update action

update action

.conda/base/recipe.yaml

@@ -1,60 +0,0 @@
-# unilabos: Production package (depends on unilabos-env + pip unilabos)
-# For production deployment
-
-package:
-  name: unilabos
-  version: 0.10.17
-
-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
-    - pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.14
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - zstd
-  - zstandard
-  - networkx
-  - typing_extensions
-  - websockets
-  - pint
-  - fastapi
-  - jinja2
-  - requests
-  - uvicorn
-  - opcua
-  - pyserial
-  - pandas
-  - pymodbus
-  - matplotlib
-  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.17
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.17
-
-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"

.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: 0.10.17
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.17
-  # 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"

.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"

.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 .
-
-      - 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"

.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: ${{ github.event.inputs.build_full }}
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if "${{ 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
-          )
 
       - 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: ${{ github.event.inputs.build_full }}"
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if [[ "${{ 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
 
       - 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: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.14
+          echo Python version: 3.11.11
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -352,12 +328,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.14"
+          echo "Python version: 3.11.11"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Package: unilabos-full (complete)"
-          else
-            echo "Package: unilabos (minimal)"
-          fi
           echo ""
           echo "Distribution package contents:"
           ls -lh dist-package/

.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）
+  push:
-  workflow_run:
+    branches: [main]
-    workflows: ["CI Check"]
+  pull_request:
-    types: [completed]
     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.inputs.branch || github.ref }}
-          ref: ${{ github.event.workflow_run.head_branch || 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
+        uses: actions/configure-pages@v4
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          github.event.workflow_run.head_branch == '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
+        uses: actions/upload-pages-artifact@v3
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
         with:
           path: docs/_build/html
 
   # Deploy to GitHub Pages
   deploy:
-    if: |
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-      github.event.workflow_run.head_branch == 'main' ||
-      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

.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

.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
 
@@ -119,61 +81,12 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building UniLabOS package"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
 
-      - 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/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-env to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-env*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos (with pip package)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos package..."
-          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
-          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - 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
-
-      - name: Upload unilabos-full to Anaconda.org (if enabled)
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true' &&
-          github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-full to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-full*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -195,9 +108,17 @@ 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
           if-no-files-found: warn
           retention-days: 30
+
+      - name: Upload to Anaconda.org (uni-lab organization)
+        if: github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          for package in $(find ./output -name "*.conda"); do
+            echo "Uploading $package to uni-lab organization..."
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done

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 *

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:
+Uni-Lab-OS recommends using `mamba` for environment management:
-
-| 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 |
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
-**When to use which?**
+2. Install Dev Uni-Lab-OS
-- **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)
 
 ```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

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：
+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:
-
-| 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 |
 
