load_config_from_file(config_path)
-
-    # 根据配置重新设置日志级别
-    from unilabos.utils.log import configure_logger, logger
-
-    if hasattr(BasicConfig, "log_level"):
-        logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-        configure_logger(loglevel=BasicConfig.log_level)
-
    if args_dict["addr"] == "test":
        print_status("使用测试环境地址", "info")
        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
@@ -273,8 +268,6 @@ def main():
    from unilabos.app.web import http_client
    from unilabos.app.web import start_server
    from unilabos.app.register import register_devices_and_resources
-    from unilabos.resources.graphio import modify_to_backend_format
-    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict

    # 显示启动横幅
    print_unilab_banner(args_dict)
@@ -356,7 +349,7 @@ def main():

    if BasicConfig.upload_registry:
        # 设备注册到服务端 - 需要 ak 和 sk
-        if BasicConfig.ak and BasicConfig.sk:
+        if args_dict.get("ak") and args_dict.get("sk"):
            print_status("开始注册设备到服务端...", "info")
            try:
                register_devices_and_resources(lab_registry)
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -73,8 +73,6 @@ class HTTPClient:
        Returns:
            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
        """
-        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
        if not self.initialized or first_add:
@@ -94,8 +92,6 @@ class HTTPClient:
                timeout=100,
            )

-        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
        # 处理响应，构建UUID映射
        uuid_mapping = {}
        if response.status_code == 200:
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -2,7 +2,7 @@ import base64
 import traceback
 import os
 import importlib.util
-from typing import Optional, Literal
+from typing import Optional
 from unilabos.utils import logger


@@ -18,7 +18,6 @@ class BasicConfig:
    vis_2d_enable = False
    enable_resource_load = True
    communication_protocol = "websocket"
-    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'

    @classmethod
    def auth_secret(cls):
--- a/unilabos/devices/workstation/README.md
+++ b/unilabos/devices/workstation/README.md
@@ -37,7 +37,7 @@ def _initialize_material_system(self, deck_config: Dict[str, Any], children_conf
 **定义在**: `workstation_base.py`

 **设计目的**：
- 提供外部物料系统（如Bioyond、LIMS等）集成的标准接口
+- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
 - 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
 - 处理外部系统的变更通知

@@ -59,7 +59,7 @@ async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
 **扩展功能**：
 - HTTP报送接收服务集成
 - 具体工作流实现（液体转移、板洗等）
- Bioyond物料系统同步器示例
+- Bioyong物料系统同步器示例
 - 外部报送处理方法

 ## 技术栈
@@ -142,11 +142,11 @@ success = workstation.execute_workflow("liquid_transfer", {
 ### 3. 外部系统集成

 ```python
-class BioyondResourceSynchronizer(ResourceSynchronizer):
-    """Bioyond系统同步器"""
+class BioyongResourceSynchronizer(ResourceSynchronizer):
+    """Bioyong系统同步器"""
    
    async def sync_from_external(self) -> bool:
-        # 从Bioyond API获取物料
+        # 从Bioyong API获取物料
        external_materials = await self._fetch_bioyong_materials()
        
        # 转换并添加到本地deck
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
--- a/unilabos/devices/workstation/bioyond_studio/config.py
+++ b/unilabos/devices/workstation/bioyond_studio/config.py
@@ -9,6 +9,22 @@ API_CONFIG = {
    "api_host": ""
 }

+# 站点类型配置
+STATION_TYPES = {
+    "REACTION": "reaction_station",      # 仅反应站
+    "DISPENSING": "dispensing_station",  # 仅配液站
+    "HYBRID": "hybrid_station"           # 混合模式
+}
+
+# 默认站点配置
+DEFAULT_STATION_CONFIG = {
+    "station_type": STATION_TYPES["REACTION"],  # 默认反应站模式
+    "enable_reaction_station": True,            # 是否启用反应站功能
+    "enable_dispensing_station": False,         # 是否启用配液站功能
+    "station_name": "BioyondReactionStation",   # 站点名称
+    "description": "Bioyond反应工作站"          # 站点描述
+}
+
 # 工作流映射配置
 WORKFLOW_MAPPINGS = {
    "reactor_taken_out": "",
@@ -33,75 +49,52 @@ WORKFLOW_TO_SECTION_MAP = {
 }

 # 库位映射配置
-WAREHOUSE_MAPPING = {
-    "粉末堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            # 样品板
-            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
-            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
-            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
-            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
-            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
-            # 分装板
-            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
-            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-        }
-    },
-    "溶液堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
-            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
-            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
-            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
-            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
-            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
-            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
-            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
-            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
-            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
-            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
-            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
-            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
-        }
-    },
-    "试剂堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
-            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
-            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
-            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
-            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
-            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
-            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
-            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
-        }
-    }
+LOCATION_MAPPING = {
+    'A01': '',
+    'A02': '',
+    'A03': '',
+    'A04': '',
+    'A05': '',
+    'A06': '',
+    'A07': '',
+    'A08': '',
+    'B01': '',
+    'B02': '',
+    'B03': '',
+    'B04': '',
+    'B05': '',
+    'B06': '',
+    'B07': '',
+    'B08': '',
+    'C01': '',
+    'C02': '',
+    'C03': '',
+    'C04': '',
+    'C05': '',
+    'C06': '',
+    'C07': '',
+    'C08': '',
+    'D01': '',
+    'D02': '',
+    'D03': '',
+    'D04': '',
+    'D05': '',
+    'D06': '',
+    'D07': '',
+    'D08': '',
 }

 # 物料类型配置
+MATERIAL_TYPE_IDS = {
+    "样品板": "",
+    "样品": "",
+    "烧杯": ""
+}
+
 MATERIAL_TYPE_MAPPINGS = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
 }

 # 步骤参数配置（各工作流的步骤UUID）
@@ -134,5 +127,3 @@ WORKFLOW_STEP_IDS = {
        "observe": ""
    }
 }
-
-LOCATION_MAPPING = {}
--- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
@@ -1,831 +0,0 @@
-from datetime import datetime
-import json
-
-from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
-from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
-
-
-class BioyondDispensingStation(BioyondWorkstation):
-    def __init__(
-        self, 
-        config,
-            # 桌子
-        deck,
-        *args,
-        **kwargs,
-        ):
-        super().__init__(config, deck, *args, **kwargs)
-        # self.config = config
-        # self.api_key = config["api_key"]
-        # self.host = config["api_host"]
-        #
-        # # 使用简单的Logger替代原来的logger
-        # self._logger = SimpleLogger()
-        # self.is_running = False
-
-    # 90%10%小瓶投料任务创建方法
-    def create_90_10_vial_feeding_task(self,
-                                       order_name: str = None,
-                                       speed: str = None,
-                                       temperature: str = None,
-                                       delay_time: str = None,
-                                       percent_90_1_assign_material_name: str = None,
-                                       percent_90_1_target_weigh: str = None,
-                                       percent_90_2_assign_material_name: str = None,
-                                       percent_90_2_target_weigh: str = None,
-                                       percent_90_3_assign_material_name: str = None,
-                                       percent_90_3_target_weigh: str = None,
-                                       percent_10_1_assign_material_name: str = None,
-                                       percent_10_1_target_weigh: str = None,
-                                       percent_10_1_volume: str = None,
-                                       percent_10_1_liquid_material_name: str = None,
-                                       percent_10_2_assign_material_name: str = None,
-                                       percent_10_2_target_weigh: str = None,
-                                       percent_10_2_volume: str = None,
-                                       percent_10_2_liquid_material_name: str = None,
-                                       percent_10_3_assign_material_name: str = None,
-                                       percent_10_3_target_weigh: str = None,
-                                       percent_10_3_volume: str = None,
-                                       percent_10_3_liquid_material_name: str = None,
-                                       hold_m_name: str = None) -> dict:
-        """
-        创建90%10%小瓶投料任务
-
-        参数说明:
-        - order_name: 任务名称，如果为None则使用默认名称
-        - speed: 搅拌速度，如果为None则使用默认值400
-        - temperature: 温度，如果为None则使用默认值40
-        - delay_time: 延迟时间，如果为None则使用默认值600
-        - percent_90_1_assign_material_name: 90%_1物料名称
-        - percent_90_1_target_weigh: 90%_1目标重量
-        - percent_90_2_assign_material_name: 90%_2物料名称
-        - percent_90_2_target_weigh: 90%_2目标重量
-        - percent_90_3_assign_material_name: 90%_3物料名称
-        - percent_90_3_target_weigh: 90%_3目标重量
-        - percent_10_1_assign_material_name: 10%_1固体物料名称
-        - percent_10_1_target_weigh: 10%_1固体目标重量
-        - percent_10_1_volume: 10%_1液体体积
-        - percent_10_1_liquid_material_name: 10%_1液体物料名称
-        - percent_10_2_assign_material_name: 10%_2固体物料名称
-        - percent_10_2_target_weigh: 10%_2固体目标重量
-        - percent_10_2_volume: 10%_2液体体积
-        - percent_10_2_liquid_material_name: 10%_2液体物料名称
-        - percent_10_3_assign_material_name: 10%_3固体物料名称
-        - percent_10_3_target_weigh: 10%_3固体目标重量
-        - percent_10_3_volume: 10%_3液体体积
-        - percent_10_3_liquid_material_name: 10%_3液体物料名称
-        - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId
-
-        返回: 任务创建结果
-        
-        异常:
-        - BioyondException: 各种错误情况下的统一异常
-        """
-        try:
-            # 1. 参数验证
-            if not hold_m_name:
-                raise BioyondException("hold_m_name 是必填参数")
-            
-            # 检查90%物料参数的完整性
-            # 90%_1物料：如果有物料名称或目标重量，就必须有全部参数
-            if percent_90_1_assign_material_name or percent_90_1_target_weigh:
-                if not percent_90_1_assign_material_name:
-                    raise BioyondException("90%_1物料：如果提供了目标重量，必须同时提供物料名称")
-                if not percent_90_1_target_weigh:
-                    raise BioyondException("90%_1物料：如果提供了物料名称，必须同时提供目标重量")
-            
-            # 90%_2物料：如果有物料名称或目标重量，就必须有全部参数
-            if percent_90_2_assign_material_name or percent_90_2_target_weigh:
-                if not percent_90_2_assign_material_name:
-                    raise BioyondException("90%_2物料：如果提供了目标重量，必须同时提供物料名称")
-                if not percent_90_2_target_weigh:
-                    raise BioyondException("90%_2物料：如果提供了物料名称，必须同时提供目标重量")
-            
-            # 90%_3物料：如果有物料名称或目标重量，就必须有全部参数
-            if percent_90_3_assign_material_name or percent_90_3_target_weigh:
-                if not percent_90_3_assign_material_name:
-                    raise BioyondException("90%_3物料：如果提供了目标重量，必须同时提供物料名称")
-                if not percent_90_3_target_weigh:
-                    raise BioyondException("90%_3物料：如果提供了物料名称，必须同时提供目标重量")
-            
-            # 检查10%物料参数的完整性
-            # 10%_1物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
-            if any([percent_10_1_assign_material_name, percent_10_1_target_weigh, percent_10_1_volume, percent_10_1_liquid_material_name]):
-                if not percent_10_1_assign_material_name:
-                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体物料名称")
-                if not percent_10_1_target_weigh:
-                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体目标重量")
-                if not percent_10_1_volume:
-                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体体积")
-                if not percent_10_1_liquid_material_name:
-                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
-            # 10%_2物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
-            if any([percent_10_2_assign_material_name, percent_10_2_target_weigh, percent_10_2_volume, percent_10_2_liquid_material_name]):
-                if not percent_10_2_assign_material_name:
-                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体物料名称")
-                if not percent_10_2_target_weigh:
-                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体目标重量")
-                if not percent_10_2_volume:
-                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体体积")
-                if not percent_10_2_liquid_material_name:
-                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
-            # 10%_3物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
-            if any([percent_10_3_assign_material_name, percent_10_3_target_weigh, percent_10_3_volume, percent_10_3_liquid_material_name]):
-                if not percent_10_3_assign_material_name:
-                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体物料名称")
-                if not percent_10_3_target_weigh:
-                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体目标重量")
-                if not percent_10_3_volume:
