refactor: Merge tipbox storage left and right into single warehouse

refactor: Split tipbox storage into left and right warehouses
Merge branch 'pr/169' into workstation_YB_merge_dev_ready_260113
2026-02-04 05:15:10 +00:00 · 2026-01-15 17:53:56 +08:00 · 2026-01-15 17:04:20 +08:00 · 2026-01-15 14:26:42 +08:00 · 2026-01-15 13:35:36 +08:00 · 2026-01-15 12:17:29 +08:00
56 changed files with 7867 additions and 4353 deletions
--- a/.conda/base/recipe.yaml
+++ b/.conda/base/recipe.yaml
@@ -1,61 +0,0 @@
-# unilabos: Production package (depends on unilabos-env + pip unilabos)
-# For production deployment
-
-package:
-  name: unilabos
-  version: 0.10.16
-
-source:
-  path: ../../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
-    - pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
-    - uv pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.14
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - zstd
-  - zstandard
-  - networkx
-  - typing_extensions
-  - websockets
-  - opentrons_shared_data
-  - pint
-  - fastapi
-  - jinja2
-  - requests
-  - uvicorn
-  - opcua
-  - pyserial
-  - pandas
-  - pymodbus
-  - matplotlib
-  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.16
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"
--- a/.conda/environment/recipe.yaml
+++ b/.conda/environment/recipe.yaml
@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.16
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Python
-  - zstd
-  - zstandard
-  - conda-forge::python ==3.11.14
-  - conda-forge::opencv
-  # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
-  - conda-forge::transforms3d
-  - conda-forge::uv
-
-  # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies (for developers: pip install -e .)"
--- a/.conda/full/recipe.yaml
+++ b/.conda/full/recipe.yaml
@@ -1,42 +0,0 @@
-# unilabos-full: Full package with all features
-# Depends on unilabos + complete ROS2 desktop + dev tools
-
-package:
-  name: unilabos-full
-  version: 0.10.16
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.16
-  # Documentation tools
-  - sphinx
-  - sphinx_rtd_theme
-  # Web UI
-  - gradio
-  - flask
-  # Interactive development
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  # ROS2 full desktop (includes rviz2, gazebo, etc.)
-  - robostack-staging::ros-humble-desktop-full
-  # Navigation and motion control
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  # MoveIt motion planning
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  # Simulation
-  - ros-humble-simulation
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
--- a/.conda/recipe.yaml
+++ b/.conda/recipe.yaml
@@ -0,0 +1,91 @@
+package:
+  name: unilabos
+  version: 0.10.15
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+    - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
+    - call %PYTHON% -m pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../setup.py $SRC_DIR
+    - $PYTHON -m pip install $SRC_DIR
+
+requirements:
+  host:
+  - python ==3.11.11
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - conda-forge::python ==3.11.11
+  - compilers
+  - cmake
+  - zstd
+  - zstandard
+  - ninja
+  - if: unix
+    then:
+    - make
+  - sphinx
+  - sphinx_rtd_theme
+  - numpy
+  - scipy
+  - pandas
+  - networkx
+  - matplotlib
+  - pint
+  - pyserial
+  - pyusb
+  - pylibftdi
+  - pymodbus
+  - python-can
+  - pyvisa
+  - opencv
+  - pydantic
+  - fastapi
+  - uvicorn
+  - gradio
+  - flask
+  - websockets
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  - robostack-staging::ros-humble-desktop-full
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-sensor-msgs
+  - robostack-staging::ros-humble-trajectory-msgs
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
+  - ros-humble-tf2
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "Uni-Lab-OS"
--- a/.conda/scripts/post-link.bat
+++ b/.conda/scripts/post-link.bat
@@ -0,0 +1,9 @@
+@echo off
+setlocal enabledelayedexpansion
+
+REM upgrade pip
+"%PREFIX%\python.exe" -m pip install --upgrade pip
+
+REM install extra deps
+"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
+"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
--- a/.conda/scripts/post-link.sh
+++ b/.conda/scripts/post-link.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+# make sure pip is available
+"$PREFIX/bin/python" -m pip install --upgrade pip
+
+# install extra deps
+"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
+"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
--- a/.cursorignore
+++ b/.cursorignore
@@ -0,0 +1,26 @@
+.conda
+# .github
+.idea
+# .vscode
+output
+pylabrobot_repo
+recipes
+scripts
+service
+temp
+# unilabos/test
+# unilabos/app/web
+unilabos/device_mesh
+unilabos_data
+unilabos_msgs
+unilabos.egg-info
+CONTRIBUTORS
+# LICENSE
+MANIFEST.in
+pyrightconfig.json
+# README.md
+# README_zh.md
+setup.py
+setup.cfg
+.gitattrubutes
+**/__pycache__
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -1,19 +0,0 @@
-version: 2
-updates:
-# GitHub Actions
- package-ecosystem: "github-actions"
-  directory: "/"
-  target-branch: "dev"
-  schedule:
-    interval: "weekly"
-    day: "monday"
-    time: "06:00"
-  open-pull-requests-limit: 5
-  reviewers:
-  - "msgcenterpy-team"
-  labels:
-  - "dependencies"
-  - "github-actions"
-  commit-message:
-    prefix: "ci"
-    include: "scope"
--- a/.github/workflows/ci-check.yml
+++ b/.github/workflows/ci-check.yml
@@ -1,67 +0,0 @@
-name: CI Check
-
-on:
-  push:
-    branches: [main, dev]
-  pull_request:
-    branches: [main, dev]
-
-jobs:
-  registry-check:
-    runs-on: windows-latest
-
-    env:
-      # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
-      PYTHONIOENCODING: utf-8
-      PYTHONUTF8: 1
-
-    defaults:
-      run:
-        shell: cmd
-
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Setup Miniforge
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniforge-version: latest
-          use-mamba: true
-          channels: robostack-staging,conda-forge,uni-lab
-          channel-priority: flexible
-          activate-environment: check-env
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install ROS dependencies, uv and unilabos-msgs
-        run: |
-          echo Installing ROS dependencies...
-          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
-
-      - name: Install pip dependencies and unilabos
-        run: |
-          call conda activate check-env
-          echo Installing pip dependencies...
-          uv pip install -r unilabos/utils/requirements.txt
-          uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
-          uv pip uninstall enum34 || echo enum34 not installed, skipping
-          uv pip install -e .
-
-      - name: Run check mode (complete_registry)
-        run: |
-          call conda activate check-env
-          echo Running check mode...
-          python -m unilabos --check_mode --skip_env_check
-
-      - name: Check for uncommitted changes
-        shell: bash
-        run: |
-          if ! git diff --exit-code; then
-            echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
-            echo "变化的文件:"
-            git diff --name-only
-            exit 1
-          fi
-          echo "检查通过：无文件变化"
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -13,11 +13,6 @@ on:
        required: false
        default: 'win-64'
        type: string
-      build_full:
-        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
-        required: false
-        default: false
-        type: boolean

 jobs:
  build-conda-pack:
@@ -62,7 +57,7 @@ jobs:
            echo "should_build=false" >> $GITHUB_OUTPUT
          fi

-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
        if: steps.should_build.outputs.should_build == 'true'
        with:
          ref: ${{ github.event.inputs.branch }}
@@ -74,7 +69,7 @@ jobs:
        with:
          miniforge-version: latest
          use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
          channels: conda-forge,robostack-staging,uni-lab,defaults
          channel-priority: flexible
          activate-environment: unilab
@@ -86,14 +81,7 @@ jobs:
        run: |
          echo Installing unilabos and dependencies to unilab environment...
          echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          ) else (
-            echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          )
+          mamba install -n unilab 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'
@@ -101,14 +89,7 @@ jobs:
        run: |
          echo "Installing unilabos and dependencies to unilab environment..."
          echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          else
-            echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          fi
+          mamba install -n unilab 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'
@@ -312,7 +293,7 @@ jobs:

      - name: Upload distribution package
        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
        with:
          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
          path: dist-package/
@@ -327,12 +308,7 @@ jobs:
          echo ==========================================
          echo Platform: ${{ matrix.platform }}
          echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.14
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
+          echo Python version: 3.11.11
          echo.
          echo Distribution package contents:
          dir dist-package
@@ -352,12 +328,7 @@ jobs:
          echo "=========================================="
          echo "Platform: ${{ matrix.platform }}"
          echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.14"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Package: unilabos-full (complete)"
-          else
-            echo "Package: unilabos (minimal)"
-          fi
+          echo "Python version: 3.11.11"
          echo ""
          echo "Distribution package contents:"
          ls -lh dist-package/
--- a/.github/workflows/deploy-docs.yml
+++ b/.github/workflows/deploy-docs.yml
@@ -1,12 +1,10 @@
 name: Deploy Docs

 on:
-  # 在 CI Check 成功后自动触发（仅 main 分支）
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
+  push:
+    branches: [main]
+  pull_request:
    branches: [main]
-  # 手动触发
  workflow_dispatch:
    inputs:
      branch:
@@ -35,19 +33,12 @@ concurrency:
 jobs:
  # Build documentation
  build:
-    # 只在以下情况运行：
-    # 1. workflow_run 触发且 CI Check 成功
-    # 2. 手动触发
-    if: |
-      github.event_name == 'workflow_dispatch' ||
-      (github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
-        uses: actions/checkout@v6
+        uses: actions/checkout@v4
        with:
-          # workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
-          ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
+          ref: ${{ github.event.inputs.branch || github.ref }}
          fetch-depth: 0

      - name: Setup Miniforge (with mamba)
@@ -55,7 +46,7 @@ jobs:
        with:
          miniforge-version: latest
          use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
          channels: conda-forge,robostack-staging,uni-lab,defaults
          channel-priority: flexible
          activate-environment: unilab
@@ -84,10 +75,8 @@ jobs:

      - name: Setup Pages
        id: pages
-        uses: actions/configure-pages@v5
-        if: |
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/configure-pages@v4
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')

      - name: Build Sphinx documentation
        run: |
@@ -105,18 +94,14 @@ jobs:
          test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"

      - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v4
-        if: |
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/upload-pages-artifact@v3
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
        with:
          path: docs/_build/html

  # Deploy to GitHub Pages
  deploy:
-    if: |
-      github.event.workflow_run.head_branch == 'main' ||
-      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
--- a/.github/workflows/multi-platform-build.yml
+++ b/.github/workflows/multi-platform-build.yml
@@ -1,16 +1,11 @@
 name: Multi-Platform Conda Build

 on:
-  # 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
-  workflow_run:
-    workflows: ["CI Check"]
-    types:
-      - completed
-    branches: [main, dev]
-  # 支持 tag 推送（不依赖 CI Check）
  push:
+    branches: [main, dev]
    tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
  workflow_dispatch:
    inputs:
      platforms:
@@ -22,37 +17,9 @@ on:
        required: false
        default: false
        type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean

 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
  build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
    strategy:
      fail-fast: false
      matrix:
@@ -77,10 +44,8 @@ jobs:
        shell: bash -l {0}

    steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
        with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
          fetch-depth: 0

      - name: Check if platform should be built
@@ -104,6 +69,7 @@ jobs:
          channels: conda-forge,robostack-staging,defaults
          channel-priority: strict
          activate-environment: build-env
+          auto-activate-base: false
          auto-update-conda: false
          show-channel-urls: true

@@ -149,7 +115,7 @@ jobs:

      - name: Upload conda package artifacts
        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
        with:
          name: conda-package-${{ matrix.platform }}
          path: conda-packages-temp
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -1,62 +1,25 @@
 name: UniLabOS Conda Build

 on:
-  # 在 CI Check 成功后自动触发
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
  push:
+    branches: [main, dev]
    tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
  workflow_dispatch:
    inputs:
      platforms:
        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
        required: false
        default: 'linux-64'
-      build_full:
-        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
-        required: false
-        default: false
-        type: boolean
      upload_to_anaconda:
        description: '是否上传到Anaconda.org'
        required: false
        default: false
        type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean

 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
  build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
    strategy:
      fail-fast: false
      matrix:
@@ -77,10 +40,8 @@ jobs:
        shell: bash -l {0}

    steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
        with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
          fetch-depth: 0

      - name: Check if platform should be built
@@ -104,6 +65,7 @@ jobs:
          channels: conda-forge,robostack-staging,uni-lab,defaults
          channel-priority: strict
          activate-environment: build-env
+          auto-activate-base: false
          auto-update-conda: false
          show-channel-urls: true