 ```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
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
-**如何选择？**
+2. 安装开发版 Uni-Lab-OS:
-- **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）
 
 ```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

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）
+# 4. 安装 Uni-Lab-OS
-
-# 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
-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
+#### 9.1 为什么需要自定义设备？
-
-**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？
 
 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：
 

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                     |
+| 安装方式               | 适用人群             | 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**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **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 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 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                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 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
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
 **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`: 从 uni-lab channel 安装 unilabos 包
-- `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）
 - `-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：
+**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）。
-- 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
+#### 选项 A：通过一键安装（推荐）
-- 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）
+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）
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+pip uninstall unilabos -y
-cd Uni-Lab-OS
 
-# 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）：
+# 以可编辑模式安装开发版 unilabos
-
-```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：
 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**：
+**参数说明**：
-- `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
 
-**为什么使用可编辑模式？**
+- `-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
-- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- `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）
-- 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
-```
 
 ### 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**: 
+**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。
-
-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 |
 
 ### 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
+- 生产环境推荐使用方式二（手动安装）的稳定版本
-- **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
+- 开发和测试推荐使用方式三（开发者安装）
-- **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）
-- **快速体验和演示**推荐使用方式一（一键安装）

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.17
+  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') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.17"
+  version: "0.10.15"
 
 source:
   path: ../..

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:

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()

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.17',
+    version='0.10.15',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/devices/liquid_handling/README.md

@@ -1,15 +0,0 @@
-# Liquid handling 集成测试
-
-`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
-
-1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
-2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
-3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
-
-```bash
-export UNILAB_SIM_TEST=1
-pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
-```
-
-如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
-

tests/devices/liquid_handling/unit_test.py

@@ -1,547 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
-
-import pytest
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-@dataclass(frozen=True)
-class DummyContainer:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyContainer({self.name})"
-
-
-@dataclass(frozen=True)
-class DummyTipSpot:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
-    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
-    for i in range(n):
-        yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
-    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
-    def __init__(self, channel_num: int = 8):
-        # 不调用 super().__init__，避免真实硬件/后端依赖
-        self.channel_num = channel_num
-        self.support_touch_tip = True
-        self.current_tip = iter(make_tip_iter())
-        self.calls: List[Tuple[str, Any]] = []
-
-    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
-        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
-    async def aspirate(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "aspirate",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def dispense(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "dispense",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def discard_tips(self, use_channels=None, *args, **kwargs):
-        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
-        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
-    async def custom_delay(self, seconds=0, msg=None):
-        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
-    async def touch_tip(self, targets):
-        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
-        self.calls.append(("touch_tip", {"targets": targets}))
-
-def run(coro):
-    return asyncio.run(coro)
-
-
-def test_one_to_one_single_channel_basic_calls():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[1, 2, 3],
-      dis_vols=[4, 5, 6],
-      mix_times=None,  # 应该仍能执行（不 mix）
-    )
-  )
-
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
-  assert [c[0] for c in lh.calls].count("aspirate") == 3
-  assert [c[0] for c in lh.calls].count("dispense") == 3
-  assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
-  # 每次 aspirate/dispense 都是单孔列表
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [sources[0]]
-  assert aspirates[0]["vols"] == [1.0]
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[2]["resources"] == [targets[2]]
-  assert dispenses[2]["vols"] == [6.0]
-
-
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(16))
-
-  source = DummyContainer("S0")
-  target = DummyContainer("T0")
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5],
-      dis_vols=[5],
-      mix_stage="before",
-      mix_times=1,
-      mix_vol=3,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 2
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [3]
-  transfer_idx, transfer_payload = aspirate_calls[1]
-  assert transfer_payload["resources"] == [source]
-  assert mix_idx < transfer_idx
-
-
-def test_one_to_one_eight_channel_groups_by_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = list(range(1, 17))
-  dis_vols = list(range(101, 117))
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,  # 触发逻辑但不 mix
-    )
-  )
-