-                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体体积")
-                if not percent_10_3_liquid_material_name:
-                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
-            # 2. 生成任务编码和设置默认值
-            order_code = "task_vial_" + str(int(datetime.now().timestamp()))
-            if order_name is None:
-                order_name = "90%10%小瓶投料任务"
-            if speed is None:
-                speed = "400"
-            if temperature is None:
-                temperature = "40"
-            if delay_time is None:
-                delay_time = "600"
-                
-            # 3. 工作流ID
-            workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b"
-
-            # 4. 查询工作流对应的holdMID
-            material_info = self.hardware_interface.material_id_query(workflow_id)
-            if not material_info:
-                raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-            
-            # 获取locations列表
-            locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
-            if not locations:
-                raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-            
-            # 查找指定名称的库位
-            hold_mid = None
-            for location in locations:
-                if location.get("holdMName") == hold_m_name:
-                    hold_mid = location.get("holdMId")
-                    break
-            
-            if not hold_mid:
-                raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-            
-            extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
-            self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
-
-            # 5. 构建任务参数
-            order_data = {
-                "orderCode": order_code,
-                "orderName": order_name,
-                "workflowId": workflow_id,
-                "borderNumber": 1,
-                "paramValues": {},
-                "ExtendProperties": extend_properties
-            }
-
-            # 添加搅拌参数
-            order_data["paramValues"]["e8264e47-c319-d9d9-8676-4dd5cb382b11"] = [
-                {"m": 0, "n": 3, "Key": "speed", "Value": speed},
-                {"m": 0, "n": 3, "Key": "temperature", "Value": temperature}
-            ]
-
-            # 添加延迟时间参数
-            order_data["paramValues"]["dc5dba79-5e4b-8eae-cbc5-e93482e43b1f"] = [
-                {"m": 0, "n": 4, "Key": "DelayTime", "Value": delay_time}
-            ]
-
-            # 添加90%_1参数
-            if percent_90_1_assign_material_name is not None and percent_90_1_target_weigh is not None:
-                order_data["paramValues"]["e7d3c0a3-25c2-c42d-c84b-860c4a5ef844"] = [
-                    {"m": 15, "n": 1, "Key": "targetWeigh", "Value": percent_90_1_target_weigh},
-                    {"m": 15, "n": 1, "Key": "assignMaterialName", "Value": percent_90_1_assign_material_name}
-                ]
-
-            # 添加90%_2参数
-            if percent_90_2_assign_material_name is not None and percent_90_2_target_weigh is not None:
-                order_data["paramValues"]["50b912c4-6c81-0734-1c8b-532428b2a4a5"] = [
-                    {"m": 18, "n": 1, "Key": "targetWeigh", "Value": percent_90_2_target_weigh},
-                    {"m": 18, "n": 1, "Key": "assignMaterialName", "Value": percent_90_2_assign_material_name}
-                ]
-
-            # 添加90%_3参数
-            if percent_90_3_assign_material_name is not None and percent_90_3_target_weigh is not None:
-                order_data["paramValues"]["9c3674b3-c7cb-946e-fa03-fa2861d8aec4"] = [
-                    {"m": 21, "n": 1, "Key": "targetWeigh", "Value": percent_90_3_target_weigh},
-                    {"m": 21, "n": 1, "Key": "assignMaterialName", "Value": percent_90_3_assign_material_name}
-                ]
-
-            # 添加10%_1固体参数
-            if percent_10_1_assign_material_name is not None and percent_10_1_target_weigh is not None:
-                order_data["paramValues"]["73a0bfd8-1967-45e9-4bab-c07ccd1a2727"] = [
-                    {"m": 3, "n": 1, "Key": "targetWeigh", "Value": percent_10_1_target_weigh},
-                    {"m": 3, "n": 1, "Key": "assignMaterialName", "Value": percent_10_1_assign_material_name}
-                ]
-
-            # 添加10%_1液体参数
-            if percent_10_1_liquid_material_name is not None and percent_10_1_volume is not None:
-                order_data["paramValues"]["39634d40-c623-473a-8e5f-bc301aca2522"] = [
-                    {"m": 3, "n": 3, "Key": "volume", "Value": percent_10_1_volume},
-                    {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": percent_10_1_liquid_material_name}
-                ]
-
-            # 添加10%_2固体参数
-            if percent_10_2_assign_material_name is not None and percent_10_2_target_weigh is not None:
-                order_data["paramValues"]["2d9c16fa-2a19-cd47-a67b-3cadff9e3e3d"] = [
-                    {"m": 7, "n": 1, "Key": "targetWeigh", "Value": percent_10_2_target_weigh},
-                    {"m": 7, "n": 1, "Key": "assignMaterialName", "Value": percent_10_2_assign_material_name}
-                ]
-
-            # 添加10%_2液体参数
-            if percent_10_2_liquid_material_name is not None and percent_10_2_volume is not None:
-                order_data["paramValues"]["e60541bb-ed68-e839-7305-2b4abe38a13d"] = [
-                    {"m": 7, "n": 3, "Key": "volume", "Value": percent_10_2_volume},
-                    {"m": 7, "n": 3, "Key": "assignMaterialName", "Value": percent_10_2_liquid_material_name}
-                ]
-
-            # 添加10%_3固体参数
-            if percent_10_3_assign_material_name is not None and percent_10_3_target_weigh is not None:
-                order_data["paramValues"]["27494733-0f71-a916-7cd2-1929a0125f17"] = [
-                    {"m": 11, "n": 1, "Key": "targetWeigh", "Value": percent_10_3_target_weigh},
-                    {"m": 11, "n": 1, "Key": "assignMaterialName", "Value": percent_10_3_assign_material_name}
-                ]
-
-            # 添加10%_3液体参数
-            if percent_10_3_liquid_material_name is not None and percent_10_3_volume is not None:
-                order_data["paramValues"]["c8798c29-786f-6858-7d7f-5330b890f2a6"] = [
-                    {"m": 11, "n": 3, "Key": "volume", "Value": percent_10_3_volume},
-                    {"m": 11, "n": 3, "Key": "assignMaterialName", "Value": percent_10_3_liquid_material_name}
-                ]
-
-            # 6. 转换为JSON字符串并创建任务
-            json_str = json.dumps([order_data], ensure_ascii=False)
-            self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务参数: {json_str}")
-
-            # 7. 调用create_order方法创建任务
-            result = self.hardware_interface.create_order(json_str)
-            self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
-            return json.dumps({"suc": True})
-            
-        except BioyondException:
-            # 重新抛出BioyondException
-            raise
-        except Exception as e:
-            # 捕获其他未预期的异常，转换为BioyondException
-            error_msg = f"创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}"
-            self.hardware_interface._logger.error(error_msg)
-            raise BioyondException(error_msg)
-
-    # 二胺溶液配置任务创建方法
-    def create_diamine_solution_task(self,
-                                    order_name: str = None,
-                                    material_name: str = None,
-                                    target_weigh: str = None,
-                                    volume: str = None,
-                                    liquid_material_name: str = "NMP",
-                                    speed: str = None,
-                                    temperature: str = None,
-                                    delay_time: str = None,
-                                    hold_m_name: str = None) -> dict:
-        """
-        创建二胺溶液配置任务
-
-        参数说明:
-        - order_name: 任务名称，如果为None则使用默认名称
-        - material_name: 固体物料名称，必填
-        - target_weigh: 固体目标重量，必填
-        - volume: 液体体积，必填
-        - liquid_material_name: 液体物料名称，默认为NMP
-        - speed: 搅拌速度，如果为None则使用默认值400
-        - temperature: 温度，如果为None则使用默认值20
-        - delay_time: 延迟时间，如果为None则使用默认值600
-        - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId
-
-        返回: 任务创建结果
-        
-        异常:
-        - BioyondException: 各种错误情况下的统一异常
-        """
-        try:
-            # 1. 参数验证
-            if not material_name:
-                raise BioyondException("material_name 是必填参数")
-            if not target_weigh:
-                raise BioyondException("target_weigh 是必填参数")
-            if not volume:
-                raise BioyondException("volume 是必填参数")
-            if not hold_m_name:
-                raise BioyondException("hold_m_name 是必填参数")
-            
-            
-            # 2. 生成任务编码和设置默认值
-            order_code = "task_oda_" + str(int(datetime.now().timestamp()))
-            if order_name is None:
-                order_name = f"二胺溶液配置-{material_name}"
-            if speed is None:
-                speed = "400"
-            if temperature is None:
-                temperature = "20"
-            if delay_time is None:
-                delay_time = "600"
-                
-            # 3. 工作流ID - 二胺溶液配置工作流
-            workflow_id = "3a15d4a1-3bbe-76f9-a458-292896a338f5"
-            
-            # 4. 查询工作流对应的holdMID
-            material_info = self.material_id_query(workflow_id)
-            if not material_info:
-                raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-            
-            # 获取locations列表
-            locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
-            if not locations:
-                raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-            
-            # 查找指定名称的库位
-            hold_mid = None
-            for location in locations:
-                if location.get("holdMName") == hold_m_name:
-                    hold_mid = location.get("holdMId")
-                    break
-            
-            if not hold_mid:
-                raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-            
-            extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
-            self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
-
-            # 5. 构建任务参数
-            order_data = {
-                "orderCode": order_code,
-                "orderName": order_name,
-                "workflowId": workflow_id,
-                "borderNumber": 1,
-                "paramValues": {
-                    # 固体物料参数
-                    "3a15d4a1-3bde-f5bc-053f-1ae0bf1f357e": [
-                        {"m": 3, "n": 2, "Key": "targetWeigh", "Value": target_weigh},
-                        {"m": 3, "n": 2, "Key": "assignMaterialName", "Value": material_name}
-                    ],
-                    # 液体物料参数
-                    "3a15d4a1-3bde-d584-b309-e661ae8f1c01": [
-                        {"m": 3, "n": 3, "Key": "volume", "Value": volume},
-                        {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": liquid_material_name}
-                    ],
-                    # 搅拌参数
-                    "3a15d4a1-3bde-8ec4-1ced-92efc97ed73d": [
-                        {"m": 3, "n": 6, "Key": "speed", "Value": speed},
-                        {"m": 3, "n": 6, "Key": "temperature", "Value": temperature}
-                    ],
-                    # 延迟时间参数
-                    "3a15d4a1-3bde-3b92-83ff-8923a0addbbc": [
-                        {"m": 3, "n": 7, "Key": "DelayTime", "Value": delay_time}
-                    ]
-                },
-                "ExtendProperties": extend_properties
-            }
-
-            # 6. 转换为JSON字符串并创建任务
-            json_str = json.dumps([order_data], ensure_ascii=False)
-            self.hardware_interface._logger.info(f"创建二胺溶液配置任务参数: {json_str}")
-
-            # 7. 调用create_order方法创建任务
-            result = self.hardware_interface.create_order(json_str)
-            self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
-            
-            return json.dumps({"suc": True})
-            
-        except BioyondException:
-            # 重新抛出BioyondException
-            raise
-        except Exception as e:
-            # 捕获其他未预期的异常，转换为BioyondException
-            error_msg = f"创建二胺溶液配置任务时发生未预期的错误: {str(e)}"
-            self.hardware_interface._logger.error(error_msg)
-            raise BioyondException(error_msg)
-
-
-if __name__ == "__main__":
-    bioyond = BioyondDispensingStation(config={
-        "api_key": "DE9BDDA0",
-        "api_host": "http://192.168.1.200:44388"
-    })
-    
-    # 示例1：使用material_id_query查询工作流对应的holdMID
-    workflow_id_1 = "3a15d4a1-3bbe-76f9-a458-292896a338f5"  # 二胺溶液配置工作流ID
-    workflow_id_2 = "3a19310d-16b9-9d81-b109-0748e953694b"  # 90%10%小瓶投料工作流ID
-    
-    #示例2：创建二胺溶液配置任务 - ODA，指定库位名称
-    # bioyond.create_diamine_solution_task(
-    #         order_code="task_oda_" + str(int(datetime.now().timestamp())),
-    #         order_name="二胺溶液配置-ODA",
-    #         material_name="ODA-1",
-    #         target_weigh="12.000",
-    #         volume="60",
-    #         liquid_material_name= "NMP",
-    #         speed="400",
-    #         temperature="20",
-    #         delay_time="600",
-    #         hold_m_name="烧杯ODA"
-    #     )
-    
-    # bioyond.create_diamine_solution_task(
-    #         order_code="task_pda_" + str(int(datetime.now().timestamp())),
-    #         order_name="二胺溶液配置-PDA",
-    #         material_name="PDA-1",
-    #         target_weigh="4.178",
-    #         volume="60",
-    #         liquid_material_name= "NMP",
-    #         speed="400",
-    #         temperature="20",
-    #         delay_time="600",
-    #         hold_m_name="烧杯PDA-2"
-    #     )
-    
-    # bioyond.create_diamine_solution_task(
-    #         order_code="task_mpda_" + str(int(datetime.now().timestamp())),
-    #         order_name="二胺溶液配置-MPDA",
-    #         material_name="MPDA-1",
-    #         target_weigh="3.298",
-    #         volume="50",
-    #         liquid_material_name= "NMP",
-    #         speed="400",
-    #         temperature="20",
-    #         delay_time="600",