@@ -119,33 +81,12 @@ jobs:
          conda list | grep -E "(rattler-build|anaconda-client)"
          echo "Platform: ${{ matrix.platform }}"
          echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
+          echo "Building UniLabOS package"

-      - name: Build unilabos-env (conda environment only, noarch)
+      - name: Build conda package
        if: steps.should_build.outputs.should_build == 'true'
        run: |
-          echo "Building unilabos-env (conda environment dependencies)..."
-          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: Build unilabos (with pip package)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos package..."
-          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Build unilabos-full - Only when explicitly requested
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true'
-        run: |
-          echo "Building unilabos-full package on ${{ matrix.platform }}..."
-          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge

      - name: List built packages
        if: steps.should_build.outputs.should_build == 'true'
@@ -167,7 +108,7 @@ jobs:

      - name: Upload conda package artifacts
        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
        with:
          name: conda-package-unilabos-${{ matrix.platform }}
          path: conda-packages-temp
--- a/.gitignore
+++ b/.gitignore
@@ -4,7 +4,6 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
-.cursorignore
 ## Python

 # Byte-compiled / optimized / DLL files
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -1,5 +1,4 @@
 recursive-include unilabos/test *
-recursive-include unilabos/utils *
 recursive-include unilabos/registry *.yaml
 recursive-include unilabos/app/web/static *
 recursive-include unilabos/app/web/templates *
--- a/README.md
+++ b/README.md
@@ -31,46 +31,26 @@ Detailed documentation can be found at:

 ## Quick Start

-### 1. Setup Conda Environment
+1. Setup Conda Environment

-Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
-
-| Package | Use Case | Contents |
-|---------|----------|----------|
-| `unilabos` | **Recommended for most users** | Complete package, ready to use |
-| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
-| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
+Uni-Lab-OS recommends using `mamba` for environment management:

 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# Option A: Standard installation (recommended for most users)
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# Option B: For developers (editable mode development)
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# Then install unilabos and dependencies:
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Option C: Full installation (simulation/visualization)
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```

-**When to use which?**
- **unilabos**: Standard installation for production deployment and general usage (recommended)
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
-
-### 2. Clone Repository (Optional, for developers)
+2. Install Dev Uni-Lab-OS

 ```bash
-# Clone the repository (only needed for development or examples)
+# Clone the repository
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
 ```

 3. Start Uni-Lab System
--- a/README_zh.md
+++ b/README_zh.md
@@ -31,46 +31,26 @@ 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

 ## 快速开始

-### 1. 配置 Conda 环境
+1. 配置 Conda 环境

-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
-
-| 安装包 | 适用场景 | 包含内容 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:

 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整安装（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```

-**如何选择？**
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
-
-### 2. 克隆仓库（可选，供开发者使用）
+2. 安装开发版 Uni-Lab-OS:

 ```bash
-# 克隆仓库（仅开发或查看示例时需要）
+# 克隆仓库
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
 ```

 3. 启动 Uni-Lab 系统
--- a/docs/user_guide/best_practice.md
+++ b/docs/user_guide/best_practice.md
@@ -31,14 +31,6 @@

 详细的安装步骤请参考 [安装指南](installation.md)。

-**选择合适的安装包：**
-
-| 安装包 | 适用场景 | 包含组件 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
-
 **关键步骤：**

 ```bash
@@ -46,30 +38,15 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases

 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11

 # 3. 激活环境
 mamba activate unilab

-# 4. 安装 Uni-Lab-OS（选择其一）
-
-# 方案 A：标准安装（推荐大多数用户）
+# 4. 安装 Uni-Lab-OS
 mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-pip install -e /path/to/Uni-Lab-OS  # 可编辑安装
-uv pip install -r unilabos/utils/requirements.txt  # 安装 pip 依赖
-
-# 方案 C：完整版（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```

-**选择建议：**
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
-
 #### 1.2 验证安装

 ```bash
@@ -791,43 +768,7 @@ Waiting for host service...

 详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。

-#### 9.1 开发环境准备
-
-**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
-
-```bash
-# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
-mamba create -n unilab python=3.11.14
-conda activate unilab
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-
-# 2. 克隆代码
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
-cd Uni-Lab-OS
-
-# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
-python scripts/dev_install.py
-
-# 或手动安装：
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-```
-
-**为什么使用这种方式？**
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
- 使用 `uv` 替代 `pip`，安装速度更快
- 可编辑模式：代码修改**立即生效**，无需重新安装
-
-**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
-
-```bash
-pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-```
-
-#### 9.2 为什么需要自定义设备？
+#### 9.1 为什么需要自定义设备？

 Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：

@@ -836,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
 - 特殊的实验流程
 - 第三方设备集成

-#### 9.3 创建 Python 包
+#### 9.2 创建 Python 包

 为了方便开发和管理，建议为您的实验室创建独立的 Python 包。

@@ -873,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
 touch my_lab_devices/my_lab_devices/devices/__init__.py
 ```

-#### 9.4 创建 setup.py
+#### 9.3 创建 setup.py

 ```python
 # my_lab_devices/setup.py
@@ -904,7 +845,7 @@ setup(
 )
 ```

-#### 9.5 开发安装
+#### 9.4 开发安装

 使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：

@@ -919,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 - 方便调试和测试
 - 支持版本控制（git）

-#### 9.6 编写设备驱动
+#### 9.5 编写设备驱动

 创建设备驱动文件：

@@ -1060,7 +1001,7 @@ class MyPump:
 - **返回 Dict**：所有动作方法返回字典类型
 - **文档字符串**：详细说明参数和功能

-#### 9.7 测试设备驱动
+#### 9.6 测试设备驱动

 创建简单的测试脚本：

--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -13,26 +13,15 @@
  - 开发者需要 Git 和基本的 Python 开发知识
  - 自定义 msgs 需要 GitHub 账号

-## 安装包选择
-
-Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
-
-| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
-|--------|----------|----------|----------|
-| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
-| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
-| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
-
 ## 安装方式选择

 根据您的使用场景，选择合适的安装方式：

-| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
+| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |

 ---

@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：

 ```bash
-mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
+mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
 mamba activate unilab
-
-# 选择安装包（三选一）：
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和 pip 依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整版（含仿真和可视化工具）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```

 **参数说明**:

 - `-n unilab`: 创建名为 "unilab" 的环境
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
+- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源

-**包选择建议**：
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
-
 **如果遇到网络问题**，可以使用清华镜像源加速下载：

 ```bash
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/

-# 然后重新执行安装命令（推荐标准安装）
+# 然后重新执行安装命令
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
-
-# 或完整版（仿真/可视化）
-mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
-
-# pip 安装时使用清华镜像（开发者安装时使用）
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```

 ### 第三步：激活环境
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
   cd Uni-Lab-OS
   ```

-### 第二步：安装开发环境（unilabos-env）
+### 第二步：安装基础环境

-**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
- 包含 `uv` 工具，用于快速安装 pip 依赖
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
+**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
+
+#### 选项 A：通过一键安装（推荐）
+
+参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：

 ```bash
-# 创建并激活环境
-mamba create -n unilab python=3.11.14
 conda activate unilab
-
-# 安装开发者环境包（ROS2 + conda 依赖 + uv）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```

-### 第三步：安装 pip 依赖和可编辑模式安装
+#### 选项 B：通过手动安装

-克隆代码并安装依赖：
+参考上文"方式二：手动安装"，创建并安装环境：
+
+```bash
+mamba create -n unilab python=3.11.11
+conda activate unilab
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+```
+
+**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
+
+### 第三步：切换到开发版本
+
+现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：

 ```bash
 # 确保环境已激活
 conda activate unilab

-# 克隆仓库（如果还未克隆）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
-cd Uni-Lab-OS
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
+pip uninstall unilabos -y

-# 切换到 dev 分支（可选）
+# 克隆 dev 分支（如果还未克隆）
+cd /path/to/your/workspace
+git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
+# 或者如果已经克隆，切换到 dev 分支
+cd Uni-Lab-OS
 git checkout dev
 git pull
-```

-**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
-
-```bash
-# 自动检测中文环境，如果是中文系统则使用清华镜像
-python scripts/dev_install.py
-
-# 或者手动指定：
-python scripts/dev_install.py --china     # 强制使用清华镜像
-python scripts/dev_install.py --no-mirror # 强制使用 PyPI
-python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
-python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
-```
-
-**手动安装**（如果脚本安装失败或速度太慢）：
-
-```bash
-# 1. 安装 unilabos（可编辑模式）
-pip install -e .
-
-# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
-uv pip install -r unilabos/utils/requirements.txt
-
-# 国内用户使用清华镜像：
+# 以可编辑模式安装开发版 unilabos
 pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```

-**注意**：
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+**参数说明**：

-**为什么使用可编辑模式？**
-
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
- 适合开发调试：修改代码后直接运行测试
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
-
-**验证安装**：
-
-```bash
-# 检查 unilabos 版本
-python -c "import unilabos; print(unilabos.__version__)"
-
-# 检查安装位置（应该指向你的代码目录）
-pip show unilabos | grep Location
-```
+- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
+- `-i`: 使用清华镜像源加速下载
+- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）