-  # 16 个任务 -> 2 组，每组 8 通道一起做
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == 2
-  assert len(dispenses) == 2
-
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
-  assert dispenses[1]["resources"] == targets[8:16]
-  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(9)]
-  targets = [DummyContainer(f"T{i}") for i in range(9)]
-
-  with pytest.raises(ValueError, match="multiple of 8"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=list(range(8)),
-        asp_vols=[1] * 9,
-        dis_vols=[1] * 9,
-        mix_times=0,
-      )
-    )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(512))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = [i + 1 for i in range(16)]
-  dis_vols = [200 + i for i in range(16)]
-  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
-  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
-  offsets = [f"offset_{i}" for i in range(16)]
-  liquid_heights = [i * 0.5 for i in range(16)]
-  blow_out_air_volume = [i + 0.05 for i in range(16)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      asp_flow_rates=asp_flow_rates,
-      dis_flow_rates=dis_flow_rates,
-      offsets=offsets,
-      liquid_height=liquid_heights,
-      blow_out_air_volume=blow_out_air_volume,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-
-  for batch_idx in range(2):
-    start = batch_idx * 8
-    end = start + 8
-    asp_call = aspirates[batch_idx]
-    dis_call = dispenses[batch_idx]
-    assert asp_call["resources"] == sources[start:end]
-    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
-    assert asp_call["offsets"] == offsets[start:end]
-    assert asp_call["liquid_height"] == liquid_heights[start:end]
-    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
-    assert dis_call["offsets"] == offsets[start:end]
-    assert dis_call["liquid_height"] == liquid_heights[start:end]
-    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(1024))
-
-  sources = [DummyContainer(f"S{i}") for i in range(32)]
-  targets = [DummyContainer(f"T{i}") for i in range(32)]
-  asp_vols = [i + 1 for i in range(32)]
-  dis_vols = [300 + i for i in range(32)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(pick_calls) == 4
-  assert len(aspirates) == len(dispenses) == 4
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[-1]["resources"] == sources[24:32]
-  assert dispenses[0]["resources"] == targets[0:8]
-  assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-  dis_vols = [10, 20, 30]  # sum=60
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 1
-  assert aspirates[0]["resources"] == [source]
-  assert aspirates[0]["vols"] == [60.0]
-  assert aspirates[0]["use_channels"] == [0]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(8)]
-  dis_vols = [i + 1 for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [source] * 8
-  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[0]["resources"] == targets
-  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
-  assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  target = DummyContainer("T")
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5, 6],
-      dis_vols=1,
-      mix_stage="before",
-      mix_times=2,
-      mix_vol=4,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 1
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [4]
-  # 第一個 mix 之後會真正開始吸 source
-  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-  dis_vols = [1, 2, 3]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,  # 比例模式
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(8)]
-  target = DummyContainer("T")
-  asp_vols = [10 + i for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert aspirates[0]["resources"] == sources
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
-  assert dispenses[0]["resources"] == [target] * 8
-  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
-  with pytest.raises(ValueError, match="Unsupported transfer mode"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=[0],
-        asp_vols=[1, 1],
-        dis_vols=[1, 1, 1],
-        mix_times=0,
-      )
-    )
-
-
-def test_mix_single_target_produces_matching_cycles():
-  lh = FakeLiquidHandler(channel_num=1)
-  target = DummyContainer("T_mix")
-
-  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-  assert all(call["resources"] == [target] for call in aspirates)
-  assert all(call["vols"] == [5] for call in aspirates)
-  assert all(call["resources"] == [target] for call in dispenses)
-  assert all(call["vols"] == [5] for call in dispenses)
-
-
-def test_mix_multiple_targets_supports_per_target_offsets():
-  lh = FakeLiquidHandler(channel_num=1)
-  targets = [DummyContainer("T0"), DummyContainer("T1")]
-  offsets = ["left", "right"]
-  heights = [0.1, 0.2]
-  rates = [0.5, 1.0]
-
-  run(
-    lh.mix(
-      targets=targets,
-      mix_time=1,
-      mix_vol=3,
-      offsets=offsets,
-      height_to_bottom=heights,
-      mix_rate=rates,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 2
-  assert aspirates[0]["resources"] == [targets[0]]
-  assert aspirates[0]["offsets"] == [offsets[0]]
-  assert aspirates[0]["liquid_height"] == [heights[0]]
-  assert aspirates[0]["flow_rates"] == [rates[0]]
-  assert aspirates[1]["resources"] == [targets[1]]
-  assert aspirates[1]["offsets"] == [offsets[1]]
-  assert aspirates[1]["liquid_height"] == [heights[1]]
-  assert aspirates[1]["flow_rates"] == [rates[1]]
-
-

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.17"
+__version__ = "0.10.15"

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)
+    if not args_dict.get("skip_env_check", False):
-    check_mode = args_dict.get("check_mode", False)
-
-    if not skip_env_check:
         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 os.getcwd().endswith("unilabos_data"):
-    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"):
         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
-    # 加载配置文件 (check_mode 跳过)
     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
+    # 注册表
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    lab_registry = build_registry(
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+        args_dict["registry_path"], args_dict.get("complete_registry", False), 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)
 
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk

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
 

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -207,14 +207,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         res_samples = []
         res_volumes = []
-        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
+        for resource, volume, channel in zip(resources, vols, use_channels):
-        if use_channels is None:
-            # 对于单通道操作，推断通道为 [0]
-            channels_to_use = [0] * len(resources)
-        else:
-            channels_to_use = use_channels
-