-    #         hold_m_name="烧杯MPDA"
-    #     )
-
-    bioyond.material_id_query("3a19310d-16b9-9d81-b109-0748e953694b")
-    bioyond.material_id_query("3a15d4a1-3bbe-76f9-a458-292896a338f5")
-    
-    
-    #示例4：创建90%10%小瓶投料任务
-    # vial_result = bioyond.create_90_10_vial_feeding_task(
-    #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
-    #     order_name="90%10%小瓶投料-1",
-    #     percent_90_1_assign_material_name="BTDA-1",
-    #     percent_90_1_target_weigh="7.392",
-    #     percent_90_2_assign_material_name="BTDA-1",
-    #     percent_90_2_target_weigh="7.392",
-    #     percent_90_3_assign_material_name="BTDA-2",
-    #     percent_90_3_target_weigh="7.392",
-    #     percent_10_1_assign_material_name="BTDA-2",
-    #     percent_10_1_target_weigh="1.500",
-    #     percent_10_1_volume="20",
-    #     percent_10_1_liquid_material_name="NMP",
-    #     # percent_10_2_assign_material_name="BTDA-c",
-    #     # percent_10_2_target_weigh="1.2",
-    #     # percent_10_2_volume="20",
-    #     # percent_10_2_liquid_material_name="NMP",
-    #     speed="400",
-    #     temperature="60",
-    #     delay_time="1200",
-    #     hold_m_name="8.4分装板-1"
-    #     )
-    
-    # vial_result = bioyond.create_90_10_vial_feeding_task(
-    #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
-    #     order_name="90%10%小瓶投料-2",
-    #     percent_90_1_assign_material_name="BPDA-1",
-    #     percent_90_1_target_weigh="5.006",
-    #     percent_90_2_assign_material_name="PMDA-1",
-    #     percent_90_2_target_weigh="3.810",
-    #     percent_90_3_assign_material_name="BPDA-1",
-    #     percent_90_3_target_weigh="8.399",
-    #     percent_10_1_assign_material_name="BPDA-1",
-    #     percent_10_1_target_weigh="1.200",
-    #     percent_10_1_volume="20",
-    #     percent_10_1_liquid_material_name="NMP",
-    #     percent_10_2_assign_material_name="BPDA-1",
-    #     percent_10_2_target_weigh="1.200",
-    #     percent_10_2_volume="20",
-    #     percent_10_2_liquid_material_name="NMP",
-    #     speed="400",
-    #     temperature="60",
-    #     delay_time="1200",
-    #     hold_m_name="8.4分装板-2"
-    #     )
-    
-    #启动调度器
-    #bioyond.scheduler_start()
-
-    #继续调度器
-    #bioyond.scheduler_continue()
-
-    result0 = bioyond.stock_material('{"typeMode": 0, "includeDetail": true}')
-    result1 = bioyond.stock_material('{"typeMode": 1, "includeDetail": true}')
-    result2 = bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
-
-    matpos1 = bioyond.query_warehouse_by_material_type("3a14196e-b7a0-a5da-1931-35f3000281e9")
-    matpos2 = bioyond.query_warehouse_by_material_type("3a14196e-5dfe-6e21-0c79-fe2036d052c4")
-    matpos3 = bioyond.query_warehouse_by_material_type("3a14196b-24f2-ca49-9081-0cab8021bf1a")
-
-    #样品板（里面有样品瓶）
-    material_data_yp = {
-    "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "8.4样品板",
-    "unit": "个",
-    "quantity": 1,
-    "details": [
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "BTDA-1",
-        "quantity": 20,
-        "x": 1,
-        "y": 1, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "BPDA-1",
-        "quantity": 20,
-        "x": 2,
-        "y": 1, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "BTDA-2",
-        "quantity": 20,
-        "x": 1,
-        "y": 2, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "PMDA-1",
-        "quantity": 20,
-        "x": 2,
-        "y": 2, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        }
-    ],
-    "Parameters":"{}"
-    }
-
-    material_data_yp = {
-    "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "8.7样品板",
-    "unit": "个",
-    "quantity": 1,
-    "details": [
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "mianfen",
-        "quantity": 13,
-        "x": 1,
-        "y": 1, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-        #"code": "物料编码001",
-        "name": "mianfen2",
-        "quantity": 13,
-        "x": 1,
-        "y": 2, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        }
-    ],
-    "Parameters":"{}"
-    }
-
-    #分装板
-    material_data_fzb_1 = {
-    "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "8.7分装板",
-    "unit": "个",
-    "quantity": 1,
-    "details": [
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶1",
-        "quantity": 1,
-        "x": 1,
-        "y": 1, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶2",
-        "quantity": 1,
-        "x": 1,
-        "y": 2, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶3",
-        "quantity": 1,
-        "x": 1,
-        "y": 3, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶1",
-        "quantity": 1,
-        "x": 2,
-        "y": 1, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶2",
-        "quantity": 1,
-        "x": 2,
-        "y": 2,
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶3",
-        "quantity": 1,
-        "x": 2,
-        "y": 3,
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        }
-    ],
-    "Parameters":"{}"
-    }
-
-    material_data_fzb_2 = {
-    "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "8.4分装板-2",
-    "unit": "个",
-    "quantity": 1,
-    "details": [
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶1",
-        "quantity": 1,
-        "x": 1,
-        "y": 1, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶2",
-        "quantity": 1,
-        "x": 1,
-        "y": 2, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
-        #"code": "物料编码001",
-        "name": "10%小瓶3",
-        "quantity": 1,
-        "x": 1,
-        "y": 3, 
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶1",
-        "quantity": 1,
-        "x": 2,
-        "y": 1, #x1y2是A02
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶2",
-        "quantity": 1,
-        "x": 2,
-        "y": 2,
-        #"unit": "单位"
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        },
-        {
-        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-        #"code": "物料编码001",
-        "name": "90%小瓶3",
-        "quantity": 1,
-        "x": 2,
-        "y": 3,
-        "molecular": 1,
-        "Parameters":"{\"molecular\": 1}"
-        }
-    ],
-    "Parameters":"{}"
-    }
-
-    #烧杯
-    material_data_sb_oda = {
-    "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "mianfen1",
-    "unit": "个",
-    "quantity": 1,
-    "Parameters":"{}"
-    }
-
-    material_data_sb_pda_2 = {
-    "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-    #"code": "物料编码001",
-    #"barCode": "物料条码001", 
-    "name": "mianfen2",
-    "unit": "个",
-    "quantity": 1,
-    "Parameters":"{}"
-    }
-
-    # material_data_sb_mpda = {
-    # "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-    # #"code": "物料编码001",
-    # #"barCode": "物料条码001", 
-    # "name": "烧杯MPDA",
-    # "unit": "个",
-    # "quantity": 1,
-    # "Parameters":"{}"
-    # }
-
-
-    #result_1 = bioyond.add_material(json.dumps(material_data_yp, ensure_ascii=False))
-    #result_2 = bioyond.add_material(json.dumps(material_data_fzb_1, ensure_ascii=False))
-    # result_3 = bioyond.add_material(json.dumps(material_data_fzb_2, ensure_ascii=False))
-    # result_4 = bioyond.add_material(json.dumps(material_data_sb_oda, ensure_ascii=False))
-    # result_5 = bioyond.add_material(json.dumps(material_data_sb_pda_2, ensure_ascii=False))
-    # #result会返回id
-    # #样品板1id：3a1b3e7d-339d-0291-dfd3-13e2a78fe521
-
-
-    # #将指定物料入库到指定库位
-    #bioyond.material_inbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
-    #bioyond.material_inbound(result_2, "3a14198e-6929-46fe-841e-03dd753f1e4a")
-    # bioyond.material_inbound(result_3, "3a14198e-6929-72ac-32ce-9b50245682b8")
-    # bioyond.material_inbound(result_4, "3a14198e-d724-e036-afdc-2ae39a7f3383")
-    # bioyond.material_inbound(result_5, "3a14198e-d724-d818-6d4f-5725191a24b5")
-
-    #bioyond.material_outbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
-
-    # bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
-
-    query_order = {"status":"100", "pageCount": "10"}
-    bioyond.order_query(json.dumps(query_order, ensure_ascii=False))
-
-    # id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
-    # bioyond.sample_waste_removal(id)
-
--- a/unilabos/devices/workstation/bioyond_studio/experiment.py
+++ b/unilabos/devices/workstation/bioyond_studio/experiment.py
@@ -1,205 +1,203 @@
+# experiment_workflow.py
 """
 实验流程主程序
 """

 import json
-from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
+from bioyond_rpc import BioyondV1RPC
+from config import API_CONFIG, WORKFLOW_MAPPINGS


 def run_experiment():
    """运行实验流程"""
-
+    
    # 初始化Bioyond客户端
    config = {
        **API_CONFIG,
-        "workflow_mappings": WORKFLOW_MAPPINGS,
-        "material_type_mappings": MATERIAL_TYPE_MAPPINGS
+        "workflow_mappings": WORKFLOW_MAPPINGS
    }
-
-    # 创建BioyondReactionStation实例，传入deck配置
-    Bioyond = BioyondReactionStation(
-        config=config,
-        deck=DECK_CONFIG
-    )
-
+    
+    Bioyond = BioyondV1RPC(config)
+    
    print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
-
+    
    # 显示可用的材料名称（前20个）
-    available_materials = Bioyond.hardware_interface.get_available_materials()
+    available_materials = Bioyond.get_available_materials()
    print(f"可用材料名称（前20个）: {available_materials[:20]}")
    print(f"总共有 {len(available_materials)} 个材料可用\n")
-
+    
    # 1. 反应器放入
    print("1. 添加反应器放入工作流，带参数...")
    Bioyond.reactor_taken_in(
-        assign_material_name="BTDA-DD",
-        cutoff="10000",
+        assign_material_name="BTDA-DD", 
+        cutoff="10000", 
        temperature="-10"
    )
-
+    
    # 2. 液体投料-烧杯 (第一个)
    print("2. 添加液体投料-烧杯，带参数...")
    Bioyond.liquid_feeding_beaker(
-        volume="34768.7",
+        volume="34768.7", 
        assign_material_name="ODA",
-        time="0",
-        torque_variation="1",
-        titration_type="1",
+        time="0", 
+        torque_variation="1", 
+        titrationType="1", 
        temperature=-10
    )
-
+    
    # 3. 液体投料-烧杯 (第二个)
    print("3. 添加液体投料-烧杯，带参数...")
    Bioyond.liquid_feeding_beaker(
-        volume="34080.9",
+        volume="34080.9", 
        assign_material_name="MPDA",
-        time="5",
-        torque_variation="2",
-        titration_type="1",
+        time="5", 
+        torque_variation="2", 
+        titrationType="1", 
        temperature=0
    )
-
+    
    # 4. 液体投料-小瓶非滴定
    print("4. 添加液体投料-小瓶非滴定，带参数...")
    Bioyond.liquid_feeding_vials_non_titration(
-        volume_formula="639.5",
-        assign_material_name="SIDA",
-        titration_type="1",
-        time="0",
-        torque_variation="1",
+        volumeFormula="639.5", 
+        assign_material_name="SIDA", 
+        titration_type="1", 
+        time="0", 
+        torque_variation="1", 
        temperature=-10
    )
-
+    
    # 5. 液体投料溶剂
    print("5. 添加液体投料溶剂，带参数...")
    Bioyond.liquid_feeding_solvents(
        assign_material_name="NMP",
-        volume="19000",
-        titration_type="1",
-        time="5",
-        torque_variation="2",
+        volume="19000", 
+        titration_type="1", 
+        time="5", 
+        torque_variation="2", 
        temperature=-10
    )
-
+    
    # 6-8. 固体进料小瓶 (三个)
    print("6. 添加固体进料小瓶，带参数...")
    Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="180",
+        material_id="3", 
+        time="180", 
        torque_variation="2",
-        assign_material_name="BTDA1",
+        assign_material_name="BTDA-1", 
        temperature=-10.00
    )
-
+    
    print("7. 添加固体进料小瓶，带参数...")
    Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="180",
+        material_id="3", 
+        time="180", 
        torque_variation="2",
-        assign_material_name="BTDA2",
+        assign_material_name="BTDA-2", 
        temperature=25.00
    )
-
+    
    print("8. 添加固体进料小瓶，带参数...")
    Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="480",
+        material_id="3", 
+        time="480", 
        torque_variation="2",
-        assign_material_name="BTDA3",
+        assign_material_name="BTDA-3", 
        temperature=25.00
    )
-
+    
    # 液体投料滴定（第一个）
    print("9. 添加液体投料滴定，带参数...")  # ODPA
    Bioyond.liquid_feeding_titration(
-        volume_formula="{{6-0-5}}+{{7-0-5}}+{{8-0-5}}",
+        volume_formula="1000", 
        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature="25.00"
    )
-
+    
    # 液体投料滴定（第二个）
    print("10. 添加液体投料滴定，带参数...")  # ODPA
    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature="25.00"
    )

    # 液体投料滴定（第三个）
    print("11. 添加液体投料滴定，带参数...")  # ODPA
    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature="25.00"
    )
-
+    
    print("12. 添加液体投料滴定，带参数...")  # ODPA
    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature="25.00"
    )
-
+    
    print("13. 添加液体投料滴定，带参数...")  # ODPA
    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("14. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature="25.00"
    )

-    print("14. 添加液体投料滴定，带参数...")  # ODPA
-    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
-        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
-        temperature="25.00"
-    )
+

    print("15. 添加液体投料溶剂，带参数...")
    Bioyond.liquid_feeding_solvents(
        assign_material_name="PGME",
-        volume="16894.6",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        volume="16894.6", 
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
        temperature=25.00
    )
-
+    
    # 16. 反应器取出
    print("16. 添加反应器取出工作流...")
    Bioyond.reactor_taken_out()
-
+    
    # 显示当前工作流序列
    sequence = Bioyond.get_workflow_sequence()
    print("\n当前工作流执行顺序:")
    print(sequence)
-
+    
    # 执行process_and_execute_workflow，合并工作流并创建任务
    print("\n4. 执行process_and_execute_workflow...")
-
+    
    result = Bioyond.process_and_execute_workflow(
-        workflow_name="test3",
-        task_name="实验3"
+        workflow_name="test3_86", 
+        task_name="实验3_86"
    )
-
+    
    # 显示执行结果
    print("\n5. 执行结果:")
    if isinstance(result, str):
@@ -207,9 +205,9 @@ def run_experiment():
            result_dict = json.loads(result)
            if result_dict.get("success"):
                print("任务创建成功!")