 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）

@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab

 ### 问题 8: 环境很大，有办法减小吗？

-**解决方案**: 
-
-1. **使用 `unilabos` 标准版**（推荐大多数用户）：
-   ```bash
-   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-   ```
-   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
-
-2. **使用 `unilabos-env` 开发者版**（最小化）：
-   ```bash
-   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-   # 然后手动安装依赖
-   pip install -e .
-   uv pip install -r unilabos/utils/requirements.txt
-   ```
-   开发者版只包含环境依赖，体积最小约 2GB。
-
-3. **按需安装额外组件**：
-   如果后续需要特定功能，可以单独安装：
-   ```bash
-   # 需要 Jupyter
-   mamba install jupyter jupyros
-   
-   # 需要可视化
-   mamba install matplotlib opencv
-   
-   # 需要仿真（注意：这会安装大量依赖）
-   mamba install ros-humble-gazebo-ros
-   ```
-
-4. **预打包环境问题**：
-   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
-
-**包选择建议**：
-| 需求 | 推荐包 | 预估大小 |
-|------|--------|----------|
-| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
-| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
-| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
+**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。

 ### 问题 9: 如何更新到最新版本？

@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f

 **提示**:

- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
- **快速体验和演示**推荐使用方式一（一键安装）
+- 生产环境推荐使用方式二（手动安装）的稳定版本
+- 开发和测试推荐使用方式三（开发者安装）
+- 快速体验和演示推荐使用方式一（一键安装）
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.10.16
+  version: 0.10.15
 source:
  path: ../../unilabos_msgs
  target_directory: src
@@ -25,7 +25,7 @@ requirements:
  build:
  - ${{ compiler('cxx') }}
  - ${{ compiler('c') }}
-  - python ==3.11.14
+  - python ==3.11.11
  - numpy
  - if: build_platform != target_platform
    then:
@@ -63,14 +63,14 @@ requirements:
  - robostack-staging::ros-humble-rosidl-default-generators
  - robostack-staging::ros-humble-std-msgs
  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
  run:
  - robostack-staging::ros-humble-action-msgs
  - robostack-staging::ros-humble-ros-workspace
  - robostack-staging::ros-humble-rosidl-default-runtime
  - robostack-staging::ros-humble-std-msgs
  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
  - if: osx and x86_64
    then:
    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.10.16"
+  version: "0.10.15"

 source:
  path: ../..
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -85,7 +85,7 @@ Verification:
 -------------

 The verify_installation.py script will check:
-  - Python version (3.11.14)
+  - Python version (3.11.11)
  - ROS2 rclpy installation
  - UniLabOS installation and dependencies

@@ -104,7 +104,7 @@ Build Information:

  Branch:   {branch}
  Platform: {platform}
-  Python:   3.11.14
+  Python:   3.11.11
  Date:     {build_date}

 Troubleshooting:
--- a/scripts/dev_install.py
+++ b/scripts/dev_install.py
@@ -1,214 +0,0 @@
-#!/usr/bin/env python3
-"""
-Development installation script for UniLabOS.
-Auto-detects Chinese locale and uses appropriate mirror.
-
-Usage:
-    python scripts/dev_install.py
-    python scripts/dev_install.py --no-mirror  # Force no mirror
-    python scripts/dev_install.py --china      # Force China mirror
-    python scripts/dev_install.py --skip-deps  # Skip pip dependencies installation
-
-Flow:
-    1. pip install -e . (install unilabos in editable mode)
-    2. Detect Chinese locale
-    3. Use uv to install pip dependencies from requirements.txt
-    4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
-"""
-
-import locale
-import subprocess
-import sys
-import argparse
-from pathlib import Path
-
-# Tsinghua mirror URL
-TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
-
-
-def is_chinese_locale() -> bool:
-    """
-    Detect if system is in Chinese locale.
-    Same logic as EnvironmentChecker._is_chinese_locale()
-    """
-    try:
-        lang = locale.getdefaultlocale()[0]
-        if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
-            return True
-    except Exception:
-        pass
-    return False
-
-
-def run_command(cmd: list, description: str, retry: int = 2) -> bool:
-    """Run command with retry support."""
-    print(f"[INFO] {description}")
-    print(f"[CMD] {' '.join(cmd)}")
-
-    for attempt in range(retry + 1):
-        try:
-            result = subprocess.run(cmd, check=True, timeout=600)
-            print(f"[OK] {description}")
-            return True
-        except subprocess.CalledProcessError as e:
-            if attempt < retry:
-                print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
-            else:
-                print(f"[ERROR] {description} failed: {e}")
-                return False
-        except subprocess.TimeoutExpired:
-            print(f"[ERROR] {description} timed out")
-            return False
-    return False
-
-
-def install_editable(project_root: Path, use_mirror: bool) -> bool:
-    """Install unilabos in editable mode using pip."""
-    cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing unilabos in editable mode")
-
-
-def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
-    """Install pip dependencies using uv (installed via conda-forge::uv)."""
-    cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing pip dependencies with uv", retry=2)
-
-
-def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
-    """Fallback: Install pip dependencies using pip."""
-    cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing pip dependencies with pip", retry=2)
-
-
-def check_uv_available() -> bool:
-    """Check if uv is available (installed via conda-forge::uv)."""
-    try:
-        subprocess.run(["uv", "--version"], capture_output=True, check=True)
-        return True
-    except (subprocess.CalledProcessError, FileNotFoundError):
-        return False
-
-
-def main():
-    parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
-    parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
-    parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
-    parser.add_argument(
-        "--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
-    )
-    parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
-    args = parser.parse_args()
-
-    # Determine project root
-    script_dir = Path(__file__).parent
-    project_root = script_dir.parent
-    requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
-
-    if not (project_root / "setup.py").exists():
-        print(f"[ERROR] setup.py not found in {project_root}")
-        sys.exit(1)
-
-    print("=" * 60)
-    print("UniLabOS Development Installation")
-    print("=" * 60)
-    print(f"Project root: {project_root}")
-    print()
-
-    # Determine mirror usage based on locale
-    if args.no_mirror:
-        use_mirror = False
-        print("[INFO] Mirror disabled by --no-mirror flag")
-    elif args.china:
-        use_mirror = True
-        print("[INFO] China mirror enabled by --china flag")
-    else:
-        use_mirror = is_chinese_locale()
-        if use_mirror:
-            print("[INFO] Chinese locale detected, using Tsinghua mirror")
-        else:
-            print("[INFO] Non-Chinese locale detected, using default PyPI")
-
-    print()
-
-    # Step 1: Install unilabos in editable mode
-    print("[STEP 1] Installing unilabos in editable mode...")
-    if not install_editable(project_root, use_mirror):
-        print("[ERROR] Failed to install unilabos")
-        print()
-        print("Manual fallback:")
-        if use_mirror:
-            print(f"  pip install -e {project_root} -i {TSINGHUA_MIRROR}")
-        else:
-            print(f"  pip install -e {project_root}")
-        sys.exit(1)
-
-    print()
-
-    # Step 2: Install pip dependencies
-    if args.skip_deps:
-        print("[INFO] Skipping pip dependencies installation (--skip-deps)")
-    else:
-        print("[STEP 2] Installing pip dependencies...")
-
-        if not requirements_file.exists():
-            print(f"[WARN] Requirements file not found: {requirements_file}")
-            print("[INFO] Skipping dependencies installation")
-        else:
-            # Try uv first (faster), fallback to pip
-            if args.use_pip:
-                print("[INFO] Using pip (--use-pip flag)")
-                success = install_requirements_pip(requirements_file, use_mirror)
-            elif check_uv_available():
-                print("[INFO] Using uv (installed via conda-forge::uv)")
-                success = install_requirements_uv(requirements_file, use_mirror)
-                if not success:
-                    print("[WARN] uv failed, falling back to pip...")
-                    success = install_requirements_pip(requirements_file, use_mirror)
-            else:
-                print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
-                print("[INFO] Falling back to pip...")
-                success = install_requirements_pip(requirements_file, use_mirror)
-
-            if not success:
-                print()
-                print("[WARN] Failed to install some dependencies automatically.")
-                print("You can manually install them:")
-                if use_mirror:
-                    print(f"  uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
-                    print("  or:")
-                    print(f"  pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
-                else:
-                    print(f"  uv pip install -r {requirements_file}")
-                    print("  or:")
-                    print(f"  pip install -r {requirements_file}")
-
-    print()
-    print("=" * 60)
-    print("Installation complete!")
-    print("=" * 60)
-    print()
-    print("Note: Some special packages (like pylabrobot) are installed")
-    print("automatically at runtime by unilabos if needed.")
-    print()
-    print("Verify installation:")
-    print('  python -c "import unilabos; print(unilabos.__version__)"')
-    print()
-    print("If you encounter issues, you can manually install dependencies:")
-    if use_mirror:
-        print(f"  uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
-    else:
-        print("  uv pip install -r unilabos/utils/requirements.txt")
-    print()
-
-
-if __name__ == "__main__":
-    main()
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.10.16',
+    version='0.10.15',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
--- a/unilabos/init.py
+++ b/unilabos/init.py
@@ -1 +1 @@
-__version__ = "0.10.16"
+__version__ = "0.10.15"
--- a/unilabos/main.py
+++ b/unilabos/main.py
@@ -1,6 +0,0 @@
-"""Entry point for `python -m unilabos`."""
-
-from unilabos.app.main import main
-
-if __name__ == "__main__":
-    main()
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -7,6 +7,7 @@ import sys
 import threading
 import time
 from typing import Dict, Any, List
+
 import networkx as nx
 import yaml

@@ -16,9 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
    sys.path.append(unilabos_dir)

-from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.app.utils import cleanup_for_restart

 # Global restart flags (used by ws_client and web/server)
 _restart_requested: bool = False
@@ -160,12 +161,6 @@ def parse_args():
        default=False,
        help="Complete registry information",
    )
-    parser.add_argument(
-        "--check_mode",
-        action="store_true",
-        default=False,
-        help="Run in check mode for CI: validates registry imports and ensures no file changes",
-    )
    parser.add_argument(
        "--no_update_feedback",
        action="store_true",
@@ -216,10 +211,7 @@ def main():
    args_dict = vars(args)

    # 环境检查 - 检查并自动安装必需的包 (可选)
-    skip_env_check = args_dict.get("skip_env_check", False)
-    check_mode = args_dict.get("check_mode", False)
-
-    if not skip_env_check:
+    if not args_dict.get("skip_env_check", False):
        from unilabos.utils.environment_check import check_environment

        if not check_environment(auto_install=True):
@@ -230,21 +222,7 @@ def main():

    # 加载配置文件，优先加载config，然后从env读取
    config_path = args_dict.get("config")
-
-    if check_mode:
-        args_dict["working_dir"] = os.path.abspath(os.getcwd())
-    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
-    if skip_env_check and not args_dict.get("working_dir") and not config_path:
-        working_dir = os.path.abspath(os.getcwd())
-        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
-        # 检查当前目录是否有 local_config.py
-        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(local_config_in_cwd):
-            config_path = local_config_in_cwd
-            print_status(f"发现本地配置文件: {config_path}", "info")
-        else:
-            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-    elif os.getcwd().endswith("unilabos_data"):
+    if os.getcwd().endswith("unilabos_data"):
        working_dir = os.path.abspath(os.getcwd())
    else:
        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
@@ -263,7 +241,7 @@ def main():
        working_dir = os.path.dirname(config_path)
    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
        config_path = os.path.join(working_dir, "local_config.py")
-    elif not skip_env_check and not config_path and (
+    elif not config_path and (
        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
    ):
        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
@@ -277,11 +255,9 @@ def main():
            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
        else:
            os._exit(1)
-
-    # 加载配置文件 (check_mode 跳过)
+    # 加载配置文件
    print_status(f"当前工作目录为 {working_dir}", "info")
-    if not check_mode:
-        load_config_from_file(config_path)
+    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
@@ -337,7 +313,6 @@ def main():
    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
    BasicConfig.machine_name = machine_name
    BasicConfig.vis_2d_enable = args_dict["2d_vis"]
-    BasicConfig.check_mode = check_mode

    from unilabos.resources.graphio import (
        read_node_link_json,
@@ -356,14 +331,10 @@ def main():
    # 显示启动横幅
    print_unilab_banner(args_dict)

-    # 注册表 - check_mode 时强制启用 complete_registry
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
-
-    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
-    if check_mode:
-        print_status("Check mode: complete_registry 完成，退出", "info")
-        os._exit(0)
+    # 注册表
+    lab_registry = build_registry(
+        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+    )

    if BasicConfig.upload_registry:
        # 设备注册到服务端 - 需要 ak 和 sk
--- a/unilabos/app/utils.py
+++ b/unilabos/app/utils.py
@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
 提供清理、重启等工具函数
 """

-import glob
-import os
-import shutil
-import sys
-
-
-def patch_rclpy_dll_windows():
-    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
-    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
-        return
-    try:
-        import rclpy
-
-        return
-    except ImportError as e:
-        if not str(e).startswith("DLL load failed"):
-            return
-    cp = os.environ["CONDA_PREFIX"]
-    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
-    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
-    if not os.path.exists(impl) or not pyd:
-        return
-    with open(impl, "r", encoding="utf-8") as f:
-        content = f.read()
-    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
-    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
-    shutil.copy2(impl, impl + ".bak")
-    with open(impl, "w", encoding="utf-8") as f:
-        f.write(patch + content)
-
-
-patch_rclpy_dll_windows()
-
 import gc
+import os
 import threading
 import time

--- a/unilabos/app/web/controller.py
+++ b/unilabos/app/web/controller.py
@@ -58,14 +58,14 @@ class JobResultStore:
                feedback=feedback or {},
                timestamp=time.time(),
            )
-            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")

    def get_and_remove(self, job_id: str) -> Optional[JobResult]:
        """获取并删除任务结果"""
        with self._results_lock:
            result = self._results.pop(job_id, None)
            if result:
-                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
            return result

    def get_result(self, job_id: str) -> Optional[JobResult]:
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum

-from typing_extensions import TypedDict
+from jedi.inference.gradual.typing import TypedDict

 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
@@ -154,7 +154,7 @@ class DeviceActionManager:
            job_info.set_ready_timeout(10)  # 设置10秒超时
            self.active_jobs[device_key] = job_info
            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
            return True

    def start_job(self, job_id: str) -> bool:
@@ -210,9 +210,8 @@ class DeviceActionManager:
                job_info.update_timestamp()
                # 从all_jobs中移除已结束的job
                del self.all_jobs[job_id]
-                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
-                pass
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
            else:
                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -228,7 +227,7 @@ class DeviceActionManager:
                next_job_log = format_job_log(
                    next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                )
-                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                return next_job

            return None
@@ -269,7 +268,7 @@ class DeviceActionManager:
                # 从all_jobs中移除
                del self.all_jobs[job_id]
                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")

                # 启动下一个任务
                if device_key in self.device_queues and self.device_queues[device_key]:
@@ -282,7 +281,7 @@ class DeviceActionManager:
                    next_job_log = format_job_log(
                        next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                    )
-                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                return True

            # 如果是排队中的任务
@@ -296,7 +295,7 @@ class DeviceActionManager:
                    job_log = format_job_log(
                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                    )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                    return True

            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -495,12 +494,8 @@ class MessageProcessor:
                        await self._process_message(message_type, message_data)
                    else:
                        if message_type.endswith("_material"):
-                            logger.trace(
-                                f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                            )
-                            logger.debug(
-                                f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                            )
+                            logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
+                            logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
                        else:
                            await self._process_message(message_type, message_data)
                except json.JSONDecodeError:
@@ -570,7 +565,7 @@ class MessageProcessor:

    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
        """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")

        try:
            if message_type == "pong":
@@ -642,13 +637,13 @@ class MessageProcessor:
            await self._send_action_state_response(
                device_id, action_name, task_id, job_id, "query_action_status", True, 0
            )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
        else:
            # 需要排队
            await self._send_action_state_response(
                device_id, action_name, task_id, job_id, "query_action_status", False, 10
            )
-            logger.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")

            # 通知QueueProcessor有新的队列更新
            if self.queue_processor:
@@ -852,7 +847,9 @@ class MessageProcessor:
                        device_action_groups[key_add] = []
                    device_action_groups[key_add].append(item["uuid"])

-                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
+                    logger.info(
+                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
                else:
                    # 正常update
                    key = (device_id, "update")
@@ -866,9 +863,7 @@ class MessageProcessor:
                    device_action_groups[key] = []
                device_action_groups[key].append(item["uuid"])

-        logger.trace(
-            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
-        )
+        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")

        # 为每个(device_id, action)创建独立的更新线程
        for (device_id, actual_action), items in device_action_groups.items():
@@ -916,13 +911,13 @@ class MessageProcessor:

        # 发送确认消息
        if self.websocket_client:
-            await self.websocket_client.send_message(
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-            )
+            await self.websocket_client.send_message({
+                "action": "restart_acknowledged",
+                "data": {"reason": reason, "delay": delay}
+            })

        # 设置全局重启标志
        import unilabos.app.main as main_module
-
        main_module._restart_requested = True
        main_module._restart_reason = reason

@@ -932,12 +927,10 @@ class MessageProcessor:
        # 在新线程中执行清理，避免阻塞当前事件循环
        def do_cleanup():
            import time
-
            time.sleep(0.5)  # 给当前消息处理完成的时间
            logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
            try:
                from unilabos.app.utils import cleanup_for_restart
-
                if cleanup_for_restart():
                    logger.info("[MessageProcessor] Cleanup successful, main() will restart")
                else:
@@ -1135,7 +1128,7 @@ class QueueProcessor:
            success = self.message_processor.send_message(message)
            job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
            if success:
-                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
            else:
                logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")

@@ -1158,7 +1151,7 @@ class QueueProcessor:
            job_info.action_name,
        )

-        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")

        # 结束任务，获取下一个可执行的任务
        next_job = self.device_manager.end_job(job_id)
@@ -1178,8 +1171,8 @@ class QueueProcessor:
                },
            }
            self.message_processor.send_message(message)
-            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")

            # 立即触发下一轮状态检查
            self.notify_queue_update()
@@ -1321,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
                except (KeyError, AttributeError):
                    logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")

-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")

            # 通知队列处理器job完成（包括timeout的job）
            self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1388,9 +1381,7 @@ class WebSocketClient(BaseCommunicationClient):
            if host_node:
                # 获取设备信息
                for device_id, namespace in host_node.devices_names.items():
-                    device_key = (
-                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                    )
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
                    is_online = device_key in host_node._online_devices

                    # 获取设备的动作信息
@@ -1404,16 +1395,14 @@ class WebSocketClient(BaseCommunicationClient):
                                "action_type": str(type(client).__name__),
                            }

-                    devices.append(
-                        {
-                            "device_id": device_id,
-                            "namespace": namespace,
-                            "device_key": device_key,
-                            "is_online": is_online,
-                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                            "actions": actions,
-                        }
-                    )
+                    devices.append({
+                        "device_id": device_id,
+                        "namespace": namespace,
+                        "device_key": device_key,
+                        "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
+                    })

                logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
        except Exception as e:
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -22,7 +22,6 @@ class BasicConfig:
    startup_json_path = None  # 填写绝对路径
    disable_browser = False  # 禁止浏览器自动打开
    port = 8002  # 本地HTTP服务
-    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"

--- a/unilabos/device_comms/opcua_client/client.py
+++ b/unilabos/device_comms/opcua_client/client.py
--- a/unilabos/devices/virtual/workbench.py
+++ b/unilabos/devices/virtual/workbench.py
@@ -1,687 +0,0 @@
-"""
-Virtual Workbench Device - 模拟工作台设备
-包含：
- 1个机械臂 (每次操作3s, 独占锁)
- 3个加热台 (每次加热10s, 可并行)
-
-工作流程：
-1. A1-A5 物料同时启动，竞争机械臂
-2. 机械臂将物料移动到空闲加热台
-3. 加热完成后，机械臂将物料移动到C1-C5
-
-注意：调用来自线程池，使用 threading.Lock 进行同步
-"""
-import logging
-import time
-from typing import Dict, Any, Optional
-from dataclasses import dataclass
-from enum import Enum
-from threading import Lock, RLock
-
-from typing_extensions import TypedDict
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action
-
-
-# ============ TypedDict 返回类型定义 ============
-
-class MoveToHeatingStationResult(TypedDict):
-    """move_to_heating_station 返回类型"""
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-
-
-class StartHeatingResult(TypedDict):
-    """start_heating 返回类型"""
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-
-
-class MoveToOutputResult(TypedDict):
-    """move_to_output 返回类型"""
-    success: bool
-    station_id: int
-    material_id: str
-
-
-class PrepareMaterialsResult(TypedDict):
-    """prepare_materials 返回类型 - 批量准备物料"""
-    success: bool
-    count: int
-    material_1: int  # 物料编号1
-    material_2: int  # 物料编号2
-    material_3: int  # 物料编号3
-    material_4: int  # 物料编号4
-    material_5: int  # 物料编号5
-    message: str
-
-
-# ============ 状态枚举 ============
-
-class HeatingStationState(Enum):
-    """加热台状态枚举"""
-    IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料，等待加热
-    HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成，等待取走
-
-
-class ArmState(Enum):
-    """机械臂状态枚举"""
-    IDLE = "idle"  # 空闲
-    BUSY = "busy"  # 工作中
-
-
-@dataclass
-class HeatingStation:
-    """加热台数据结构"""
-    station_id: int
-    state: HeatingStationState = HeatingStationState.IDLE
-    current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
-    material_number: Optional[int] = None  # 物料编号 (1-5)
-    heating_start_time: Optional[float] = None
-    heating_progress: float = 0.0
-
-
-class VirtualWorkbench:
-    """
-    Virtual Workbench Device - 虚拟工作台设备
-
-    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒，同一时间只能执行一个操作
-    - 加热台加热耗时10秒，3个加热台可并行工作
-
-    工作流:
-    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
-    2. 获取机械臂后，查找空闲加热台
-    3. 机械臂将物料放入加热台，开始加热
-    4. 加热完成后，机械臂将物料移动到目标位置Cn
-    """
-
-    _ros_node: BaseROS2DeviceNode
-
-    # 配置常量
-    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 10.0  # 加热时间(秒)
-    NUM_HEATING_STATIONS: int = 3  # 加热台数量
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        # 处理可能的不同调用方式
-        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop("id")
-        if config is None and "config" in kwargs:
-            config = kwargs.pop("config")
-
-        self.device_id = device_id or "virtual_workbench"
-        self.config = config or {}
-
-        self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
-        self.data: Dict[str, Any] = {}
-
-        # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
-        self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
-
-        # 机械臂状态和锁 (使用threading.Lock)
-        self._arm_lock = Lock()
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task: Optional[str] = None
-
-        # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
-        self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i)
-            for i in range(1, self.NUM_HEATING_STATIONS + 1)
-        }
-        self._stations_lock = RLock()  # 可重入锁，保护加热台状态
-
-        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
-        self._tasks_lock = Lock()
-
-        # 处理其他kwargs参数
-        skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
-        for key, value in kwargs.items():
-            if key not in skip_keys and not hasattr(self, key):
-                setattr(self, key, value)
-
-        self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
-        self.logger.info(
-            f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
-            f"加热时间: {self.HEATING_TIME}s | "
-            f"加热台数量: {self.NUM_HEATING_STATIONS}"
-        )
-
-    @not_action
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """ROS节点初始化后回调"""
-        self._ros_node = ros_node
-
-    @not_action
-    def initialize(self) -> bool:
-        """初始化虚拟工作台"""
-        self.logger.info(f"初始化虚拟工作台 {self.device_id}")
-
-        # 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
-        with self._stations_lock:
-            for station in self._heating_stations.values():
-                station.state = HeatingStationState.IDLE
-                station.current_material = None
-                station.material_number = None
-                station.heating_progress = 0.0
-
-        # 初始化状态
-        self.data.update({
-            "status": "Ready",
-            "arm_state": ArmState.IDLE.value,
-            "arm_current_task": None,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": 0,
-            "message": "工作台就绪",
-        })
-
-        self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
-        return True
-
-    @not_action
-    def cleanup(self) -> bool:
-        """清理虚拟工作台"""
-        self.logger.info(f"清理虚拟工作台 {self.device_id}")
-
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-
-        with self._stations_lock:
-            self._heating_stations.clear()
-
-        with self._tasks_lock:
-            self._active_tasks.clear()
-
-        self.data.update({
-            "status": "Offline",
-            "arm_state": ArmState.IDLE.value,
-            "heating_stations": {},
-            "message": "工作台已关闭",
-        })
-        return True
-
-    def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
-        """获取所有加热台状态"""
-        with self._stations_lock:
-            return {
-                station_id: {
-                    "state": station.state.value,
-                    "current_material": station.current_material,
-                    "material_number": station.material_number,
-                    "heating_progress": station.heating_progress,
-                }
-                for station_id, station in self._heating_stations.items()
-            }
-
-    def _update_data_status(self, message: Optional[str] = None):
-        """更新状态数据"""
-        self.data.update({
-            "arm_state": self._arm_state.value,
-            "arm_current_task": self._arm_current_task,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": len(self._active_tasks),