-                # print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
-                # print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
-                # print(f"- 任务结果: {result_dict.get('task')}")
+                print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
+                print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
+                print(f"- 任务结果: {result_dict.get('task')}")
            else:
                print(f"任务创建失败: {result_dict.get('error')}")
        except:
@@ -222,179 +220,179 @@ def run_experiment():
            print(f"- 任务结果: {result.get('task')}")
        else:
            print(f"任务创建失败: {result.get('error')}")
-
+    
    # 可选：启动调度器
    # Bioyond.scheduler_start()
-
+    
    return Bioyond


-# def prepare_materials(bioyond):
-#     """准备实验材料（可选）"""
-
-#     # 样品板材料数据定义
-#     material_data_yp_1 = {
-#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-#         "name": "样品板-1",
-#         "unit": "个",
-#         "quantity": 1,
-#         "details": [
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD-1",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "PEPA",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD-2",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-1",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "PMDA",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-2",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             }
-#         ],
-#         "Parameters": "{}"
-#     }
-
-#     material_data_yp_2 = {
-#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-#         "name": "样品板-2",
-#         "unit": "个",
-#         "quantity": 1,
-#         "details": [
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "SIDA",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-1",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-2",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-3",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             }
-#         ],
-#         "Parameters": "{}"
-#     }
-
-#     # 烧杯材料数据定义
-#     beaker_materials = [
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "PDA-1",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "TFDB",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "ODA",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "MPDA",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "PDA-2",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         }
-#     ]
-
-#     # 如果需要，可以在这里调用add_material方法添加材料
-#     # 例如:
-#     # result = bioyond.add_material(json.dumps(material_data_yp_1))
-#     # print(f"添加材料结果: {result}")
-
-#     return {
-#         "sample_plates": [material_data_yp_1, material_data_yp_2],
-#         "beakers": beaker_materials
-#     }
+def prepare_materials(bioyond):
+    """准备实验材料（可选）"""
+    
+    # 样品板材料数据定义
+    material_data_yp_1 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-1",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-1",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PEPA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-2",
+                "quantity": 1,
+                "x": 1,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PMDA",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    material_data_yp_2 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-2",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "SIDA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-3",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    # 烧杯材料数据定义
+    beaker_materials = [
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-1",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "TFDB",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "ODA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "MPDA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-2",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        }
+    ]
+    
+    # 如果需要，可以在这里调用add_material方法添加材料
+    # 例如:
+    # result = bioyond.add_material(json.dumps(material_data_yp_1))
+    # print(f"添加材料结果: {result}")
+    
+    return {
+        "sample_plates": [material_data_yp_1, material_data_yp_2],
+        "beakers": beaker_materials
+    }


 if __name__ == "__main__":
    # 运行主实验流程
    bioyond_client = run_experiment()
-
+    
    # 可选：准备材料数据
    # materials = prepare_materials(bioyond_client)
    # print(f"\n准备的材料数据: {materials}")
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
@@ -1,752 +0,0 @@
-import json
-import requests
-from typing import List, Dict, Any
-from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
-from unilabos.devices.workstation.bioyond_studio.config import (
-    WORKFLOW_STEP_IDS,
-    WORKFLOW_TO_SECTION_MAP,
-    ACTION_NAMES
-)
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
-
-
-class BioyondReactionStation(BioyondWorkstation):
-    """Bioyond反应站类
-
-    继承自BioyondWorkstation，提供反应站特定的业务方法
-    """
-
-    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
-        """初始化反应站
-
-        Args:
-            config: 配置字典，应包含workflow_mappings等配置
-            deck: Deck对象
-            protocol_type: 协议类型（由ROS系统传递，此处忽略）
-            **kwargs: 其他可能的参数
-        """
-        if deck is None and config:
-            deck = config.get('deck')
-
-        print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
-        if config and 'workflow_mappings' in config:
-            print(f"workflow_mappings内容: {config['workflow_mappings']}")
-
-        super().__init__(bioyond_config=config, deck=deck)
-
-        print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
-        print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
-
-    # ==================== 工作流方法 ====================
-
-    def reactor_taken_out(self):
-        """反应器取出"""
-        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
-        reactor_taken_out_params = {"param_values": {}}
-        self.pending_task_params.append(reactor_taken_out_params)
-        print(f"成功添加反应器取出工作流")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def reactor_taken_in(
-        self,
-        assign_material_name: str,
-        cutoff: str = "900000",
-        temperature: float = -10.00
-    ):
-        """反应器放入
-
-        Args:
-            assign_material_name: 物料名称（不能为空）
-            cutoff: 截止值/通量配置（需为有效数字字符串，默认 "900000"）
-            temperature: 温度上限（°C，范围：-50.00 至 100.00）
-
-        Returns:
-            str: JSON 字符串，格式为 {"suc": True}
-
-        Raises:
-            ValueError: 若物料名称无效或 cutoff 格式错误
-        """
-        if not assign_material_name:
-            raise ValueError("物料名称不能为空")
-        try:
-            float(cutoff)
-        except ValueError:
-            raise ValueError("cutoff 必须是有效的数字字符串")
-
-        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
-        reactor_taken_in_params = {
-            "param_values": {
-                step_id: {
-                    ACTION_NAMES["reactor_taken_in"]["config"]: [
-                        {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
-                    ],
-                    ACTION_NAMES["reactor_taken_in"]["stirring"]: [
-                        {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(reactor_taken_in_params)
-        print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def solid_feeding_vials(
-        self,
-        material_id: str,
-        time: str = "0",
-        torque_variation: int = 1,
-        assign_material_name: str = None,
-        temperature: float = 25.00
-    ):
-        """固体进料小瓶
-
-        Args:
-            material_id: 粉末类型ID
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            assign_material_name: 物料名称(用于获取试剂瓶位ID)
-            temperature: 温度上限(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
-        material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
-        observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
-
-        solid_feeding_vials_params = {
-            "param_values": {
-                feeding_step_id: {
-                    ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
-                        {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["solid_feeding_vials"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(solid_feeding_vials_params)
-        print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_vials_non_titration(
-        self,
-        volume_formula: str,
-        assign_material_name: str,
-        titration_type: str = "1",
-        time: str = "0",
-        torque_variation: int = 1,
-        temperature: float = 25.00
-    ):
-        """液体进料小瓶(非滴定)
-
-        Args:
-            volume_formula: 分液公式(μL)
-            assign_material_name: 物料名称
-            titration_type: 是否滴定(1=滴定, 其他=非滴定)
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            temperature: 温度(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
-                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_solvents(
-        self,
-        assign_material_name: str,
-        volume: str,
-        titration_type: str = "1",
-        time: str = "360",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """液体进料-溶剂
-
-        Args:
-            assign_material_name: 物料名称
-            volume: 分液量(μL)
-            titration_type: 是否滴定
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            temperature: 温度上限(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
-                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 1, "Key": "volume", "Value": volume},
-                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_titration(
-        self,
-        volume_formula: str,
-        assign_material_name: str,
-        titration_type: str = "1",
-        time: str = "90",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """液体进料(滴定)
-
-        Args:
-            volume_formula: 分液公式(μL)
-            assign_material_name: 物料名称
-            titration_type: 是否滴定
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            temperature: 温度(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
-                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
-                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_beaker(
-        self,
-        volume: str = "35000",
-        assign_material_name: str = "BAPP",
-        time: str = "0",
-        torque_variation: int = 1,
-        titration_type: str = "1",
-        temperature: float = 25.00
-    ):
-        """液体进料烧杯
-
-        Args:
-            volume: 分液量(μL)
-            assign_material_name: 物料名称(试剂瓶位)
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            titration_type: 是否滴定
-            temperature: 温度上限(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
-                        {"m": 0, "n": 2, "Key": "volume", "Value": volume},
-                        {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def drip_back(
-        self,
-        assign_material_name: str,
-        volume: str,
-        titration_type: str = "1",
-        time: str = "90",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """滴回去
-
-        Args:
-            assign_material_name: 物料名称(液体种类)
-            volume: 分液量(μL)
-            titration_type: 是否滴定
-            time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            temperature: 温度(°C)
-        """
-        self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["drip_back"]["liquid"]: [
-                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 1, "Key": "volume", "Value": volume}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["drip_back"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    # ==================== 工作流管理方法 ====================
-
-    def get_workflow_sequence(self) -> List[str]:
-        """获取当前工作流执行顺序
-
-        Returns:
-            工作流名称列表
-        """
-        id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
-        workflow_names = []
-        for workflow_id in self.workflow_sequence:
-            workflow_name = id_to_name.get(workflow_id, workflow_id)
-            workflow_names.append(workflow_name)
-        print(f"工作流序列: {workflow_names}")
-        return workflow_names
-
-    def workflow_step_query(self, workflow_id: str) -> dict:
-        """查询工作流步骤参数
-
-        Args:
-            workflow_id: 工作流ID
-
-        Returns:
-            工作流步骤参数字典
-        """
-        return self.hardware_interface.workflow_step_query(workflow_id)
-
-    def create_order(self, json_str: str) -> dict:
-        """创建订单
-
-        Args:
-            json_str: 订单参数的JSON字符串
-
-        Returns:
-            创建结果
-        """
-        return self.hardware_interface.create_order(json_str)
-
-    # ==================== 工作流执行核心方法 ====================
-
-    def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
-        """处理网页工作流列表
-
-        Args:
-            web_workflow_json: JSON 格式的网页工作流列表
-
-        Returns:
-            List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
-        """
-        try:
-            web_workflow_data = json.loads(web_workflow_json)
-            web_workflow_list = web_workflow_data.get("web_workflow_list", [])
-            workflows_result = []
-            for name in web_workflow_list:
-                workflow_id = self.workflow_mappings.get(name, "")
-                if not workflow_id:
-                    print(f"警告：未找到工作流名称 {name} 对应的 ID")
-                    continue
-                workflows_result.append({"id": workflow_id, "name": name})
-            print(f"process_web_workflows 输出: {workflows_result}")
-            return workflows_result
-        except json.JSONDecodeError as e:
-            print(f"错误：无法解析 web_workflow_json: {e}")
-            return []
-        except Exception as e:
-            print(f"错误：处理工作流失败: {e}")
-            return []
-
-    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
-        """
-        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
-
-        Args:
-            workflow_name: 合并后的工作流名称
-            task_name: 任务名称
-
-        Returns:
-            任务创建结果
-        """
-        web_workflow_list = self.get_workflow_sequence()
-        print(f"\n{'='*60}")
-        print(f"📋 处理网页工作流列表: {web_workflow_list}")
-        print(f"{'='*60}")
-
-        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
-        workflows_result = self.process_web_workflows(web_workflow_json)
-
-        if not workflows_result:
-            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
-
-        print(f"workflows_result 类型: {type(workflows_result)}")
-        print(f"workflows_result 内容: {workflows_result}")
-
-        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
-
-        merge_data = {
-            "name": workflow_name,
-            "workflows": workflows_with_params
-        }
-
-        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
-        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
-
-        if not merged_workflow:
-            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
-
-        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
-        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
-
-        order_params = [{
-            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
-            "orderName": task_name,
-            "workFlowId": workflow_id,
-            "borderNumber": 1,
-            "paramValues": {}
-        }]
-
-        result = self.create_order(json.dumps(order_params))
-
-        if not result:
-            return self._create_error_result("创建任务失败", "create_order")
-
-        # 清空工作流序列和参数，防止下次执行时累积重复
-        self.pending_task_params = []
-        self.clear_workflows()  # 清空工作流序列，避免重复累积
-
-        # print(f"\n✅ 任务创建成功: {result}")
-        # print(f"\n✅ 任务创建成功")
-        print(f"{'='*60}\n")
-        return json.dumps({"success": True, "result": result})
-
-    def _build_workflows_with_parameters(self, workflows_result: list) -> list:
-        """
-        构建带参数的工作流列表
-
-        Args:
-            workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
-
-        Returns:
-            符合新接口格式的工作流参数结构
-        """
-        workflows_with_params = []
-        total_params = 0
-        successful_params = 0
-        failed_params = []
-
-        for idx, workflow_info in enumerate(workflows_result):
-            if not isinstance(workflow_info, dict):
-                print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
-                continue
-            workflow_id = workflow_info.get("id")
-            if not workflow_id:
-                print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
-                continue
-            workflow_name = workflow_info.get("name", "")
-            # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
-
-            if idx >= len(self.pending_task_params):
-                # print(f"   ⚠️ 无对应参数，跳过")
-                workflows_with_params.append({"id": workflow_id})
-                continue
-
-            param_data = self.pending_task_params[idx]
-            param_values = param_data.get("param_values", {})
-            if not param_values:
-                # print(f"   ⚠️ 参数为空，跳过")
-                workflows_with_params.append({"id": workflow_id})
-                continue
-
-            step_parameters = {}
-            for step_id, actions_dict in param_values.items():
-                # print(f"   📍 步骤ID: {step_id}")
-                for action_name, param_list in actions_dict.items():
-                    # print(f"      🔹 模块: {action_name}, 参数数量: {len(param_list)}")
-                    if step_id not in step_parameters:
-                        step_parameters[step_id] = {}
-                    if action_name not in step_parameters[step_id]:
-                        step_parameters[step_id][action_name] = []
-                    for param_item in param_list:
-                        param_key = param_item.get("Key", "")
-                        param_value = param_item.get("Value", "")
-                        total_params += 1
-                        step_parameters[step_id][action_name].append({
-                            "Key": param_key,
-                            "DisplayValue": param_value
-                        })
-                        successful_params += 1
-                        # print(f"         ✓ {param_key} = {param_value}")
-
-            workflows_with_params.append({
-                "id": workflow_id,
-                "stepParameters": step_parameters
-            })
-
-        self._print_mapping_stats(total_params, successful_params, failed_params)
-        return workflows_with_params
-
-    def _print_mapping_stats(self, total: int, success: int, failed: list):
-        """打印参数映射统计"""
-        print(f"\n{'='*20} 参数映射统计 {'='*20}")
-        print(f"📊 总参数数量: {total}")
-        print(f"✅ 成功映射: {success}")
-        print(f"❌ 映射失败: {len(failed)}")
-        if not failed:
-            print("🎉 成功映射所有参数！")
-        else:
-            print(f"⚠️ 失败的参数: {', '.join(failed)}")
-        success_rate = (success/total*100) if total > 0 else 0
-        print(f"📈 映射成功率: {success_rate:.1f}%")
-        print("="*60)
-
-    def _create_error_result(self, error_msg: str, step: str) -> str:
-        """创建统一的错误返回格式"""
-        print(f"❌ {error_msg}")
-        return json.dumps({
-            "success": False,
-            "error": f"process_and_execute_workflow: {error_msg}",
-            "method": "process_and_execute_workflow",
-            "step": step
-        })
-
-    def merge_workflow_with_parameters(self, json_str: str) -> dict:
-        """
-        调用新接口：合并工作流并传递参数
-
-        Args:
-            json_str: JSON格式的字符串，包含:
-                - name: 工作流名称
-                - workflows: [{"id": "工作流ID", "stepParameters": {...}}]
-
-        Returns:
-            合并后的工作流信息
-        """
-        try:
-            data = json.loads(json_str)
-
-            # 在工作流名称后面添加时间戳，避免重复
-            if "name" in data and data["name"]:
-                timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
-                original_name = data["name"]
-                data["name"] = f"{original_name}_{timestamp}"
-                print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
-
-            request_data = {
-                "apiKey": API_CONFIG["api_key"],
-                "requestTime": self.hardware_interface.get_current_time_iso8601(),
-                "data": data
-            }
-            print(f"\n📤 发送合并请求:")
-            print(f"   工作流名称: {data.get('name')}")
-            print(f"   子工作流数量: {len(data.get('workflows', []))}")
-
-            # 打印完整的POST请求内容
-            print(f"\n🔍 POST请求详细内容:")
-            print(f"   URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
-            print(f"   Headers: {{'Content-Type': 'application/json'}}")
-            print(f"   Request Data:")
-            print(f"   {json.dumps(request_data, indent=4, ensure_ascii=False)}")
-            #
-            response = requests.post(
-                f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
-                json=request_data,
-                headers={"Content-Type": "application/json"},
-                timeout=30
-            )
-
-            # # 打印响应详细内容
-            # print(f"\n📥 POST响应详细内容:")
-            # print(f"   状态码: {response.status_code}")
-            # print(f"   响应头: {dict(response.headers)}")
-            # print(f"   响应体: {response.text}")
-            # #
-            try:
-                result = response.json()
-                # #
-                # print(f"\n📋 解析后的响应JSON:")
-                # print(f"   {json.dumps(result, indent=4, ensure_ascii=False)}")
-                # #
-            except json.JSONDecodeError:
-                print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
-                return None
-
-            if result.get("code") == 1:
-                print(f"✅ 工作流合并成功（带参数）")
-                return result.get("data", {})
-            else:
-                error_msg = result.get('message', '未知错误')
-                print(f"❌ 工作流合并失败: {error_msg}")
-                return None
-
-        except requests.exceptions.Timeout:
-            print(f"❌ 合并工作流请求超时")
-            return None
-        except requests.exceptions.RequestException as e:
-            print(f"❌ 合并工作流网络异常: {str(e)}")
-            return None
-        except json.JSONDecodeError as e:
-            print(f"❌ 合并工作流响应解析失败: {str(e)}")
-            return None
-        except Exception as e:
-            print(f"❌ 合并工作流异常: {str(e)}")
-            return None
-
-    def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
-        """验证工作流ID是否有效，如果无效则重新合并
-
-        Args:
-            workflow_name: 工作流名称
-
-        Returns:
-            bool: 验证或刷新是否成功
-        """
-        print(f"\n🔍 验证工作流ID有效性...")