-        })
-        if message:
-            self.data["message"] = message
-
-    def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台
-
-        Returns:
-            空闲加热台ID，如果没有则返回None
-        """
-        with self._stations_lock:
-            for station_id, station in self._heating_stations.items():
-                if station.state == HeatingStationState.IDLE:
-                    return station_id
-        return None
-
-    def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权（阻塞直到获取）
-
-        Args:
-            task_description: 任务描述，用于日志
-
-        Returns:
-            是否成功获取
-        """
-        self.logger.info(f"[{task_description}] 等待获取机械臂...")
-
-        # 阻塞等待获取锁
-        self._arm_lock.acquire()
-
-        self._arm_state = ArmState.BUSY
-        self._arm_current_task = task_description
-        self._update_data_status(f"机械臂执行: {task_description}")
-
-        self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
-        return True
-
-    def _release_arm(self):
-        """释放机械臂"""
-        task = self._arm_current_task
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-        self._arm_lock.release()
-        self._update_data_status(f"机械臂已释放 (完成: {task})")
-        self.logger.info(f"机械臂已释放 (完成: {task})")
-
-    def prepare_materials(
-        self,
-        count: int = 5,
-    ) -> PrepareMaterialsResult:
-        """
-        批量准备物料 - 虚拟起始节点
-
-        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
-
-        Args:
-            count: 待生成的物料数量，默认5 (生成 A1-A5)
-
-        Returns:
-            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
-        """
-        # 生成物料列表 A1 - A{count}
-        materials = [i for i in range(1, count + 1)]
-
-        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: "
-            f"A1-A{count} -> material_1~material_{count}"
-        )
-
-        return {
-            "success": True,
-            "count": count,
-            "material_1": materials[0] if len(materials) > 0 else 0,
-            "material_2": materials[1] if len(materials) > 1 else 0,
-            "material_3": materials[2] if len(materials) > 2 else 0,
-            "material_4": materials[3] if len(materials) > 3 else 0,
-            "material_5": materials[4] if len(materials) > 4 else 0,
-            "message": f"已准备 {count} 个物料: A1-A{count}",
-        }
-
-    def move_to_heating_station(
-        self,
-        material_number: int,
-    ) -> MoveToHeatingStationResult:
-        """
-        将物料从An位置移动到加热台
-
-        多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
-
-        Args:
-            material_number: 物料编号 (1-5)
-
-        Returns:
-            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
-        """
-        # 根据物料编号生成物料ID
-        material_id = f"A{material_number}"
-        task_desc = f"移动{material_id}到加热台"
-        self.logger.info(f"[任务] {task_desc} - 开始执行")
-
-        # 记录任务
-        with self._tasks_lock:
-            self._active_tasks[material_id] = {
-                "status": "waiting_for_arm",
-                "start_time": time.time(),
-            }
-
-        try:
-            # 步骤1: 等待获取机械臂使用权(竞争)
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "waiting_for_arm"
-            self._acquire_arm(task_desc)
-
-            # 步骤2: 查找空闲加热台
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "finding_station"
-            station_id = None
-
-            # 循环等待直到找到空闲加热台
-            while station_id is None:
-                station_id = self._find_available_heating_station()
-                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
-                    # 释放机械臂，等待后重试
-                    self._release_arm()
-                    time.sleep(0.5)
-                    self._acquire_arm(task_desc)
-
-            # 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
-            with self._stations_lock:
-                self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
-                self._heating_stations[station_id].current_material = material_id
-                self._heating_stations[station_id].material_number = material_number
-
-            # 步骤4: 模拟机械臂移动操作 (3秒)
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "arm_moving"
-                self._active_tasks[material_id]["assigned_station"] = station_id
-            self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
-
-            time.sleep(self.ARM_OPERATION_TIME)
-
-            # 步骤5: 放入加热台完成
-            self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
-
-            # 释放机械臂
-            self._release_arm()
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "placed_on_station"
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"{material_id}已成功移动到加热台{station_id}",
-            }
-
-        except Exception as e:
-            self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": -1,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"移动失败: {str(e)}",
-            }
-
-    def start_heating(
-        self,
-        station_id: int,
-        material_number: int,
-    ) -> StartHeatingResult:
-        """
-        启动指定加热台的加热程序
-
-        Args:
-            station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
-            material_number: 物料编号，从 move_to_heating_station 的 handle 传入
-
-        Returns:
-            StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
-        """
-        self.logger.info(f"[加热台{station_id}] 开始加热")
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "material_number": material_number,
-                "message": f"无效的加热台ID: {station_id}",
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-
-            if station.current_material is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}上没有物料",
-                }
-
-            if station.state == HeatingStationState.HEATING:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": station.current_material,
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}已经在加热中",
-                }
-
-            material_id = station.current_material
-
-            # 开始加热
-            station.state = HeatingStationState.HEATING
-            station.heating_start_time = time.time()
-            station.heating_progress = 0.0
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating"
-
-        self._update_data_status(f"加热台{station_id}开始加热{material_id}")
-
-        # 模拟加热过程 (10秒)
-        start_time = time.time()
-        while True:
-            elapsed = time.time() - start_time
-            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].heating_progress = progress
-
-            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
-
-            if elapsed >= self.HEATING_TIME:
-                break
-
-            time.sleep(1.0)
-
-        # 加热完成
-        with self._stations_lock:
-            self._heating_stations[station_id].state = HeatingStationState.COMPLETED
-            self._heating_stations[station_id].heating_progress = 100.0
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating_completed"
-
-        self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
-
-        return {
-            "success": True,
-            "station_id": station_id,
-            "material_id": material_id,
-            "material_number": material_number,
-            "message": f"加热台{station_id}加热完成",
-        }
-
-    def move_to_output(
-        self,
-        station_id: int,
-        material_number: int,
-    ) -> MoveToOutputResult:
-        """
-        将物料从加热台移动到输出位置Cn
-
-        Args:
-            station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
-            material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
-
-        Returns:
-            MoveToOutputResult: 包含执行结果
-        """
-        output_number = material_number  # 物料编号决定输出位置
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": f"C{output_number}",
-                "message": f"无效的加热台ID: {station_id}",
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-            material_id = station.current_material
-
-            if material_id is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}上没有物料",
-                }
-
-            if station.state != HeatingStationState.COMPLETED:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": material_id,
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
-                }
-
-        output_position = f"C{output_number}"
-        task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
-        self.logger.info(f"[任务] {task_desc}")
-
-        try:
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
-
-            # 获取机械臂
-            self._acquire_arm(task_desc)
-
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "arm_moving_to_output"
-
-            # 模拟机械臂操作 (3秒)
-            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
-            time.sleep(self.ARM_OPERATION_TIME)
-
-            # 清空加热台
-            with self._stations_lock:
-                self._heating_stations[station_id].state = HeatingStationState.IDLE
-                self._heating_stations[station_id].current_material = None
-                self._heating_stations[station_id].material_number = None
-                self._heating_stations[station_id].heating_progress = 0.0
-                self._heating_stations[station_id].heating_start_time = None
-
-            # 释放机械臂
-            self._release_arm()
-
-            # 任务完成
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "completed"
-                    self._active_tasks[material_id]["end_time"] = time.time()
-
-            self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "output_position": output_position,
-                "message": f"{material_id}已成功移动到{output_position}",
-            }
-
-        except Exception as e:
-            self.logger.error(f"移动到输出位置失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": output_position,
-                "message": f"移动失败: {str(e)}",
-            }
-
-    # ============ 状态属性 ============
-
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Unknown")
-
-    @property
-    def arm_state(self) -> str:
-        return self._arm_state.value
-
-    @property
-    def arm_current_task(self) -> str:
-        return self._arm_current_task or ""
-
-    @property
-    def heating_station_1_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.state.value if station else "unknown"
-
-    @property
-    def heating_station_1_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.current_material or "" if station else ""
-
-    @property
-    def heating_station_1_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.heating_progress if station else 0.0
-
-    @property
-    def heating_station_2_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.state.value if station else "unknown"
-
-    @property
-    def heating_station_2_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.current_material or "" if station else ""
-
-    @property
-    def heating_station_2_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.heating_progress if station else 0.0
-
-    @property
-    def heating_station_3_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.state.value if station else "unknown"
-
-    @property
-    def heating_station_3_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.current_material or "" if station else ""
-
-    @property
-    def heating_station_3_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.heating_progress if station else 0.0
-
-    @property
-    def active_tasks_count(self) -> int:
-        with self._tasks_lock:
-            return len(self._active_tasks)
-
-    @property
-    def message(self) -> str:
-        return self.data.get("message", "")
--- a/unilabos/registry/devices/bioyond.yaml
+++ b/unilabos/registry/devices/bioyond.yaml
@@ -0,0 +1,589 @@
+workstation.bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  class:
+    action_value_mappings:
+      auto-batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          hold_m_name: null
+          liquid_material_name: NMP
+          speed: null
+          temperature: null
+          titration: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+                titration:
+                  type: string
+              required:
+              - titration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_90_10_vial_feeding_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          liquid_material_name: NMP
+          solutions: null
+          speed: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                solutions:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - solutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_diamine_solution_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_order_finish_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+          used_materials: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_multiple_orders_and_get_reports:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_create_result:
+                  type: string
+                check_interval:
+                  default: 10
+                  type: integer
+                timeout:
+                  default: 7200
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_multiple_orders_and_get_reports参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
+      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
+        deck:
+          type: string
+      required:
+      - config
+      - deck
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0
--- a/unilabos/registry/devices/bioyond_cell.yaml
+++ b/unilabos/registry/devices/bioyond_cell.yaml
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml
@@ -5,135 +5,6 @@ bioyond_dispensing_station:
  - bioyond_dispensing_station
  class:
    action_value_mappings:
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
      batch_create_90_10_vial_feeding_tasks:
        feedback: {}
        goal:
--- a/unilabos/registry/devices/coin_cell_workstation.yaml
+++ b/unilabos/registry/devices/coin_cell_workstation.yaml
@@ -405,7 +405,7 @@ coincellassemblyworkstation_device:
            goal:
              properties:
                bottle_num:
-                  type: string
+                  type: integer
              required:
              - bottle_num
              type: object
--- a/unilabos/registry/devices/opcua_example.yaml
+++ b/unilabos/registry/devices/opcua_example.yaml
@@ -49,7 +49,32 @@ opcua_example:
          title: load_config参数
          type: object
        type: UniLabJsonCommand
-      auto-refresh_node_values:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_cache_stats:
        feedback: {}
        goal: {}
        goal_default: {}
@@ -67,7 +92,32 @@ opcua_example:
            result: {}
          required:
          - goal
-          title: refresh_node_values参数
+          title: print_cache_stats参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_node:
+        feedback: {}
+        goal: {}
+        goal_default:
+          node_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                node_name:
+                  type: string
+              required:
+              - node_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_node参数
          type: object
        type: UniLabJsonCommand
      auto-set_node_value:
@@ -99,50 +149,9 @@ opcua_example:
          title: set_node_value参数
          type: object
        type: UniLabJsonCommand
-      auto-start_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
    module: unilabos.device_comms.opcua_client.client:OpcUaClient
    status_types:
+      cache_stats: dict
      node_value: String
    type: python
  config_info: []
@@ -152,15 +161,23 @@ opcua_example:
  init_param_schema:
    config:
      properties:
+        cache_timeout:
+          default: 5.0
+          type: number
        config_path:
          type: string
+        deck:
+          type: string
        password:
          type: string
-        refresh_interval:
-          default: 1.0
-          type: number
+        subscription_interval:
+          default: 500
+          type: integer
        url:
          type: string
+        use_subscription:
+          default: true
+          type: boolean
        username:
          type: string
      required:
@@ -168,9 +185,12 @@ opcua_example:
      type: object
    data:
      properties:
+        cache_stats:
+          type: object
        node_value:
          type: string
      required:
      - node_value
+      - cache_stats
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
@@ -58,313 +58,6 @@ reaction_station.bioyond:
          title: add_time_constraint参数
          type: object
        type: UniLabJsonCommand
-      auto-clear_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: clear_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_order:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
-                  type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_order参数
-          type: object
-        type: UniLabJsonCommand
-      auto-hard_delete_merged_workflows:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_ids: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_ids:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - workflow_ids
-              type: object
-            result: {}
-          required:
-          - goal
-          title: hard_delete_merged_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-merge_workflow_with_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
-                  type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: merge_workflow_with_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_temperature_cutoff_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-              required:
-              - report_request
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_temperature_cutoff_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_web_workflows:
-        feedback: {}
-        goal: {}
-        goal_default:
-          web_workflow_json: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                web_workflow_json:
-                  type: string
-              required:
-              - web_workflow_json
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_web_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-set_reactor_temperature:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reactor_id: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reactor_id:
-                  type: integer
-                temperature:
-                  type: number
-              required:
-              - reactor_id
-              - temperature
-              type: object
-            result: {}
-          required:
-          - goal
-          title: set_reactor_temperature参数
-          type: object
-        type: UniLabJsonCommand
-      auto-skip_titration_steps:
-        feedback: {}
-        goal: {}
-        goal_default:
-          preintake_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                preintake_id:
-                  type: string
-              required:
-              - preintake_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: skip_titration_steps参数
-          type: object
-        type: UniLabJsonCommand
-      auto-sync_workflow_sequence_from_bioyond:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: sync_workflow_sequence_from_bioyond参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          value: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                value:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - value
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_step_query:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_step_query参数
-          type: object
-        type: UniLabJsonCommand
      clean_all_server_workflows:
        feedback: {}
        goal: {}
@@ -981,7 +674,17 @@ reaction_station.bioyond:
    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
    protocol_type: []
    status_types:
-      workflow_sequence: str
+      average_viscosity: Float64
+      force: Float64
+      in_temperature: Float64
+      out_temperature: Float64
+      pt100_temperature: Float64
+      sensor_average_temperature: Float64
+      setting_temperature: Float64
+      speed: Float64
+      target_temperature: Float64
+      viscosity: Float64
+      workflow_sequence: String
    type: python
  config_info: []
  description: Bioyond反应站
@@ -1001,7 +704,9 @@ reaction_station.bioyond:
    data:
      properties:
        workflow_sequence:
-          type: string
+          items:
+            type: string
+          type: array
      required:
      - workflow_sequence
      type: object
@@ -1011,34 +716,19 @@ reaction_station.reactor:
  - reactor
  - reaction_station_bioyond
  class:
-    action_value_mappings:
-      auto-update_metrics:
-        feedback: {}
-        goal: {}
-        goal_default:
-          payload: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                payload:
-                  type: object
-              required:
-              - payload
-              type: object
-            result: {}
-          required:
-          - goal
-          title: update_metrics参数
-          type: object
-        type: UniLabJsonCommand
+    action_value_mappings: {}
    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
-    status_types: {}
+    status_types:
+      average_viscosity: Float64
+      force: Float64
+      in_temperature: Float64
+      out_temperature: Float64
+      pt100_temperature: Float64
+      sensor_average_temperature: Float64
+      setting_temperature: Float64
+      speed: Float64
+      target_temperature: Float64
+      viscosity: Float64
    type: python
  config_info: []
  description: 反应站子设备-反应器
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -71,20 +71,6 @@ class Registry:

        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type

-        # 获取 HostNode 类的增强信息，用于自动生成 action schema
-        host_node_enhanced_info = get_enhanced_class_info(
-            "unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
-        )
-
-        # 为 test_latency 生成 schema，保留原有 description
-        test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
-        test_latency_schema = self._generate_unilab_json_command_schema(
-            test_latency_method_info.get("args", []),
-            "test_latency",
-            test_latency_method_info.get("return_annotation"),
-        )
-        test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
-
        self.device_type_registry.update(
            {
                "host_node": {
@@ -166,19 +152,14 @@ class Registry:
                                },
                            },
                            "test_latency": {
-                                "type": (
-                                    "UniLabJsonCommandAsync"
-                                    if test_latency_method_info.get("is_async", False)
-                                    else "UniLabJsonCommand"
-                                ),
+                                "type": self.EmptyIn,
                                "goal": {},
                                "feedback": {},
                                "result": {},
-                                "schema": test_latency_schema,
-                                "goal_default": {
-                                    arg["name"]: arg["default"]
-                                    for arg in test_latency_method_info.get("args", [])
-                                },
+                                "schema": ros_action_to_json_schema(
+                                    self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
+                                ),
+                                "goal_default": {},
                                "handles": {},
                            },
                            "auto-test_resource": {
@@ -498,11 +479,7 @@ class Registry:
        return status_schema

    def _generate_unilab_json_command_schema(
-        self,
-        method_args: List[Dict[str, Any]],
-        method_name: str,
-        return_annotation: Any = None,
-        previous_schema: Dict[str, Any] | None = None,
+        self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
    ) -> Dict[str, Any]:
        """
        根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
@@ -511,7 +488,6 @@ class Registry:
            method_args: 方法信息字典，包含args等
            method_name: 方法名称
            return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
-            previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description

        Returns:
            JSON Schema格式的参数schema
@@ -545,7 +521,7 @@ class Registry:
        if return_annotation is not None and self._is_typed_dict(return_annotation):
            result_schema = self._generate_typed_dict_result_schema(return_annotation)

-        final_schema = {
+        return {
            "title": f"{method_name}参数",
            "description": f"",
            "type": "object",
@@ -553,40 +529,6 @@ class Registry:
            "required": ["goal"],
        }

-        # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
-        if previous_schema:
-            self._preserve_field_descriptions(final_schema, previous_schema)
-
-        return final_schema
-
-    def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
-        """
-        保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
-
-        Args:
-            new_schema: 新生成的 schema（会被修改）
-            previous_schema: 之前的 schema
-        """
-        for section in ["goal", "feedback", "result"]:
-            new_section = new_schema.get("properties", {}).get(section, {})
-            prev_section = previous_schema.get("properties", {}).get(section, {})
-
-            if not new_section or not prev_section:
-                continue
-
-            new_props = new_section.get("properties", {})
-            prev_props = prev_section.get("properties", {})
-
-            for field_name, field_schema in new_props.items():
-                if field_name in prev_props:
-                    prev_field = prev_props[field_name]
-                    # 保留字段的 description
-                    if "description" in prev_field and prev_field["description"]:
-                        field_schema["description"] = prev_field["description"]
-                    # 保留字段的 title（用户自定义的中文名）
-                    if "title" in prev_field and prev_field["title"]:
-                        field_schema["title"] = prev_field["title"]
-
    def _is_typed_dict(self, annotation: Any) -> bool:
        """
        检查类型注解是否是TypedDict
@@ -755,10 +697,13 @@ class Registry:
                            sorted(device_config["class"]["status_types"].items())
                        )
                        if complete_registry:
-                            # 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
-                            old_action_configs = {}
+                            # 保存原有的description信息
+                            old_descriptions = {}
                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                                old_action_configs[action_name] = action_config
+                                if "description" in action_config.get("schema", {}):
+                                    description = action_config["schema"]["description"]
+                                    if len(description):
+                                        old_descriptions[action_name] = action_config["schema"]["description"]

                            device_config["class"]["action_value_mappings"] = {
                                k: v
@@ -774,15 +719,10 @@ class Registry:
                                        "feedback": {},
                                        "result": {},
                                        "schema": self._generate_unilab_json_command_schema(
-                                            v["args"],
-                                            k,
-                                            v.get("return_annotation"),
-                                            # 传入旧的 schema 以保留字段 description
-                                            old_action_configs.get(f"auto-{k}", {}).get("schema"),
+                                            v["args"], k, v.get("return_annotation")
                                        ),
                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                        # 保留原有的 handles 配置
-                                        "handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
+                                        "handles": [],
                                        "placeholder_keys": {
                                            i["name"]: (
                                                "unilabos_resources"
@@ -806,14 +746,12 @@ class Registry:
                                    if k not in device_config["class"]["action_value_mappings"]
                                }
                            )
-                            # 恢复原有的 description 信息（非 auto- 开头的动作）
-                            for action_name, old_config in old_action_configs.items():
+                            # 恢复原有的description信息（auto开头的不修改）
+                            for action_name, description in old_descriptions.items():
                                if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
-                                    old_schema = old_config.get("schema", {})
-                                    if "description" in old_schema and old_schema["description"]:
-                                        device_config["class"]["action_value_mappings"][action_name]["schema"][
-                                            "description"
-                                        ] = old_schema["description"]
+                                    device_config["class"]["action_value_mappings"][action_name]["schema"][
+                                        "description"
+                                    ] = description
                            device_config["init_param_schema"] = {}
                            device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
                                enhanced_info["init_params"], "__init__"
--- a/unilabos/ros/msgs/message_converter.py
+++ b/unilabos/ros/msgs/message_converter.py
@@ -770,16 +770,13 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
    return schema


-def ros_action_to_json_schema(
-    action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
-) -> Dict[str, Any]:
+def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
    """
    将 ROS Action 类转换为 JSON Schema

    Args:
        action_class: ROS Action 类
        description: 描述
-        previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description

    Returns:
        完整的 JSON Schema 定义
@@ -813,44 +810,9 @@ def ros_action_to_json_schema(
        "required": ["goal"],
    }

-    # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
-    if previous_schema:
-        _preserve_field_descriptions(schema, previous_schema)
-
    return schema


-def _preserve_field_descriptions(
-    new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
-) -> None:
-    """
-    保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
-
-    Args:
-        new_schema: 新生成的 schema（会被修改）
-        previous_schema: 之前的 schema
-    """
-    for section in ["goal", "feedback", "result"]:
-        new_section = new_schema.get("properties", {}).get(section, {})
-        prev_section = previous_schema.get("properties", {}).get(section, {})
-
-        if not new_section or not prev_section:
-            continue
-
-        new_props = new_section.get("properties", {})
-        prev_props = prev_section.get("properties", {})
-
-        for field_name, field_schema in new_props.items():
-            if field_name in prev_props:
-                prev_field = prev_props[field_name]
-                # 保留字段的 description
-                if "description" in prev_field and prev_field["description"]:
-                    field_schema["description"] = prev_field["description"]
-                # 保留字段的 title（用户自定义的中文名）
-                if "title" in prev_field and prev_field["title"]:
-                    field_schema["title"] = prev_field["title"]
-
-
 def convert_ros_action_to_jsonschema(
    action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
 ) -> Dict[str, Any]:
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -49,6 +49,7 @@ from unilabos.resources.resource_tracker import (
    ResourceTreeInstance,
    ResourceDictInstance,
 )
+from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
@@ -184,7 +185,7 @@ class PropertyPublisher:
                f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
            )
        self.timer = node.create_timer(self.timer_period, self.publish_property)
-        self.__loop = ROS2DeviceNode.get_asyncio_loop()
+        self.__loop = get_event_loop()
        str_msg_type = str(msg_type)[8:-2]
        self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")

@@ -391,12 +392,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                parent_resource = self.resource_tracker.figure_resource(
                    {"name": bind_parent_id}
                )
-                for r in rts.root_nodes:
-                    # noinspection PyUnresolvedReferences
-                    r.res_content.parent_uuid = parent_resource.unilabos_uuid
-            else:
-                for r in rts.root_nodes:
-                    r.res_content.parent_uuid = self.uuid
+            for r in rts.root_nodes:
+                # noinspection PyUnresolvedReferences
+                r.res_content.parent_uuid = parent_resource.unilabos_uuid

            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
                # noinspection PyTypeChecker
@@ -1756,15 +1754,6 @@ class ROS2DeviceNode:
    它不继承设备类，而是通过代理模式访问设备类的属性和方法。
    """

-    # 类变量，用于循环管理
-    _asyncio_loop = None
-    _asyncio_loop_running = False
-    _asyncio_loop_thread = None
-
-    @classmethod
-    def get_asyncio_loop(cls):
-        return cls._asyncio_loop
-
    @staticmethod
    async def safe_task_wrapper(trace_callback, func, **kwargs):
        try:
@@ -1841,11 +1830,6 @@ class ROS2DeviceNode:
            print_publish: 是否打印发布信息
            driver_is_ros:
        """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._asyncio_loop_thread is None:
-            self._start_loop()

        # 保存设备类是否支持异步上下文
        self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1937,17 +1921,6 @@ class ROS2DeviceNode:
            except Exception as e:
                self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")

-    def _start_loop(self):
-        def run_event_loop():
-            loop = asyncio.new_event_loop()
-            ROS2DeviceNode._asyncio_loop = loop
-            asyncio.set_event_loop(loop)
-            loop.run_forever()
-
-        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
-        ROS2DeviceNode._asyncio_loop_thread.start()
-        logger.info(f"循环线程已启动")
-

 class DeviceInfoType(TypedDict):
    id: str
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -5,8 +5,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
-from typing_extensions import TypedDict
+from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union

 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
@@ -63,18 +62,6 @@ class TestResourceReturn(TypedDict):
    devices: List[DeviceSlot]


-class TestLatencyReturn(TypedDict):
-    """test_latency方法的返回值类型"""
-
-    avg_rtt_ms: float
-    avg_time_diff_ms: float
-    max_time_error_ms: float
-    task_delay_ms: float
-    raw_delay_ms: float
-    test_count: int
-    status: str
-
-
 class HostNode(BaseROS2DeviceNode):
    """
    主机节点类，负责管理设备、资源和控制器
@@ -866,13 +853,8 @@ class HostNode(BaseROS2DeviceNode):
                        # 适配后端的一些额外处理
                        return_value = return_info.get("return_value")
                        if isinstance(return_value, dict):
-                            unilabos_samples = return_value.pop("unilabos_samples", None)
-                            if isinstance(unilabos_samples, list) and unilabos_samples:
-                                self.lab_logger().info(
-                                    f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
-                                    f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
-                                    f"{'...' if len(unilabos_samples) > 5 else ''}"
-                                )
+                            unilabos_samples = return_info.get("unilabos_samples")
+                            if isinstance(unilabos_samples, list):
                                return_info["unilabos_samples"] = unilabos_samples
                        suc = return_info.get("suc", False)
                        if not suc:
@@ -899,7 +881,7 @@ class HostNode(BaseROS2DeviceNode):
            # 清理 _goals 中的记录
            if job_id in self._goals:
                del self._goals[job_id]
-                self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
+                self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")

            # 存储结果供 HTTP API 查询
            try:
@@ -1344,20 +1326,10 @@ class HostNode(BaseROS2DeviceNode):
        self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
        return response

-    def test_latency(self) -> TestLatencyReturn:
+    def test_latency(self):
        """
        测试网络延迟的action实现
        通过5次ping-pong机制校对时间误差并计算实际延迟
-
-        Returns:
-            TestLatencyReturn: 包含延迟测试结果的字典，包括：
-                - avg_rtt_ms: 平均往返时间（毫秒）
-                - avg_time_diff_ms: 平均时间差（毫秒）
-                - max_time_error_ms: 最大时间误差（毫秒）
-                - task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
-                - raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
-                - test_count: 有效测试次数
-                - status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
        """
        import uuid as uuid_module

@@ -1420,15 +1392,7 @@ class HostNode(BaseROS2DeviceNode):

        if not ping_results:
            self.lab_logger().error("❌ 所有ping-pong测试都失败了")
-            return {
-                "avg_rtt_ms": -1.0,
-                "avg_time_diff_ms": -1.0,
-                "max_time_error_ms": -1.0,
-                "task_delay_ms": -1.0,
-                "raw_delay_ms": -1.0,
-                "test_count": 0,
-                "status": "all_timeout",
-            }
+            return {"status": "all_timeout"}

        # 统计分析
        rtts = [r["rtt_ms"] for r in ping_results]
@@ -1436,7 +1400,7 @@ class HostNode(BaseROS2DeviceNode):

        avg_rtt_ms = sum(rtts) / len(rtts)
        avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
-        max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
+        max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))

        self.lab_logger().info("-" * 50)
        self.lab_logger().info("[测试统计]")
@@ -1476,7 +1440,7 @@ class HostNode(BaseROS2DeviceNode):

        self.lab_logger().info("=" * 60)

-        res: TestLatencyReturn = {
+        return {
            "avg_rtt_ms": avg_rtt_ms,
            "avg_time_diff_ms": avg_time_diff_ms,
            "max_time_error_ms": max_time_diff_error_ms,
@@ -1487,14 +1451,9 @@ class HostNode(BaseROS2DeviceNode):
            "test_count": len(ping_results),
            "status": "success",
        }
-        return res

    def test_resource(
-        self,
-        resource: ResourceSlot = None,
-        resources: List[ResourceSlot] = None,
-        device: DeviceSlot = None,
-        devices: List[DeviceSlot] = None,
+        self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
    ) -> TestResourceReturn:
        if resources is None:
            resources = []
@@ -1555,9 +1514,7 @@ class HostNode(BaseROS2DeviceNode):

            # 构建服务地址
            srv_address = f"/srv{namespace}/s2c_resource_tree"
-            self.lab_logger().trace(
-                f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
-            )
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")

            # 创建服务客户端
            sclient = self.create_client(SerialCommand, srv_address)
@@ -1592,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode):
                time.sleep(0.05)

            response = future.result()
-            self.lab_logger().trace(
-                f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
-            )
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
            return True

        except Exception as e:
--- a/unilabos/ros/x/init.py
+++ b/unilabos/ros/x/init.py
--- a/unilabos/ros/x/rclpyx.py
+++ b/unilabos/ros/x/rclpyx.py
@@ -0,0 +1,182 @@
+import asyncio
+from asyncio import events
+import threading
+
+import rclpy
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from rclpy.executors import await_or_execute, Executor
+from rclpy.action import ActionClient, ActionServer
+from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus
+from std_msgs.msg import String
+from action_tutorials_interfaces.action import Fibonacci
+
+
+loop = None
+
+def get_event_loop():
+    global loop
+    return loop
+
+
+async def default_handle_accepted_callback_async(goal_handle):
+    """Execute the goal."""
+    await goal_handle.execute()
+
+
+class ServerGoalHandleX(ServerGoalHandle):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+    async def execute(self, execute_callback=None):
+        # It's possible that there has been a request to cancel the goal prior to executing.
+        # In this case we want to avoid the illegal state transition to EXECUTING
+        # but still call the users execute callback to let them handle canceling the goal.
+        if not self.is_cancel_requested:
+            self._update_state(_rclpy.GoalEvent.EXECUTE)
+        await self._action_server.notify_execute_async(self, execute_callback)
+
+
+class ActionServerX(ActionServer):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.register_handle_accepted_callback(default_handle_accepted_callback_async)
+
+    async def _execute_goal_request(self, request_header_and_message):
+        request_header, goal_request = request_header_and_message
+        goal_uuid = goal_request.goal_id
+        goal_info = GoalInfo()
+        goal_info.goal_id = goal_uuid
+
+        self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
+
+        # Check if goal ID is already being tracked by this action server
+        with self._lock:
+            goal_id_exists = self._handle.goal_exists(goal_info)
+
+        accepted = False
+        if not goal_id_exists:
+            # Call user goal callback
+            response = await await_or_execute(self._goal_callback, goal_request.goal)
+            if not isinstance(response, GoalResponse):
+                self._node.get_logger().warning(
+                    'Goal request callback did not return a GoalResponse type. Rejecting goal.')
+            else:
+                accepted = GoalResponse.ACCEPT == response
+
+        if accepted:
+            # Stamp time of acceptance
+            goal_info.stamp = self._node.get_clock().now().to_msg()
+
+            # Create a goal handle
+            try:
+                with self._lock:
+                    goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal)
+            except RuntimeError as e:
+                self._node.get_logger().error(
+                    'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
+                accepted = False
+            else:
+                self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle
+
+        # Send response
+        response_msg = self._action_type.Impl.SendGoalService.Response()
+        response_msg.accepted = accepted
+        response_msg.stamp = goal_info.stamp
+        self._handle.send_goal_response(request_header, response_msg)
+
+        if not accepted:
+            self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
+            return
+
+        self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
+
+        # Provide the user a reference to the goal handle
+        # await await_or_execute(self._handle_accepted_callback, goal_handle)
+        asyncio.create_task(self._handle_accepted_callback(goal_handle))
+
+    async def notify_execute_async(self, goal_handle, execute_callback):
+        # Use provided callback, defaulting to a previously registered callback
+        if execute_callback is None:
+            if self._execute_callback is None:
+                return
+            execute_callback = self._execute_callback
+
+        # Schedule user callback for execution
+        self._node.get_logger().info(f"{events.get_running_loop()}")
+        asyncio.create_task(self._execute_goal(execute_callback, goal_handle))
+        # loop = asyncio.new_event_loop()
+        # asyncio.set_event_loop(loop)
+        # task = loop.create_task(self._execute_goal(execute_callback, goal_handle))
+        # await task
+
+
+class ActionClientX(ActionClient):
+    feedback_queue = asyncio.Queue()
+
+    async def feedback_cb(self, msg):
+        await self.feedback_queue.put(msg)
+
+    async def send_goal_async(self, goal_msg):
+        goal_future = super().send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_cb
+        )
+        client_goal_handle = await asyncio.ensure_future(goal_future)
+        if not client_goal_handle.accepted:
+            raise Exception("Goal rejected.")
+        result_future = client_goal_handle.get_result_async()
+        while True:
+            feedback_future = asyncio.ensure_future(self.feedback_queue.get())
+            tasks = [result_future, feedback_future]
+            await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED)
+            if result_future.done():
+                result = result_future.result().result
+                yield (None, result)
+                break
+            else:
+                feedback = feedback_future.result().feedback
+                yield (feedback, None)
+
+
+async def main(node):
+    print('Node started.')
+    action_client = ActionClientX(node, Fibonacci, 'fibonacci')
+    goal_msg = Fibonacci.Goal()
+    goal_msg.order = 10
+    async for (feedback, result) in action_client.send_goal_async(goal_msg):
+        if feedback:
+            print(f'Feedback: {feedback}')
+        else:
+            print(f'Result: {result}')
+    print('Finished.')
+
+
+async def ros_loop_node(node):
+    while rclpy.ok():
+        rclpy.spin_once(node, timeout_sec=0)
+        await asyncio.sleep(1e-4)
+
+
+async def ros_loop(executor: Executor):
+    while rclpy.ok():
+        executor.spin_once(timeout_sec=0)
+        await asyncio.sleep(1e-4)
+
+
+def run_event_loop():
+    global loop
+    loop = asyncio.new_event_loop()
+    asyncio.set_event_loop(loop)
+    loop.run_forever()
+    
+
+def run_event_loop_in_thread():
+    thread = threading.Thread(target=run_event_loop, args=())
+    thread.start()
+
+
+if __name__ == "__main__":
+    rclpy.init()
+    node = rclpy.create_node('async_subscriber')
+    future = asyncio.wait([ros_loop(node), main()])
+    asyncio.get_event_loop().run_until_complete(future)