-        if not self.workflow_sequence:
-            print(f"   ⚠️ 工作流序列为空，需要重新合并")
-            return False
-        first_workflow_id = self.workflow_sequence[0]
-        try:
-            structure = self.workflow_step_query(first_workflow_id)
-            if structure:
-                print(f"   ✅ 工作流ID有效")
-                return True
-            else:
-                print(f"   ⚠️ 工作流ID已过期，需要重新合并")
-                return False
-        except Exception as e:
-            print(f"   ❌ 工作流ID验证失败: {e}")
-            print(f"   💡 将重新合并工作流")
-            return False
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
--- a/unilabos/devices/workstation/workstation_base.py
+++ b/unilabos/devices/workstation/workstation_base.py
@@ -171,6 +171,7 @@ class WorkstationBase(ABC):
    def post_init(self, ros_node: ROS2WorkstationNode) -> None:
        # 初始化物料系统
        self._ros_node = ros_node
+        self._ros_node.update_resource([self.deck])

    def _build_resource_mappings(self, deck: Deck):
        """递归构建资源映射"""
--- a/unilabos/devices/workstation/workstation_http_service.py
+++ b/unilabos/devices/workstation/workstation_http_service.py
@@ -668,7 +668,7 @@ __all__ = [

 if __name__ == "__main__":
    # 简单测试HTTP服务
-    class BioyondWorkstation:
+    class DummyWorkstation:
        device_id = "WS-001"
        
        def process_step_finish_report(self, report_request):
--- a/unilabos/registry/devices/bioyond.yaml
+++ b/unilabos/registry/devices/bioyond.yaml
@@ -1,252 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      create_90_10_vial_feeding_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          order_name: order_name
-          percent_10_1_assign_material_name: percent_10_1_assign_material_name
-          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
-          percent_10_1_target_weigh: percent_10_1_target_weigh
-          percent_10_1_volume: percent_10_1_volume
-          percent_10_2_assign_material_name: percent_10_2_assign_material_name
-          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
-          percent_10_2_target_weigh: percent_10_2_target_weigh
-          percent_10_2_volume: percent_10_2_volume
-          percent_10_3_assign_material_name: percent_10_3_assign_material_name
-          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
-          percent_10_3_target_weigh: percent_10_3_target_weigh
-          percent_10_3_volume: percent_10_3_volume
-          percent_90_1_assign_material_name: percent_90_1_assign_material_name
-          percent_90_1_target_weigh: percent_90_1_target_weigh
-          percent_90_2_assign_material_name: percent_90_2_assign_material_name
-          percent_90_2_target_weigh: percent_90_2_target_weigh
-          percent_90_3_assign_material_name: percent_90_3_assign_material_name
-          percent_90_3_target_weigh: percent_90_3_target_weigh
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          order_name: ''
-          percent_10_1_assign_material_name: ''
-          percent_10_1_liquid_material_name: ''
-          percent_10_1_target_weigh: ''
-          percent_10_1_volume: ''
-          percent_10_2_assign_material_name: ''
-          percent_10_2_liquid_material_name: ''
-          percent_10_2_target_weigh: ''
-          percent_10_2_volume: ''
-          percent_10_3_assign_material_name: ''
-          percent_10_3_liquid_material_name: ''
-          percent_10_3_target_weigh: ''
-          percent_10_3_volume: ''
-          percent_90_1_assign_material_name: ''
-          percent_90_1_target_weigh: ''
-          percent_90_2_assign_material_name: ''
-          percent_90_2_target_weigh: ''
-          percent_90_3_assign_material_name: ''
-          percent_90_3_target_weigh: ''
-          speed: ''
-          temperature: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationVialFeed_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                order_name:
-                  type: string
-                percent_10_1_assign_material_name:
-                  type: string
-                percent_10_1_liquid_material_name:
-                  type: string
-                percent_10_1_target_weigh:
-                  type: string
-                percent_10_1_volume:
-                  type: string
-                percent_10_2_assign_material_name:
-                  type: string
-                percent_10_2_liquid_material_name:
-                  type: string
-                percent_10_2_target_weigh:
-                  type: string
-                percent_10_2_volume:
-                  type: string
-                percent_10_3_assign_material_name:
-                  type: string
-                percent_10_3_liquid_material_name:
-                  type: string
-                percent_10_3_target_weigh:
-                  type: string
-                percent_10_3_volume:
-                  type: string
-                percent_90_1_assign_material_name:
-                  type: string
-                percent_90_1_target_weigh:
-                  type: string
-                percent_90_2_assign_material_name:
-                  type: string
-                percent_90_2_target_weigh:
-                  type: string
-                percent_90_3_assign_material_name:
-                  type: string
-                percent_90_3_target_weigh:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationVialFeed_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationVialFeed_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationVialFeed
-          type: object
-        type: DispenStationVialFeed
-      create_diamine_solution_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          material_name: material_name
-          order_name: order_name
-          speed: speed
-          target_weigh: target_weigh
-          temperature: temperature
-          volume: volume
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          liquid_material_name: ''
-          material_name: ''
-          order_name: ''
-          speed: ''
-          target_weigh: ''
-          temperature: ''
-          volume: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationSolnPrep_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  type: string
-                material_name:
-                  type: string
-                order_name:
-                  type: string
-                speed:
-                  type: string
-                target_weigh:
-                  type: string
-                temperature:
-                  type: string
-                volume:
-                  type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationSolnPrep_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationSolnPrep_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationSolnPrep
-          type: object
-        type: DispenStationSolnPrep
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
-    status_types: {}
-    type: python
-  config_info: []
-  description: ''
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-      required:
-      - config
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0
--- a/unilabos/registry/devices/dispensing_station_bioyond.yaml
+++ b/unilabos/registry/devices/dispensing_station_bioyond.yaml
--- a/unilabos/registry/devices/laiyu_liquid.yaml
+++ b/unilabos/registry/devices/laiyu_liquid.yaml
@@ -1361,7 +1361,8 @@ laiyu_liquid:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
          mix_vol: 0
          none_keys:
          - ''
@@ -1491,9 +1492,11 @@ laiyu_liquid:
                mix_stage:
                  type: string
                mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -3994,7 +3994,8 @@ liquid_handler:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
          mix_vol: 0
          none_keys:
          - ''
@@ -4150,9 +4151,11 @@ liquid_handler:
                mix_stage:
                  type: string
                mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -5012,7 +5015,8 @@ liquid_handler.biomek:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
          mix_vol: 0
          none_keys:
          - ''
@@ -5155,9 +5159,11 @@ liquid_handler.biomek:
                mix_stage:
                  type: string
                mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -7801,7 +7807,8 @@ liquid_handler.prcxi:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
          mix_vol: 0
          none_keys:
          - ''
@@ -7930,9 +7937,11 @@ liquid_handler.prcxi:
                mix_stage:
                  type: string
                mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
@@ -4,11 +4,11 @@ reaction_station.bioyond:
  - reaction_station_bioyond
  class:
    action_value_mappings:
-      auto-append_to_workflow_sequence:
+      auto-add_material:
        feedback: {}
        goal: {}
        goal_default:
-          web_workflow_name: null
+          material_data: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -18,21 +18,22 @@ reaction_station.bioyond:
            feedback: {}
            goal:
              properties:
-                web_workflow_name:
-                  type: string
+                material_data:
+                  type: object
              required:
-              - web_workflow_name
+              - material_data
              type: object
            result: {}
          required:
          - goal
-          title: append_to_workflow_sequence参数
+          title: add_material参数
          type: object
        type: UniLabJsonCommand
-      auto-clear_workflows:
+      auto-create_90_10_vial_feeding_task:
        feedback: {}
        goal: {}
-        goal_default: {}
+        goal_default:
+          task_data: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -41,13 +42,470 @@ reaction_station.bioyond:
          properties:
            feedback: {}
            goal:
-              properties: {}
+              properties:
+                task_data:
+                  type: string
+              required:
+              - task_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_batch_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_diamine_solution_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          solution_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                solution_data:
+                  type: string
+              required:
+              - solution_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_order:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+          task_name: null
+          workflow_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+                task_name:
+                  type: string
+                workflow_name:
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_order参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_data:
+                  type: string
+              required:
+              - resource_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      auto-delete_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: delete_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-device_operation:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          operation: null
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_id:
+                  type: string
+                operation:
+                  type: string
+                parameters:
+                  type: object
+              required:
+              - device_id
+              - operation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: device_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-dispensing_material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_data:
+                  type: string
+              required:
+              - material_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-drip_back:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assign_material_name: Reactor
+          temperature: 25.0
+          time: '0'
+          torque_variation: '1'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  default: Reactor
+                  type: string
+                temperature:
+                  default: 25.0
+                  type: number
+                time:
+                  default: '0'
+                  type: string
+                torque_variation:
+                  default: '1'
+                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
-          title: clear_workflows参数
+          title: drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_bioyond_sync_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_sync_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-execute_bioyond_update_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parameters: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parameters:
+                  type: object
+              required:
+              - parameters
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_bioyond_update_workflow参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-liquid_feeding_beaker:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_beaker参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_solvents:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_solvents参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          time: '120'
+          titration_type: '1'
+          torque_variation: '2'
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                time:
+                  default: '120'
+                  type: string
+                titration_type:
+                  default: '1'
+                  type: string
+                torque_variation:
+                  default: '2'
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_titration参数
+          type: object
+        type: UniLabJsonCommand
+      auto-liquid_feeding_vials_non_titration:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_vials_non_titration参数
          type: object
        type: UniLabJsonCommand
      auto-load_bioyond_data_from_file:
@@ -75,11 +533,12 @@ reaction_station.bioyond:
          title: load_bioyond_data_from_file参数
          type: object
        type: UniLabJsonCommand
-      auto-merge_workflow_with_parameters:
+      auto-material_inbound:
        feedback: {}
        goal: {}
        goal_default:
-          json_str: null
+          location_name: null
+          material_id: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -89,10 +548,77 @@ reaction_station.bioyond:
            feedback: {}
            goal:
              properties:
-                json_str:
+                location_name:
+                  type: string
+                material_id:
                  type: string
              required:
-              - json_str
+              - material_id
+              - location_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-material_outbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_name: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_name:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location_name
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - name
+              - workflows
              type: object
            result: {}
          required:
@@ -100,6 +626,31 @@ reaction_station.bioyond:
          title: merge_workflow_with_parameters参数
          type: object
        type: UniLabJsonCommand
+      auto-order_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          query_data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                query_data:
+                  type: string
+              required:
+              - query_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_query参数
+          type: object
+        type: UniLabJsonCommand
      auto-post_init:
        feedback: {}
        goal: {}
@@ -125,11 +676,33 @@ reaction_station.bioyond:
          title: post_init参数
          type: object
        type: UniLabJsonCommand
-      auto-process_web_workflows:
+      auto-reactor_taken_in:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reactor_taken_in参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reactor_taken_out:
        feedback: {}
        goal: {}
        goal_default:
-          json_str: null
+          order_id: ''
+          preintake_id: ''
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -139,15 +712,18 @@ reaction_station.bioyond:
            feedback: {}
            goal:
              properties:
-                json_str:
+                order_id:
+                  default: ''
                  type: string
-              required:
-              - json_str
+                preintake_id:
+                  default: ''
+                  type: string
+              required: []
              type: object
            result: {}
          required:
          - goal
-          title: process_web_workflows参数
+          title: reactor_taken_out参数
          type: object
        type: UniLabJsonCommand
      auto-reset_workstation:
@@ -171,11 +747,11 @@ reaction_station.bioyond:
          title: reset_workstation参数
          type: object
        type: UniLabJsonCommand
-      auto-resource_tree_add:
+      auto-sample_waste_removal:
        feedback: {}
        goal: {}
        goal_default:
-          resources: null
+          waste_data: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -185,42 +761,119 @@ reaction_station.bioyond:
            feedback: {}
            goal:
              properties:
-                resources:
-                  items:
-                    type: object
-                  type: array
-              required:
-              - resources
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_tree_add参数
-          type: object
-        type: UniLabJsonCommand
-      auto-set_workflow_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
+                waste_data:
                  type: string
              required:
-              - json_str
+              - waste_data
              type: object
            result: {}
          required:
          - goal
-          title: set_workflow_sequence参数
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+      auto-solid_feeding_vials:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: ''
+          volume: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  default: ''
+                  type: string
+                volume:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: solid_feeding_vials参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_scheduler参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stock_material:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location: null
+          material_id: null
+          quantity: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  type: string
+                material_id:
+                  type: string
+                quantity:
+                  type: integer
+              required:
+              - material_id
+              - location
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stock_material参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_scheduler:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_scheduler参数
          type: object
        type: UniLabJsonCommand
      auto-transfer_resource_to_another:
@@ -411,6 +1064,33 @@ reaction_station.bioyond:
          title: transfer_resource_to_another参数
          type: object
        type: UniLabJsonCommand
+      auto-validate_workflow_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflows: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflows:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - workflows
+              type: object
+            result: {}
+          required:
+          - goal
+          title: validate_workflow_parameters参数
+          type: object
+        type: UniLabJsonCommand
      bioyond_sync:
        feedback: {}
        goal:
@@ -727,8 +1407,11 @@ reaction_station.bioyond:
    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
    protocol_type: []
    status_types:
-      all_workflows: dict
      bioyond_status: dict
+      device_list: dict
+      scheduler_status: dict