--- a/unilabos/test/experiments/virtual_bench.json
+++ b/unilabos/test/experiments/virtual_bench.json
@@ -1,28 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "workbench_1",
-            "name": "虚拟工作台",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "virtual_workbench",
-            "position": {
-                "x": 400,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "arm_operation_time": 3.0,
-                "heating_time": 10.0,
-                "num_heating_stations": 3
-            },
-            "data": {
-                "status": "Ready",
-                "arm_state": "idle",
-                "message": "工作台就绪"
-            }
-        }
-    ],
-    "links": []
-}
--- a/unilabos/utils/README_LOGGING.md
+++ b/unilabos/utils/README_LOGGING.md
@@ -0,0 +1,187 @@
+# UniLabOS 日志配置说明
+
+> **文件位置**: `unilabos/utils/log.py`  
+> **最后更新**: 2026-01-11  
+> **维护者**: Uni-Lab-OS 开发团队
+
+本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。
+
+---
+
+## 📋 已屏蔽的日志
+
+以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志：
+
+### 1. pymodbus（Modbus 通信库）
+
+**配置位置**: `log.py` 第196-200行
+
+```python
+# pymodbus 库的日志太详细，设置为 WARNING
+logging.getLogger('pymodbus').setLevel(logging.WARNING)
+logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
+logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
+logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
+```
+
+**屏蔽原因**:
+- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息
+- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据
+- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息
+- 这些信息对日常使用价值不大，但会快速刷屏
+
+**典型被屏蔽的日志**:
+```
+[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base]
+[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders]
+```
+
+---
+
+### 2. websockets（WebSocket 库）
+
+**配置位置**: `log.py` 第202-205行
+
+```python
+# websockets 库的日志输出较多，设置为 WARNING
+logging.getLogger('websockets').setLevel(logging.WARNING)
+logging.getLogger('websockets.client').setLevel(logging.WARNING)
+logging.getLogger('websockets.server').setLevel(logging.WARNING)
+```
+
+**屏蔽原因**:
+- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出
+- 对于长时间运行的服务，这些日志意义不大
+
+---
+
+### 3. ROS Host Node（设备状态更新）
+
+**配置位置**: `log.py` 第207-208行
+
+```python
+# ROS 节点的状态更新日志过于频繁，设置为 INFO
+logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
+```
+
+**屏蔽原因**:
+- 设备状态更新（如手套箱压力）每隔几秒就会更新一次
+- DEBUG 日志会记录每一次状态变化，导致日志刷屏
+- 这些频繁的状态更新对调试价值不大
+
+**典型被屏蔽的日志**:
+```
+[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node]
+```
+
+---
+
+### 4. asyncio 和 urllib3
+
+**配置位置**: `log.py` 第224-225行
+
+```python
+logging.getLogger("asyncio").setLevel(logging.INFO)
+logging.getLogger("urllib3").setLevel(logging.INFO)
+```
+
+**屏蔽原因**:
+- asyncio: 异步 IO 的内部调试信息
+- urllib3: HTTP 请求库的连接池、重试等详细信息
+
+---
+
+## 🔧 如何临时启用这些日志（调试用）
+
+### 方法1: 修改 log.py（永久启用）
+
+在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`:
+
+```python
+# 临时启用 pymodbus 的 DEBUG 日志
+logging.getLogger('pymodbus').setLevel(logging.DEBUG)
+logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG)
+logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG)
+logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG)
+```
+
+### 方法2: 在代码中临时启用（单次调试）
+
+在需要调试的代码文件中添加：
+
+```python
+import logging
+
+# 临时启用 pymodbus DEBUG 日志
+logging.getLogger('pymodbus').setLevel(logging.DEBUG)
+
+# 你的 Modbus 调试代码
+...
+
+# 调试完成后恢复
+logging.getLogger('pymodbus').setLevel(logging.WARNING)
+```
+
+### 方法3: 使用环境变量或配置文件（推荐）
+
+未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。
+
+---
+
+## 📊 日志级别说明
+
+| 级别 | 数值 | 用途 | 是否显示 |
+|------|------|------|---------|
+| TRACE | 5 | 最详细的跟踪信息 | ✅ |
+| DEBUG | 10 | 调试信息 | ✅ |
+| INFO | 20 | 一般信息 | ✅ |
+| WARNING | 30 | 警告信息 | ✅ |
+| ERROR | 40 | 错误信息 | ✅ |
+| CRITICAL | 50 | 严重错误 | ✅ |
+
+**当前配置**:
+- UniLabOS 自身代码: DEBUG 及以上全部显示
+- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO）
+- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG）
+
+---
+
+## ⚠️ 重要提示
+
+### 修改生效时间
+- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效
+- 不需要重新安装或重新编译
+
+### 调试 Modbus 通信问题
+如果需要调试 Modbus 通信故障，应该：
+1. 临时启用 pymodbus DEBUG 日志（方法2）
+2. 复现问题
+3. 查看详细的通信日志
+4. 调试完成后记得恢复 WARNING 级别
+
+### 调试设备状态问题
+如果需要调试设备状态更新问题：
+```python
+logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG)
+```
+
+---
+
+## 📝 维护记录
+
+| 日期 | 修改内容 | 操作人 |
+|------|---------|--------|
+| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - |
+| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - |
+
+---
+
+## 🔗 相关文件
+
+- `log.py` - 日志配置主文件
+- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码
+- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码
+
+---
+
+**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。
--- a/unilabos/utils/decorator.py
+++ b/unilabos/utils/decorator.py
@@ -182,49 +182,3 @@ def get_all_subscriptions(instance) -> list:
        except Exception:
            pass
    return subscriptions
-
-
-def not_action(func: F) -> F:
-    """
-    标记方法为非动作的装饰器
-
-    用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
-    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
-
-    Example:
-        class MyDriver:
-            @not_action
-            def helper_method(self):
-                # 这个方法不会被注册为动作
-                pass
-
-            def actual_action(self, param: str):
-                # 这个方法会被注册为动作
-                self.helper_method()
-
-    Note:
-        - 可以与其他装饰器组合使用，@not_action 应放在最外层
-        - 仅影响 complete_registry 的动作识别，不影响方法的正常调用
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    # 在函数上附加标记
-    wrapper._is_not_action = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_not_action(func) -> bool:
-    """
-    检查函数是否被标记为非动作
-
-    Args:
-        func: 被检查的函数
-
-    Returns:
-        如果函数被 @not_action 装饰则返回 True，否则返回 False
-    """
-    return getattr(func, "_is_not_action", False)
--- a/unilabos/utils/environment_check.py
+++ b/unilabos/utils/environment_check.py
@@ -24,7 +24,6 @@ class EnvironmentChecker:
            "msgcenterpy": "msgcenterpy",
            "opentrons_shared_data": "opentrons_shared_data",
            "typing_extensions": "typing_extensions",
-            "crcmod": "crcmod-plus",
        }

        # 特殊安装包（需要特殊处理的包）
--- a/unilabos/utils/import_manager.py
+++ b/unilabos/utils/import_manager.py
@@ -28,7 +28,6 @@ __all__ = [
 from ast import Constant

 from unilabos.utils import logger
-from unilabos.utils.decorator import is_not_action


 class ImportManager:
@@ -276,9 +275,6 @@ class ImportManager:
                    method_info = self._analyze_method_signature(method)
                    result["status_methods"][actual_name] = method_info
                elif not name.startswith("_"):
-                    # 检查是否被 @not_action 装饰器标记
-                    if is_not_action(method):
-                        continue
                    # 其他非_开头的方法归类为action
                    method_info = self._analyze_method_signature(method)
                    result["action_methods"][name] = method_info
@@ -334,9 +330,6 @@ class ImportManager:
                    if actual_name not in result["status_methods"]:
                        result["status_methods"][actual_name] = method_info
                else:
-                    # 检查是否被 @not_action 装饰器标记
-                    if self._is_not_action_method(node):
-                        continue
                    # 其他非_开头的方法归类为action
                    result["action_methods"][method_name] = method_info
        return result
@@ -457,13 +450,6 @@ class ImportManager:
                return True
        return False

-    def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@not_action装饰的方法"""
-        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Name) and decorator.id == "not_action":
-                return True
-        return False
-
    def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
        """从setter装饰器中获取属性名"""
        for decorator in node.decorator_list:
--- a/unilabos/utils/log.py
+++ b/unilabos/utils/log.py
@@ -191,6 +191,21 @@ def configure_logger(loglevel=None, working_dir=None):

    # 添加处理器到根日志记录器
    root_logger.addHandler(console_handler)
+    
+    # 降低第三方库的日志级别，避免过多输出
+    # pymodbus 库的日志太详细，设置为 WARNING
+    logging.getLogger('pymodbus').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
+    
+    # websockets 库的日志输出较多，设置为 WARNING
+    logging.getLogger('websockets').setLevel(logging.WARNING)
+    logging.getLogger('websockets.client').setLevel(logging.WARNING)
+    logging.getLogger('websockets.server').setLevel(logging.WARNING)
+    
+    # ROS 节点的状态更新日志过于频繁，设置为 INFO
+    logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)

    # 如果指定了工作目录，添加文件处理器
    if working_dir is not None:
--- a/unilabos/utils/pywinauto_util.py
+++ b/unilabos/utils/pywinauto_util.py
@@ -1,11 +1,7 @@
 import psutil
 import pywinauto
-try:
-    from pywinauto_recorder import UIApplication
-    from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
-except ImportError:
-    print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum")
-    pass
+from pywinauto_recorder import UIApplication
+from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
 from pywinauto.controls.uiawrapper import UIAWrapper
 from pywinauto.application import WindowSpecification
 from pywinauto import findbestmatch
--- a/unilabos/utils/requirements.txt
+++ b/unilabos/utils/requirements.txt
@@ -1,18 +0,0 @@
-networkx
-typing_extensions
-websockets
-msgcenterpy>=0.1.5
-opentrons_shared_data
-pint
-fastapi
-jinja2
-requests
-uvicorn
-pyautogui
-opcua
-pyserial
-pandas
-crcmod-plus
-pymodbus
-matplotlib
-pylibftdi
--- a/unilabos_msgs/package.xml
+++ b/unilabos_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>unilabos_msgs</name>
-  <version>0.10.16</version>
+  <version>0.10.15</version>
  <description>ROS2 Messages package for unilabos devices</description>
  <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
  <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
--- a/unilabos/test/experiments/yibin_electrolyte_config_example.json
+++ b/unilabos/test/experiments/yibin_electrolyte_config_example.json
Author	SHA1	Message	Date
ZiWei	cb9840be59	refactor: Merge tipbox storage left and right into single warehouse	2026-01-15 17:53:56 +08:00
ZiWei	b64de9b509	refactor: Split tipbox storage into left and right warehouses	2026-01-15 17:04:20 +08:00
ZiWei	6f7adce998	Merge branch 'pr/169' into workstation_YB_merge_dev_ready_260113	2026-01-15 14:26:42 +08:00
ZiWei	af15ae0b3e	Refactor: Use instance attributes for action names and workflow step IDs	2026-01-15 13:35:36 +08:00
Andy6M	0597029a84	feat: Integrate material search logic and cleanup deprecated files - Update coin_cell_assembly.py with material search dialog handling - Update YB_warehouses.py with latest warehouse configurations - Remove outdated documentation and test data files	2026-01-15 12:17:29 +08:00
ZiWei	5a5f4e037b	fix: 修正 reaction_station 目录名拼写错误	2026-01-14 18:51:01 +08:00
ZiWei	a90613f3de	refactor: Move config from module to instance initialization	2026-01-14 18:43:59 +08:00
ZiWei	2b04457037	fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑	2026-01-14 18:42:14 +08:00
ZiWei	9a06ef3836	Refactor module paths for Bioyond devices in YAML configuration files - Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure. - Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.	2026-01-14 12:44:19 +08:00
ZiWei	ce3f2b33c5	Merge branch 'dev' into pr/169	2026-01-14 11:44:04 +08:00
Andy6M	78729ef86c	feat(workstation): update bioyond config migration and coin cell material search logic - Migrate bioyond_cell config to JSON structure and remove global variable dependencies - Implement material search confirmation dialog auto-handling - Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md	2026-01-14 09:55:25 +08:00
Xuwznln	6f143b068b	Add debug log	2026-01-13 17:51:18 +08:00
ZiWei	03423e4791	feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息	2026-01-13 11:24:10 +08:00
ZiWei	9fc6781406	Merge branch 'dev' into pr/169	2026-01-12 11:37:50 +08:00
ZiWei	9753ef02c3	fix：修复Bottle类的序列化和反序列化方法	2026-01-12 10:50:28 +08:00
ZiWei	6a0614c0c9	Merge branch 'dev' into pr/169 and fix conflicts	2026-01-11 18:14:19 +08:00
ZiWei	a25e8f6853	feat: 添加清空服务端所有非核心工作流功能	2026-01-08 11:40:42 +08:00
ZiWei	5c249e66a2	feat: 动态获取工作流步骤ID，优化工作流配置	2025-12-31 14:42:43 +08:00
ZiWei	93ac095e0a	fix：refresh_material_cache	2025-12-29 22:19:26 +08:00
ZiWei	288d9fea91	fix：Change the material unit from μL to mL	2025-12-29 21:33:38 +08:00
ZiWei	81b28cef71	Merge branch 'dev' into pr/169 # Conflicts: # unilabos/device_comms/opcua_client/client.py # unilabos/device_comms/opcua_client/node/uniopcua.py # unilabos/registry/devices/post_process_station.yaml	2025-12-25 13:55:22 +08:00
ZiWei	d57e5ffdae	Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations - Removed redundant action value mappings from bioyond_dispensing_station. - Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters. - Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End). - Simplified descriptions and updated measurement units from μL to mL where applicable. - Removed unused commands from reaction_station_bioyond to streamline the configuration.	2025-12-25 12:19:37 +08:00
ZiWei	d5e0d76311	fix: 修复添加物料时数据格式错误	2025-12-25 11:23:59 +08:00
ZiWei	beaa1d7213	feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态	2025-12-25 09:58:03 +08:00
ZiWei	1e5f6b0c04	feat：添加实验报告简化功能，去除冗余信息并保留关键信息	2025-12-24 11:28:40 +08:00
ZiWei	5ae89d8607	fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息	2025-12-23 10:55:25 +08:00
ZiWei	74d0ea3379	fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存	2025-12-22 14:37:04 +08:00
ZiWei	440c9965fd	fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项	2025-12-18 11:40:59 +08:00
ZiWei	9cac852bc3	添加时间约束功能及相关配置	2025-12-16 13:03:01 +08:00
ZiWei	de662a42aa	Merge branch 'dev' into hrdev	2025-12-16 10:03:13 +08:00
ZiWei	632f9b90d1	feat: remove commented workflow synchronization from `reaction_station.py`.	2025-12-10 17:43:16 +08:00
ZiWei	d7c970d244	fix:同步工作流序列	2025-12-10 17:32:11 +08:00
ZiWei	2c69e663a7	fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property	2025-12-10 11:10:57 +08:00
ZiWei	f03ff96ae4	Merge branch 'dev' into hrdev	2025-12-08 20:25:34 +08:00
ZiWei	c68903ed83	Merge branch 'dev' into hrdev	2025-12-08 16:37:26 +08:00
ZiWei	8efbbbe72a	添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置	2025-12-08 16:37:01 +08:00
ZiWei	4a23b05abc	添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑	2025-12-01 14:00:58 +08:00
ZiWei	6d8884a2c7	Merge remote-tracking branch 'upstream/dev' into hrdev	2025-11-28 22:51:09 +08:00
ZiWei	c0e7a69553	feat(registry): 新增后处理站的设备配置文件添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述	2025-11-26 19:59:30 +08:00
ZiWei	fb6ee79577	feat(opcua): 增强节点ID解析兼容性和数据类型处理改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符添加数据类型转换处理，确保写入值时类型匹配优化错误提示信息，便于调试节点连接问题	2025-11-26 19:57:06 +08:00
ZiWei	dbe129caab	feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置	2025-11-26 16:32:10 +08:00
ZiWei	7250995891	feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常	2025-11-26 16:09:16 +08:00
ZiWei	68eddbdffd	feat(bioyond): 调整反应器位置配置，统一坐标格式	2025-11-23 18:10:56 +08:00
ZiWei	32bd234176	feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理	2025-11-23 17:16:51 +08:00
ZiWei	3d62e8bf6c	feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积	2025-11-23 13:27:31 +08:00
ZiWei	efec1dd501	Merge remote-tracking branch 'upstream/dev' into hrdev	2025-11-21 11:39:17 +08:00
ZiWei	c16756ddb3	feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈	2025-11-21 11:33:58 +08:00
ZiWei	daf41871a1	feat(bioyond): 添加测量小瓶配置，支持新设备参数	2025-11-21 11:33:32 +08:00
ZiWei	6b0b28becf	feat(bioyond): 添加测量小瓶功能，支持基本参数配置	2025-11-21 11:32:53 +08:00
ZiWei	0f7366f3ee	feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数	2025-11-20 12:10:18 +08:00