+      station_info: dict
+      workflow_parameter_template: dict
      workstation_status: dict
    type: python
  config_info: []
@@ -748,15 +1431,24 @@ reaction_station.bioyond:
      type: object
    data:
      properties:
-        all_workflows:
-          type: object
        bioyond_status:
          type: object
+        device_list:
+          type: object
+        scheduler_status:
+          type: object
+        station_info:
+          type: object
+        workflow_parameter_template:
+          type: object
        workstation_status:
          type: object
      required:
+      - station_info
      - bioyond_status
-      - all_workflows
+      - workflow_parameter_template
+      - scheduler_status
+      - device_list
      - workstation_status
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -708,8 +708,6 @@ class Registry:
                        for status_name, status_type in device_config["class"]["status_types"].items():
                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                            if action_config["type"] not in action_str_type_mapping:
-                                continue
                            action_config["type"] = action_str_type_mapping[action_config["type"]]
                        # 添加内置的驱动命令动作
                        self._add_builtin_actions(device_config, device_id)
--- a/unilabos/registry/resources/organic/container.yaml
+++ b/unilabos/registry/resources/organic/container.yaml
@@ -3,7 +3,7 @@ container:
  - container
  class:
    module: unilabos.resources.container:RegularContainer
-    type: pylabrobot
+    type: unilabos
  description: regular organic container
  handles:
  - data_key: fluid_in
--- a/unilabos/resources/bioyond/warehouses.py
+++ b/unilabos/resources/bioyond/warehouses.py
@@ -5,15 +5,15 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
    """创建BioYond 4x1x4仓库"""
    return warehouse_factory(
        name=name,
-        num_items_x=4,
+        num_items_x=1,
        num_items_y=4,
-        num_items_z=1,
+        num_items_z=4,
        dx=10.0,
        dy=10.0,
        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
        category="warehouse",
    )

--- a/unilabos/resources/container.py
+++ b/unilabos/resources/container.py
@@ -1,84 +1,67 @@
 import json
-from typing import Dict, Any

-from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource

 from unilabos.ros.msgs.message_converter import convert_from_ros_msg


-class RegularContainer(Container):
-    def __init__(self, *args, **kwargs):
-        if "size_x" not in kwargs:
-            kwargs["size_x"] = 0
-        if "size_y" not in kwargs:
-            kwargs["size_y"] = 0
-        if "size_z" not in kwargs:
-            kwargs["size_z"] = 0
-        self.kwargs = kwargs
-        self.state = {}
-        super().__init__(*args, **kwargs)
+class RegularContainer(object):
+    # 第一个参数必须是id传入
+    # noinspection PyShadowingBuiltins
+    def __init__(self, id: str):
+        self.id = id
+        self.ulr_resource = Resource()
+        self._data = None

-    def load_state(self, state: Dict[str, Any]):
-        self.state = state
-#
-# class RegularContainer(object):
-#     # 第一个参数必须是id传入
-#     # noinspection PyShadowingBuiltins
-#     def __init__(self, id: str):
-#         self.id = id
-#         self.ulr_resource = Resource()
-#         self._data = None
-#
-#     @property
-#     def ulr_resource_data(self):
-#         if self._data is None:
-#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-#         return self._data
-#
-#     @ulr_resource_data.setter
-#     def ulr_resource_data(self, value: dict):
-#         self._data = value
-#         self.ulr_resource.data = json.dumps(self._data)
-#
-#     @property
-#     def liquid_type(self):
-#         return self.ulr_resource_data.get("liquid_type", None)
-#
-#     @liquid_type.setter
-#     def liquid_type(self, value: str):
-#         if value is not None:
-#             self.ulr_resource_data["liquid_type"] = value
-#         else:
-#             self.ulr_resource_data.pop("liquid_type", None)
-#
-#     @property
-#     def liquid_volume(self):
-#         return self.ulr_resource_data.get("liquid_volume", None)
-#
-#     @liquid_volume.setter
-#     def liquid_volume(self, value: float):
-#         if value is not None:
-#             self.ulr_resource_data["liquid_volume"] = value
-#         else:
-#             self.ulr_resource_data.pop("liquid_volume", None)
-#
-#     def get_ulr_resource(self) -> Resource:
-#         """
-#         获取UlrResource对象
-#         :return: UlrResource对象
-#         """
-#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
-#         return self.ulr_resource
-#
-#     def get_ulr_resource_as_dict(self) -> Resource:
-#         """
-#         获取UlrResource对象
-#         :return: UlrResource对象
-#         """
-#         to_dict = convert_from_ros_msg(self.get_ulr_resource())
-#         to_dict["type"] = "container"
-#         return to_dict
-#
-#     def __str__(self):
-#         return f"{self.id}"
+    @property
+    def ulr_resource_data(self):
+        if self._data is None:
+            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+        return self._data
+
+    @ulr_resource_data.setter
+    def ulr_resource_data(self, value: dict):
+        self._data = value
+        self.ulr_resource.data = json.dumps(self._data)
+
+    @property
+    def liquid_type(self):
+        return self.ulr_resource_data.get("liquid_type", None)
+
+    @liquid_type.setter
+    def liquid_type(self, value: str):
+        if value is not None:
+            self.ulr_resource_data["liquid_type"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_type", None)
+
+    @property
+    def liquid_volume(self):
+        return self.ulr_resource_data.get("liquid_volume", None)
+
+    @liquid_volume.setter
+    def liquid_volume(self, value: float):
+        if value is not None:
+            self.ulr_resource_data["liquid_volume"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_volume", None)
+
+    def get_ulr_resource(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+        return self.ulr_resource
+
+    def get_ulr_resource_as_dict(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        to_dict = convert_from_ros_msg(self.get_ulr_resource())
+        to_dict["type"] = "container"
+        return to_dict
+
+    def __str__(self):
+        return f"{self.id}"
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -1,23 +1,18 @@
 import importlib
 import inspect
 import json
-import os.path
 import traceback
-from typing import Union, Any, Dict, List, Tuple
-import uuid
+from typing import Union, Any, Dict, List
 import networkx as nx
 from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource

-from unilabos.config.config import BasicConfig
 from unilabos.resources.container import RegularContainer
-from unilabos.resources.itemized_carrier import ItemizedCarrier
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
 from unilabos.ros.nodes.resource_tracker import (
    ResourceDictInstance,
    ResourceTreeSet,
 )
-from unilabos.utils import logger
 from unilabos.utils.banner_print import print_status

 try:
@@ -49,33 +44,6 @@ def canonicalize_nodes_data(
        if node.get("label") is not None:
            node_id = node.pop("label")
            node["id"] = node["name"] = node_id
-        if not isinstance(node.get("config"), dict):
-            node["config"] = {}
-        if not node.get("type"):
-            node["type"] = "device"
-            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'type', defaulting to 'device'", "warning")
-        if node.get("name", None) is None:
-            node["name"] = node.get("id")
-            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
-        if not isinstance(node.get("position"), dict):
-            node["position"] = {"position": {}}
-            x = node.pop("x", None)
-            if x is not None:
-                node["position"]["position"]["x"] = x
-            y = node.pop("y", None)
-            if y is not None:
-                node["position"]["position"]["y"] = y
-            z = node.pop("z", None)
-            if z is not None:
-                node["position"]["position"]["z"] = z
-        if "sample_id" in node:
-            sample_id = node.pop("sample_id")
-            if sample_id:
-                logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
-        for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
-                v = node.pop(k)
-                node["config"][k] = v

    # 第二步：处理parent_relation
    id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
@@ -333,10 +301,6 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
        "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
        "links": standardized_links,
    }
-    dump_json_path = os.path.join(BasicConfig.working_dir, os.path.basename(graphml_file).rsplit(".")[0] + ".json")
-    with open(dump_json_path, "w", encoding="utf-8") as f:
-        f.write(json.dumps(graph_data, indent=4, ensure_ascii=False))
-        print_status(f"GraphML converted to JSON and saved to {dump_json_path}", "info")
    physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
    handle_communications(physical_setup_graph)

@@ -612,13 +576,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
    return r


-def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[str, Tuple[str, str]] = {}, deck: Any = None) -> list[dict]:
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
    """
    将 bioyond 物料格式转换为 ulab 物料格式

    Args:
        bioyond_materials: bioyond 系统的物料查询结果列表
-        type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
+        type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
        location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}

    Returns:
@@ -628,35 +592,35 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st

    for material in bioyond_materials:
        className = (
-            type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
+            type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
        )

        plr_material: ResourcePLR = initialize_resource(
            {"name": material["name"], "class": className}, resource_type=ResourcePLR
        )
        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
-        plr_material.unilabos_uuid = str(uuid.uuid4())

        # 处理子物料（detail）
        if material.get("detail") and len(material["detail"]) > 0:
-            for bottle in reversed(plr_material.children):
-                plr_material.unassign_child_resource(bottle)
            child_ids = []
            for detail in material["detail"]:
                number = (
                    (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
-                    + (detail.get("y", 0) - 1) * plr_material.num_items_y
-                    + (detail.get("x", 0) - 1)
+                    + (detail.get("x", 0) - 1) * plr_material.num_items_x
+                    + (detail.get("y", 0) - 1)
                )
-                typeName = detail.get("typeName", detail.get("name", ""))
-                if typeName in type_mapping:
-                    bottle = plr_material[number] = initialize_resource(
-                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
+                bottle = plr_material[number]
+                if detail["name"] in type_mapping:
+                    # plr_material.unassign_child_resource(bottle)
+                    plr_material.sites[number] = None
+                    plr_material[number] = initialize_resource(
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
                    )
+                else:
                    bottle.tracker.liquids = [
                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                    ]
-                    bottle.code = detail.get("code", "")
+                bottle.code = detail.get("code", "")
        else:
            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
            bottle.tracker.liquids = [
@@ -681,59 +645,32 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
    return plr_materials


-def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
+def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
    bioyond_materials = []
-    for resource in plr_resources:
-        if hasattr(resource, "capacity") and resource.capacity > 1:
-            material = {
-                "typeId": type_mapping.get(resource.model)[1],
-                "name": resource.name,
-                "unit": "个",
-                "quantity": 1,
-                "details": [],
-                "Parameters": "{}"
-            }
-            for bottle in resource.children:
-                if isinstance(resource, ItemizedCarrier):
-                    site = resource.get_child_identifier(bottle)
-                else:
-                    site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
-                detail_item = {
-                    "typeId": type_mapping.get(bottle.model)[1],
-                    "name": bottle.name,
+    for plr_material in plr_materials:
+        material = {
+            "name": plr_material.name,
+            "typeName": plr_material.__class__.__name__,
+            "code": plr_material.code,
+            "quantity": 0,
+            "detail": [],
+            "locations": [],
+        }
+        if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
+            for idx in range(plr_material.capacity):
+                bottle = plr_material[idx]
+                detail = {
+                    "x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
+                    "y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
+                    "z": (idx % plr_material.num_items_x) + 1,
                    "code": bottle.code if hasattr(bottle, "code") else "",
                    "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
-                    "x": site["x"] + 1,
-                    "y": site["y"] + 1,
-                    "molecular": 1,
-                    "Parameters": json.dumps({"molecular": 1})
                }
-                material["details"].append(detail_item)
+                material["detail"].append(detail)
+            material["quantity"] = 1.0
        else:
-            bottle = resource[0] if resource.capacity > 0 else resource
-            material = {
-                "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.get("name", ""),
-                "unit": "",
-                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
-                "Parameters": "{}"
-            }
-
-        if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
-            site_in_parent = resource.parent.get_child_identifier(resource)
-            material["locations"] = [
-                {
-                    "id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
-                    "whid": warehouse_mapping[resource.parent.name]["uuid"],
-                    "whName": resource.parent.name,
-                    "x": site_in_parent["z"] + 1,
-                    "y": site_in_parent["y"] + 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-
-        print(f"material_data: {material}")
+            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
        bioyond_materials.append(material)
    return bioyond_materials

@@ -780,7 +717,6 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
            else:
                r = resource_plr
        elif resource_class_config["type"] == "unilabos":
-            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
            res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
            res_instance.ulr_resource = convert_to_ros_msg(
                Resource, {k: v for k, v in resource_config.items() if k != "class"}
--- a/unilabos/resources/itemized_carrier.py
+++ b/unilabos/resources/itemized_carrier.py
@@ -32,7 +32,6 @@ class Bottle(Well):
        barcode: Optional[str] = "",
        category: str = "container",
        model: Optional[str] = None,
-        **kwargs,
    ):
        super().__init__(
            name=name,
@@ -74,7 +73,6 @@ class ItemizedCarrier(ResourcePLR):
    num_items_x: int = 0,
    num_items_y: int = 0,
    num_items_z: int = 0,
-    layout: str = "x-y",
    sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
    category: Optional[str] = "carrier",
    model: Optional[str] = None,
@@ -89,8 +87,6 @@ class ItemizedCarrier(ResourcePLR):
    )
    self.num_items = len(sites)
    self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
-    self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
-
    if isinstance(sites, dict):
      sites = sites or {}
      self.sites: List[Optional[ResourcePLR]] = list(sites.values())
@@ -153,7 +149,7 @@ class ItemizedCarrier(ResourcePLR):
  def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
    if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
      raise ValueError(f"spot {spot} already has a resource, {resource}")
-    self.assign_child_resource(resource, location=self.child_locations.get(list(self._ordering.keys())[spot]), spot=spot)
+    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)

  def unassign_child_resource(self, resource: ResourcePLR):
    found = False
@@ -164,92 +160,8 @@ class ItemizedCarrier(ResourcePLR):
        break
    if not found:
      raise ValueError(f"Resource {resource} is not assigned to this carrier")
-    super().unassign_child_resource(resource)
-    # if hasattr(resource, "unassign"):
-    #   resource.unassign()
-
-  def get_child_identifier(self, child: ResourcePLR):
-    """Get the identifier information for a given child resource.
-    
-    Args:
-        child: The Resource object to find the identifier for
-        
-    Returns:
-        dict: A dictionary containing:
-            - identifier: The string identifier (e.g. "A1", "B2")
-            - idx: The integer index in the sites list
-            - x: The x index (column index, 0-based)
-            - y: The y index (row index, 0-based)  
-            - z: The z index (layer index, 0-based)
-            
-    Raises:
-        ValueError: If the child resource is not found in this carrier
-    """
-    # Find the child resource in sites
-    for idx, resource in enumerate(self.sites):
-      if resource is child:
-        # Get the identifier from ordering keys
-        identifier = list(self._ordering.keys())[idx]
-        
-        # Parse identifier to get x, y, z indices
-        x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
-        
-        return {
-          "identifier": identifier,
-          "idx": idx,
-          "x": x_idx,
-          "y": y_idx,
-          "z": z_idx
-        }
-    
-    # If not found, raise an error
-    raise ValueError(f"Resource {child} is not assigned to this carrier")
-
-  def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
-    """Parse identifier string to get x, y, z indices.
-    
-    Args:
-        identifier: String identifier like "A1", "B2", etc.
-        idx: Linear index as fallback for calculation
-        
-    Returns:
-        Tuple of (x_idx, y_idx, z_idx)
-    """
-    # If we have explicit dimensions, calculate from idx
-    if self.num_items_x > 0 and self.num_items_y > 0:
-      # Calculate 3D indices from linear index
-      z_idx = idx // (self.num_items_x * self.num_items_y) if self.num_items_z > 0 else 0
-      remaining = idx % (self.num_items_x * self.num_items_y)
-      y_idx = remaining // self.num_items_x
-      x_idx = remaining % self.num_items_x
-      return x_idx, y_idx, z_idx
-    
-    # Fallback: parse from Excel-style identifier
-    if isinstance(identifier, str) and len(identifier) >= 2:
-      # Extract row (letter) and column (number)
-      row_letters = ""
-      col_numbers = ""
-      
-      for char in identifier:
-        if char.isalpha():
-          row_letters += char
-        elif char.isdigit():
-          col_numbers += char
-      
-      if row_letters and col_numbers:
-        # Convert letter(s) to row index (A=0, B=1, etc.)
-        y_idx = 0
-        for char in row_letters:
-          y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
-        
-        # Convert number to column index (1-based to 0-based)
-        x_idx = int(col_numbers) - 1
-        z_idx = 0  # Default layer
-        
-        return x_idx, y_idx, z_idx
-    
-    # If all else fails, assume linear arrangement
-    return idx, 0, 0
+    if hasattr(resource, "unassign"):
+      resource.unassign()

  def __getitem__(
    self,
@@ -407,7 +319,6 @@ class ItemizedCarrier(ResourcePLR):
      "num_items_x": self.num_items_x,
      "num_items_y": self.num_items_y,
      "num_items_z": self.num_items_z,
-      "layout": self.layout,
      "sites": [{
        "label": str(identifier),
        "visible": True if self[identifier] is not None else False,
@@ -433,7 +344,6 @@ class BottleCarrier(ItemizedCarrier):
        sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
        category: str = "bottle_carrier",
        model: Optional[str] = None,
-        **kwargs,
    ):
        super().__init__(
            name=name,
--- a/unilabos/resources/warehouse.py
+++ b/unilabos/resources/warehouse.py
@@ -5,13 +5,10 @@ from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_reso
 from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR


-LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-
-
 def warehouse_factory(
    name: str,
-    num_items_x: int = 1,
-    num_items_y: int = 4,
+    num_items_x: int = 4,
+    num_items_y: int = 1,
    num_items_z: int = 4,
    dx: float = 137.0,
    dy: float = 96.0,
@@ -36,16 +33,13 @@ def warehouse_factory(
                locations.append(Coordinate(x, y, z))
    if removed_positions:
        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    _sites = create_homogeneous_resources(
+    sites = create_homogeneous_resources(
        klass=ResourceHolder,
        locations=locations,
        resource_size_x=127.0,
        resource_size_y=86.0,
        name_prefix=name,
    )
-    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
-    sites = {i: site for i, site in zip(keys, _sites.values())}
    
    return WareHouse(
        name=name,
@@ -74,7 +68,6 @@ class WareHouse(ItemizedCarrier):
        num_items_x: int,
        num_items_y: int,
        num_items_z: int,
-        layout: str = "x-y",
        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
        category: str = "warehouse",
        model: Optional[str] = None,
@@ -90,7 +83,6 @@ class WareHouse(ItemizedCarrier):
            num_items_x=num_items_x,
            num_items_y=num_items_y,
            num_items_z=num_items_z,
-            layout=layout,
            sites=sites,
            category=category,
            model=model,
--- a/unilabos/ros/initialize_device.py
+++ b/unilabos/ros/initialize_device.py
@@ -26,7 +26,6 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
    d = None
    original_device_config = copy.deepcopy(device_config)
    device_class_config = device_config["class"]
-    uid = device_config["uuid"]
    if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
        if len(device_class_config) == 0:
            raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
@@ -51,7 +50,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
        )
        try:
            d = DEVICE(
-                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
            )
        except DeviceInitError as ex:
            return d
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -6,7 +6,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING

 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -132,7 +132,6 @@ class ROSLoggerAdapter:
 def init_wrapper(
    self,
    device_id: str,
-    device_uuid: str,
    driver_class: type[T],
    device_config: Dict[str, Any],
    status_types: Dict[str, Any],
@@ -151,7 +150,6 @@ def init_wrapper(
    if children is None:
        children = []
    kwargs["device_id"] = device_id
-    kwargs["device_uuid"] = device_uuid
    kwargs["driver_class"] = driver_class
    kwargs["device_config"] = device_config
    kwargs["driver_params"] = driver_params
@@ -268,7 +266,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        self,
        driver_instance: T,
        device_id: str,
-        device_uuid: str,
        status_types: Dict[str, Any],
        action_value_mappings: Dict[str, Any],
        hardware_interface: Dict[str, Any],
@@ -281,7 +278,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        Args:
            driver_instance: 设备实例
            device_id: 设备标识符
-            device_uuid: 设备标识符
            status_types: 需要发布的状态和传感器信息
            action_value_mappings: 设备动作
            hardware_interface: 硬件接口配置
@@ -289,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        """
        self.driver_instance = driver_instance
        self.device_id = device_id
-        self.uuid = device_uuid
+        self.uuid = str(uuid.uuid4())
        self.publish_high_frequency = False
        self.callback_group = ReentrantCallbackGroup()
        self.resource_tracker = resource_tracker
@@ -558,11 +554,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
    async def update_resource(self, resources: List["ResourcePLR"]):
        r = SerialCommand.Request()
        tree_set = ResourceTreeSet.from_plr_resources(resources)
-        for tree in tree_set.trees:
-            root_node = tree.root_node
-            if not root_node.res_content.uuid_parent:
-                logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
-                root_node.res_content.parent_uuid = self.uuid
        r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
        response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
        try:
@@ -582,7 +573,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        - update: 更新现有资源
        - remove: 从资源树中移除资源
        """
-        from pylabrobot.resources.resource import Resource as ResourcePLR
        try:
            data = json.loads(req.command)
            results = []
@@ -658,28 +648,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            results.append({"success": True, "action": "update"})
                    elif action == "remove":
                        # 移除资源
-                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
-                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
-                        )
-                        found_plr_resources = []
-                        other_plr_resources = []
-                        for found_resource in found_resources:
-                            for resource in found_resource:
-                                if issubclass(resource.__class__, ResourcePLR):
-                                    found_plr_resources.append(resource)
-                                else:
-                                    other_plr_resources.append(resource)
+                        plr_resources: List[ResourcePLR] = [
+                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
+                        ]
                        func = getattr(self.driver_instance, "resource_tree_remove", None)
                        if callable(func):
-                            func(found_plr_resources)
-                        for plr_resource in found_plr_resources:
-                            if plr_resource.parent is not None:
-                                plr_resource.parent.unassign_child_resource(plr_resource)
+                            func(plr_resources)
+                        for plr_resource in plr_resources:
+                            plr_resource.parent.unassign_child_resource(plr_resource)
                            self.resource_tracker.remove_resource(plr_resource)
-                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
-                        for other_plr_resource in other_plr_resources:
-                            self.resource_tracker.remove_resource(other_plr_resource)
-                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
                        results.append({"success": True, "action": "remove"})
                except Exception as e:
                    error_msg = f"Error processing {action} operation: {str(e)}"
@@ -943,7 +920,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            queried_resources = []
                            for resource_data in resource_inputs:
                                r = SerialCommand.Request()
-                                r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
+                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
                                # 发送请求并等待响应
                                response: SerialCommand_Response = await self._resource_clients[
                                    "resource_get"
@@ -959,10 +936,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):

                            # 通过资源跟踪器获取本地实例
                            final_resources = queried_resources if is_sequence else queried_resources[0]
-                            final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
-                                self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
-                            ]
-                            action_kwargs[k] = final_resources
+                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)

                        except Exception as e:
                            self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
@@ -1373,7 +1347,6 @@ class ROS2DeviceNode:
    def __init__(
        self,
        device_id: str,
-        device_uuid: str,
        driver_class: Type[T],
        device_config: Dict[str, Any],
        driver_params: Dict[str, Any],
@@ -1389,7 +1362,6 @@ class ROS2DeviceNode:

        Args:
            device_id: 设备标识符
-            device_uuid: 设备uuid
            driver_class: 设备类
            device_config: 原始初始化的json
            driver_params: driver初始化的参数
@@ -1464,7 +1436,6 @@ class ROS2DeviceNode:
                children=children,
                driver_instance=self._driver_instance,  # type: ignore
                device_id=device_id,
-                device_uuid=device_uuid,
                status_types=status_types,
                action_value_mappings=action_value_mappings,
                hardware_interface=hardware_interface,
@@ -1475,7 +1446,6 @@ class ROS2DeviceNode:
            self._ros_node = BaseROS2DeviceNode(
                driver_instance=self._driver_instance,
                device_id=device_id,
-                device_uuid=device_uuid,
                status_types=status_types,
                action_value_mappings=action_value_mappings,
                hardware_interface=hardware_interface,
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -18,7 +18,7 @@ from unilabos_msgs.srv import (
    ResourceDelete,
    ResourceUpdate,
    ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -41,7 +41,6 @@ from unilabos.ros.nodes.resource_tracker import (
    ResourceTreeSet,
    ResourceTreeInstance,
 )
-from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -100,6 +99,17 @@ class HostNode(BaseROS2DeviceNode):
        """
        if self._instance is not None:
            self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
+        # 初始化Node基类，传递空参数覆盖列表
+        BaseROS2DeviceNode.__init__(
+            self,
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
+        )

        # 设置单例实例
        self.__class__._instance = self
@@ -117,91 +127,6 @@ class HostNode(BaseROS2DeviceNode):
            bridges = []
        self.bridges = bridges

-        # 创建 host_node 作为一个单独的 ResourceTree
-        host_node_dict = {
-            "id": "host_node",
-            "uuid": str(uuid.uuid4()),
-            "parent_uuid": "",
-            "name": "host_node",
-            "type": "device",
-            "class": "host_node",
-            "config": {},
-            "data": {},
-            "children": [],
-            "description": "",
-            "schema": {},
-            "model": {},
-            "icon": "",
-        }
-
-        # 创建 host_node 的 ResourceTree
-        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
-        host_node_tree = ResourceTreeInstance(host_node_instance)
-        resources_config.trees.insert(0, host_node_tree)
-        try:
-            for bridge in self.bridges:
-                if hasattr(bridge, "resource_tree_add") and resources_config:
-                    from unilabos.app.web.client import HTTPClient
-
-                    client: HTTPClient = bridge
-                    resource_start_time = time.time()
-                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
-                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
-                    device_uuid = resources_config.root_nodes[0].res_content.uuid
-                    resource_end_time = time.time()
-                    logger.info(
-                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-                    )
-                    for edge in self.resources_edge_config:
-                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
-                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
-                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
-                    resource_edge_end_time = time.time()
-                    logger.info(
-                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
-                    )
-                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
-                    # resources_config 的 root node 是
-                    # # 创建反向映射：new_uuid -> old_uuid
-                    # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-                    # for tree in resources_config.trees:
-                    #     node = tree.root_node
-                    #     if node.res_content.type == "device":
-                    #         if node.res_content.id == "host_node":
-                    #             continue
-                    #         # slave节点走c2s更新接口，拿到add自行update uuid
-                    #         device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
-                    #         if old_uuid:
-                    #             # 找到旧UUID，使用UUID查找
-                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
-                    #         else:
-                    #             # 未找到旧UUID，使用name查找
-                    #             resource_instance = device_tracker.figure_resource(
-                    #                 {"name": node.res_content.name}
-                    #             )
-                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                    #     else:
-                    #         try:
-                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
-                    #                 self.resource_tracker.add_resource(plr_resource)
-                    #         except Exception as ex:
-                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
-        except Exception as ex:
-            logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
-        # 初始化Node基类，传递空参数覆盖列表
-        BaseROS2DeviceNode.__init__(
-            self,
-            driver_instance=self,
-            device_id=device_id,
-            device_uuid=host_node_dict["uuid"],
-            status_types={},
-            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
-        )
-
        # 创建设备、动作客户端和目标存储
        self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
        self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
@@ -282,7 +207,81 @@ class HostNode(BaseROS2DeviceNode):
            ].items():
                controller_config["update_rate"] = update_rate
                self.initialize_controller(controller_id, controller_config)
+        # 创建 host_node 作为一个单独的 ResourceTree

+        host_node_dict = {
+            "id": "host_node",
+            "uuid": str(uuid.uuid4()),
+            "parent_uuid": "",
+            "name": "host_node",
+            "type": "device",
+            "class": "host_node",
+            "config": {},
+            "data": {},
+            "children": [],
+            "description": "",
+            "schema": {},
+            "model": {},
+            "icon": "",
+        }
+
+        # 创建 host_node 的 ResourceTree
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
+        host_node_tree = ResourceTreeInstance(host_node_instance)
+        resources_config.trees.insert(0, host_node_tree)
+        try:
+            for bridge in self.bridges:
+                if hasattr(bridge, "resource_tree_add") and resources_config:
+                    from unilabos.app.web.client import HTTPClient
+
+                    client: HTTPClient = bridge
+                    resource_start_time = time.time()
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
+                    resource_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
+                    resource_edge_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    # 创建反向映射：new_uuid -> old_uuid
+                    reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+                    for tree in resources_config.trees:
+                        node = tree.root_node
+                        if node.res_content.type == "device":
+                            for sub_node in node.children:
+                                # 只有二级子设备
+                                if sub_node.res_content.type != "device":
+                                    # slave节点走c2s更新接口，拿到add自行update uuid
+                                    device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                                    # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
+                                    old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                                    if old_uuid:
+                                        # 找到旧UUID，使用UUID查找
+                                        resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                                    else:
+                                        # 未找到旧UUID，使用name查找
+                                        resource_instance = device_tracker.figure_resource(
+                                            {"name": sub_node.res_content.name}
+                                        )
+                                    device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                        else:
+                            try:
+                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                                    self.resource_tracker.add_resource(plr_resource)
+                            except Exception as ex:
+                                self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+        except Exception as ex:
+            self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
+            self.lab_logger().error(traceback.format_exc())
        # 创建定时器，定期发现设备
        self._discovery_timer = self.create_timer(
            discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
@@ -863,7 +862,7 @@ class HostNode(BaseROS2DeviceNode):
            ),
        }

-    async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
        resource_tree_set = ResourceTreeSet.load(data["data"])
        mount_uuid = data["mount_uuid"]
        first_add = data["first_add"]
@@ -904,7 +903,7 @@ class HostNode(BaseROS2DeviceNode):
        response.response = json.dumps(uuid_mapping) if success else "FAILED"
        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")

-    async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
        uuid_list: List[str] = data["data"]
        with_children: bool = data["with_children"]
        from unilabos.app.web.client import http_client
@@ -912,7 +911,7 @@ class HostNode(BaseROS2DeviceNode):
        resource_response = http_client.resource_tree_get(uuid_list, with_children)
        response.response = json.dumps(resource_response)

-    async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
        """
        子节点通知Host物料树删除
        """
@@ -920,7 +919,7 @@ class HostNode(BaseROS2DeviceNode):
        response.response = "OK"
        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")

-    async def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
        """
        子节点通知Host物料树更新
        """
@@ -933,29 +932,20 @@ class HostNode(BaseROS2DeviceNode):

        from unilabos.app.web.client import http_client

-        uuid_to_trees: Dict[str, List[ResourceTreeInstance]] = collections.defaultdict(list)
-        for tree in resource_tree_set.trees:
-            uuid_to_trees[tree.root_node.res_content.parent_uuid].append(tree)
+        resource_start_time = time.time()
+        uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
+        success = bool(uuid_mapping)
+        resource_end_time = time.time()
+        self.lab_logger().info(
+            f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+        )
+        if uuid_mapping:
+            self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+        # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
+        response.response = json.dumps(uuid_mapping)
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")

-        for uid, trees in uuid_to_trees.items():
-            new_tree_set = ResourceTreeSet(trees)
-            resource_start_time = time.time()
-            self.lab_logger().info(
-                f"[Host Node-Resource] 物料 {[root_node.res_content.id for root_node in new_tree_set.root_nodes]} {uid} 挂载 {trees[0].root_node.res_content.parent_uuid} 请求更新上传"
-            )
-            uuid_mapping = http_client.resource_tree_add(new_tree_set, uid, False)
-            success = bool(uuid_mapping)
-            resource_end_time = time.time()
-            self.lab_logger().info(
-                f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-            )
-            if uuid_mapping:
-                self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
-            # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
-            response.response = json.dumps(uuid_mapping)
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
-
-    async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
+    def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
        """
        子节点通知Host物料树更新

@@ -968,13 +958,13 @@ class HostNode(BaseROS2DeviceNode):
            action = data["action"]
            data = data["data"]
            if action == "add":
-                await self._resource_tree_action_add_callback(data, response)
+                self._resource_tree_action_add_callback(data, response)
            elif action == "get":
-                await self._resource_tree_action_get_callback(data, response)
+                self._resource_tree_action_get_callback(data, response)
            elif action == "update":
-                await self._resource_tree_action_update_callback(data, response)
+                self._resource_tree_action_update_callback(data, response)
            elif action == "remove":
-                await self._resource_tree_action_remove_callback(data, response)
+                self._resource_tree_action_remove_callback(data, response)
            else:
                self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
                response.response = "ERROR"
@@ -1070,12 +1060,7 @@ class HostNode(BaseROS2DeviceNode):
        """
        try:
            data = json.loads(request.command)
-            if "uuid" in data and data["uuid"] is not None:
-                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
-            elif "id" in data and data["id"].startswith("/"):
-                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
-            else:
-                raise ValueError("没有使用正确的物料 id 或 uuid")
+            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
            response.response = json.dumps(http_req["data"])
            return response
        except Exception as e:
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -6,14 +6,13 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING

 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
-from unilabos_msgs.msg import Resource
-from unilabos_msgs.srv import ResourceUpdate

 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
-from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore

 from unilabos.compile import action_protocol_generators
 from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
@@ -21,11 +20,11 @@ from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
    get_action_type,
    convert_to_ros_msg,
+    convert_from_ros_msg,
    convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
-from unilabos.utils.type_check import get_result_info_str
+from unilabos.utils.type_check import serialize_result_info, get_result_info_str

 if TYPE_CHECKING:
    from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -51,7 +50,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
        *,
        driver_instance: "WorkstationBase",
        device_id: str,
-        device_uuid: str,
        status_types: Dict[str, Any],
        action_value_mappings: Dict[str, Any],
        hardware_interface: Dict[str, Any],
@@ -66,7 +64,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
        super().__init__(
            driver_instance=driver_instance,
            device_id=device_id,
-            device_uuid=device_uuid,
            status_types=status_types,
            action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
            hardware_interface=hardware_interface,
@@ -225,29 +222,16 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                # 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>"]:
-                        self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
-
-                        try:
-                            # 统一处理单个或多个资源
-                            resource_id = (
-                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                            )
-                            resource_uuid = protocol_kwargs[k].get("uuid", None)
-                            r = SerialCommand_Request()
-                            r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
-                            # 发送请求并等待响应
-                            response: SerialCommand_Response = await self._resource_clients[
-                                "resource_get"
-                            ].call_async(
-                                r
-                            )  # type: ignore
-                            raw_data = json.loads(response.response)
-                            tree_set = ResourceTreeSet.from_raw_list(raw_data)
-                            target = tree_set.dump()
-                            protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
-                        except Exception as ex:
-                            self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
-                            raise
+                        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]
+                        )

                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")

--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -1,4 +1,3 @@
-import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
@@ -32,7 +31,7 @@ class ResourceDictPositionObject(BaseModel):
 class ResourceDictPosition(BaseModel):
    size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
    scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
-    layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
+    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
    position: ResourceDictPositionObject = Field(
        description="Resource position", default_factory=ResourceDictPositionObject
    )
@@ -42,7 +41,6 @@ class ResourceDictPosition(BaseModel):
    rotation: ResourceDictPositionObject = Field(
        description="Resource rotation", default_factory=ResourceDictPositionObject
    )
-    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(description="Cross section type", default="rectangle")


 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -51,7 +49,7 @@ class ResourceDict(BaseModel):
    uuid: str = Field(description="Resource UUID")
    name: str = Field(description="Resource name")
    description: str = Field(description="Resource description", default="")
-    resource_schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema")
+    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
    model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
    icon: str = Field(description="Resource icon", default="")
    parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None)  # 先设定parent_uuid
@@ -59,7 +57,6 @@ class ResourceDict(BaseModel):
    type: Literal["device"] | str = Field(description="Resource type")
    klass: str = Field(alias="class", description="Resource class name")
    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
-    pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
    config: Dict[str, Any] = Field(description="Resource configuration")
    data: Dict[str, Any] = Field(description="Resource data")

@@ -138,14 +135,12 @@ class ResourceDictInstance(object):
            content["config"] = {}
        if not content.get("data"):
            content["data"] = {}
-        if "pose" not in content:
-            content["pose"] = content.get("position", {})
        return ResourceDictInstance(ResourceDict.model_validate(content))

    def get_nested_dict(self) -> Dict[str, Any]:
        """获取资源实例的嵌套字典表示"""
        res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
        res_dict["parent"] = self.res_content.parent_instance_name
        res_dict["position"] = self.res_content.position.position.model_dump()
        return res_dict
@@ -218,7 +213,7 @@ class ResourceTreeInstance(object):
            if node.res_content.uuid:
                known_uuids.add(node.res_content.uuid)
            else:
-                logger.warning(f"警告: 资源 {node.res_content.id} 没有uuid")
+                print(f"警告: 资源 {node.res_content.id} 没有uuid")

            # 验证并递归处理子节点
            for child in node.children:
@@ -294,6 +289,8 @@ class ResourceTreeSet(object):
        elif isinstance(resource_list[0], ResourceTreeInstance):
            # 已经是ResourceTree列表
            self.trees = cast(List[ResourceTreeInstance], resource_list)
+        elif isinstance(resource_list[0], list):
+            pass
        else:
            raise TypeError(
                f"不支持的类型: {type(resource_list[0])}。"
@@ -310,7 +307,10 @@ class ResourceTreeSet(object):
            replace_info = {
                "plate": "plate",
                "well": "well",
+                "tip_spot": "container",
+                "trash": "container",
                "deck": "deck",
+                "tip_rack": "container",
            }
            if source in replace_info:
                return replace_info[source]
@@ -320,12 +320,7 @@ class ResourceTreeSet(object):

        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
            """递归构建uuid映射字典"""
-            uid = getattr(res, "unilabos_uuid", "")
-            if not uid:
-                uid = str(uuid.uuid4())
-                res.unilabos_uuid = uid
-                logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
-            uuid_list.append(uid)
+            uuid_list.append(getattr(res, "unilabos_uuid", ""))
            for child in res.children:
                build_uuid_mapping(child, uuid_list)

@@ -334,21 +329,6 @@ class ResourceTreeSet(object):
        ) -> ResourceDictInstance:
            current_uuid = uuids.pop(0)

-            raw_pos = (
-                {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
-                if d["location"]
-                else {"x": 0, "y": 0, "z": 0}
-            )
-            pos = {
-                "size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
-                "scale": {"x": 1.0, "y": 1.0, "z": 1.0},
-                "layout": d.get("layout", "x-y"),
-                "position": raw_pos,
-                "position3d": raw_pos,
-                "rotation": d["rotation"],
-                "cross_section_type": d.get("cross_section_type", "rectangle"),
-            }
-
            # 先构建当前节点的字典（不包含children）
            r_dict = {
                "id": d["name"],
@@ -357,10 +337,12 @@ class ResourceTreeSet(object):
                "parent": parent_resource,  # 直接传入 ResourceDict 对象
                "type": replace_plr_type(d.get("category", "")),
                "class": d.get("class", ""),
-                "position": pos,
-                "pose": pos,
-                "config": {k: v for k, v in d.items() if k not in
-                           ["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]},
+                "position": (
+                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                    if d["location"]
+                    else {"x": 0, "y": 0, "z": 0}
+                ),
+                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
                "data": states[d["name"]],
            }

@@ -402,7 +384,7 @@ class ResourceTreeSet(object):
        import inspect

        # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck"}
+        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}

        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
            """一次遍历收集 name_to_uuid 和 all_states"""
@@ -414,13 +396,13 @@ class ResourceTreeSet(object):
        def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
            """转换节点为 PLR 字典格式"""
            res = node.res_content
-            plr_type = TYPE_MAP.get(res.type, res.type)
+            plr_type = TYPE_MAP.get(res.type, "tip_spot")
            if res.type not in TYPE_MAP:
-                logger.warning(f"未知类型 {res.type}")
+                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")

            d = {
                "name": res.name,
-                "type": res.config.get("type", plr_type),
+                "type": plr_type,
                "size_x": res.config.get("size_x", 0),
                "size_y": res.config.get("size_y", 0),
                "size_z": res.config.get("size_z", 0),
@@ -431,7 +413,7 @@ class ResourceTreeSet(object):
                    "type": "Coordinate",
                },
                "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-                "category": res.config.get("category", plr_type),
+                "category": plr_type,
                "children": [node_to_plr_dict(child, has_model) for child in node.children],
                "parent_name": res.parent_instance_name,
                **res.config,
@@ -453,7 +435,7 @@ class ResourceTreeSet(object):
            try:
                sub_cls = find_subclass(plr_dict["type"], PLRResource)
                if sub_cls is None:
-                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}")
+                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
                spec = inspect.signature(sub_cls)
                if "category" not in spec.parameters:
                    plr_dict.pop("category", None)
@@ -733,9 +715,16 @@ class ResourceTreeSet(object):
        Returns:
            ResourceTreeSet: 反序列化后的资源树集合
        """
+        # 将每个字典转换为 ResourceInstanceDict
+        # FIXME: 需要重新确定parent关系
        nested_lists = []
        for tree_data in data:
-            nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
+            flatten_instances = [
+                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
+            ]
+            nested_lists.append(flatten_instances)
+
+        # 使用现有的构造函数创建 ResourceTreeSet
        return cls(nested_lists)


@@ -788,8 +777,7 @@ class DeviceNodeResourceTracker(object):
        else:
            return getattr(resource, uuid_attr, None)

-    @classmethod
-    def set_resource_uuid(cls, resource, new_uuid: str):
+    def _set_resource_uuid(self, resource, new_uuid: str):
        """
        设置资源的 uuid，统一处理 dict 和 instance 两种类型

@@ -842,7 +830,7 @@ class DeviceNodeResourceTracker(object):
            resource_name = self._get_resource_attr(res, "name")
            if resource_name and resource_name in name_to_uuid_map:
                new_uuid = name_to_uuid_map[resource_name]
-                self.set_resource_uuid(res, new_uuid)
+                self._set_resource_uuid(res, new_uuid)
                self.uuid_to_resources[new_uuid] = res
                logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
                return 1
@@ -854,7 +842,7 @@ class DeviceNodeResourceTracker(object):
        """
        递归遍历资源树，更新所有节点的uuid

-        Args:0
+        Args:
            resource: 资源对象（可以是dict或实例）
            uuid_map: uuid映射字典，{old_uuid: new_uuid}

@@ -864,18 +852,17 @@ class DeviceNodeResourceTracker(object):

        def process(res):
            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
-            replaced = 0
            if current_uuid and current_uuid in uuid_map:
                new_uuid = uuid_map[current_uuid]
                if current_uuid != new_uuid:
-                    self.set_resource_uuid(res, new_uuid)
+                    self._set_resource_uuid(res, new_uuid)
                    # 更新uuid_to_resources映射
                    if current_uuid in self.uuid_to_resources:
                        self.uuid_to_resources.pop(current_uuid)
                    self.uuid_to_resources[new_uuid] = res
                    logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
-                    replaced = 1
-            return replaced
+                    return 1
+            return 0

        return self._traverse_and_process(resource, process)

@@ -890,9 +877,8 @@ class DeviceNodeResourceTracker(object):
        def process(res):
            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
            if current_uuid:
-                old = self.uuid_to_resources.get(current_uuid)
                self.uuid_to_resources[current_uuid] = res
-                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}")
+                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res}")
            return 0

        self._traverse_and_process(resource, process)
@@ -927,23 +913,9 @@ class DeviceNodeResourceTracker(object):
        Args:
            resource: 资源对象（可以是dict或实例）
        """
-        root_uuids = {}
        for r in self.resources:
-            res_uuid = r.get("uuid") if isinstance(r, dict) else getattr(r, "unilabos_uuid", None)
-            if res_uuid:
-                root_uuids[res_uuid] = r
            if id(r) == id(resource):
                return
-
-        # 这里只做uuid的根节点比较
-        if isinstance(resource, dict):
-            res_uuid = resource.get("uuid")
-        else:
-            res_uuid = getattr(resource, "unilabos_uuid", None)
-        if res_uuid in root_uuids:
-            old_res = root_uuids[res_uuid]
-            # self.remove_resource(old_res)
-            logger.warning(f"资源{resource}已存在，旧资源: {old_res}")
        self.resources.append(resource)
        # 递归收集uuid映射
        self._collect_uuid_mapping(resource)
@@ -1074,19 +1046,13 @@ class DeviceNodeResourceTracker(object):
    ) -> List[Tuple[Any, Any]]:
        res_list = []
        # print(resource, target_resource_cls_type, identifier_key, compare_value)
-        children = []
-        if not isinstance(resource, dict):
-            children = getattr(resource, "children", [])
-        else:
-            children = resource.get("children")
-            if children is not None:
-                children = list(children.values()) if isinstance(children, dict) else children
+        children = getattr(resource, "children", [])
        for child in children:
            res_list.extend(
                self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
            )
        if issubclass(type(resource), target_resource_cls_type):
-            if type(resource) == dict:
+            if target_resource_cls_type == dict:
                # 对于字典类型，直接检查 identifier_key
                if identifier_key in resource:
                    if resource[identifier_key] == compare_value:
--- a/unilabos/ros/utils/driver_creator.py
+++ b/unilabos/ros/utils/driver_creator.py
@@ -336,9 +336,6 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
        try:
            # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
            data["children"] = self.children
-            for material_id, child in self.children.items():
-                if child["type"] != "device":
-                    self.resource_tracker.add_resource(self.children[material_id])
            deck_dict = data.get("deck")
            if deck_dict:
                from pylabrobot.resources import Deck, Resource