-        for resource, volume, channel in zip(resources, vols, channels_to_use):
             res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
@@ -927,7 +920,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
-                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -991,7 +983,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
-                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -1174,7 +1165,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1209,7 +1199,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1246,7 +1235,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1283,7 +1271,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1340,7 +1327,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
 
             # 从源容器吸液（总体积）
@@ -1380,7 +1366,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx+1] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
                 if touch_tip:
                     await self.touch_tip([target])
@@ -1416,7 +1401,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[i:i + 8] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
                 
                 # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
@@ -1462,7 +1446,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
                 
                 if touch_tip:
@@ -1514,19 +1497,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 f"(matching `asp_vols`). Got length {len(dis_vols)}."
             )
 
-        need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
-        defer_final_discard = need_mix_after or touch_tip
-
         if len(use_channels) == 1:
             # 单通道模式：多次吸液，一次分液
-
+            # 先混合前（如果需要）
-            # 如果需要 before mix，先 pick up tip 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1534,11 +1508,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
-                    use_channels=use_channels,
                 )
             
-                await self.discard_tips(use_channels=use_channels)
-
             # 从每个源容器吸液并分液到目标容器
             for idx, source in enumerate(sources):
                 tip = []
@@ -1590,11 +1561,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
                 
-                if not (defer_final_discard and idx == len(sources) - 1):
+                await self.discard_tips(use_channels=use_channels)
-                    await self.discard_tips(use_channels=use_channels)
             
             # 最后在目标容器中混合（如果需要）
-            if need_mix_after:
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1602,27 +1572,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
-                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
         
-            if defer_final_discard:
-                await self.discard_tips(use_channels=use_channels)
-        
         elif len(use_channels) == 8:
             # 8通道模式：需要确保源数量是8的倍数
             if len(sources) % 8 != 0:
                 raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
             
-            # 如果需要 before mix，先 pick up tips 并执行 mix
+            # 每次处理8个源
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1630,11 +1591,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
-                    use_channels=use_channels,
                 )
 
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
@@ -1693,11 +1651,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
                 
-                if not (defer_final_discard and i + 8 >= len(sources)):
+                await self.discard_tips([0,1,2,3,4,5,6,7])
-                    await self.discard_tips([0,1,2,3,4,5,6,7])
             
             # 最后在目标容器中混合（如果需要）
-            if need_mix_after:
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1705,15 +1662,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
-                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
 
-            if defer_final_discard:
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e
@@ -1733,12 +1686,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            # Use ROS node sleep if available, otherwise use asyncio.sleep
+            await self._ros_node.sleep(seconds)
-            if hasattr(self, '_ros_node') and self._ros_node is not None:
-                await self._ros_node.sleep(seconds)
-            else:
-                import asyncio
-                await asyncio.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
@@ -1777,59 +1725,27 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
-        use_channels: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        if mix_time is None or mix_time <= 0:  # No mixing required
+        if mix_time is None:  # No mixing required
             return
         """Mix the liquid in the target wells."""
-        if mix_vol is None:
-            raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
-
-        targets_list: List[Container] = list(targets)
-        if len(targets_list) == 0:
-            return
-
-        def _expand(value, count: int):
-            if value is None:
-                return [None] * count
-            if isinstance(value, (list, tuple)):
-                if len(value) != count:
-                    raise ValueError("Length of per-target parameters must match targets.")
-                return list(value)
-            return [value] * count
-
-        offsets_list = _expand(offsets, len(targets_list))
-        heights_list = _expand(height_to_bottom, len(targets_list))
-        rates_list = _expand(mix_rate, len(targets_list))
-
         for _ in range(mix_time):
-            for idx, target in enumerate(targets_list):
+            await self.aspirate(
-                offset_arg = (
+                resources=[targets],
-                    [offsets_list[idx]] if offsets_list[idx] is not None else None
+                vols=[mix_vol],
-                )
+                flow_rates=[mix_rate] if mix_rate else None,
-                height_arg = (
+                offsets=[offsets] if offsets else None,
-                    [heights_list[idx]] if heights_list[idx] is not None else None
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
-                )
+            )
-                rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
+            await self.custom_delay(seconds=1)
-
+            await self.dispense(
-                await self.aspirate(
+                resources=[targets],
-                    resources=[target],
+                vols=[mix_vol],
-                    vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
-                    use_channels=use_channels,
+                offsets=[offsets] if offsets else None,
-                    flow_rates=rate_arg,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
-                    offsets=offset_arg,
+            )
-                    liquid_height=height_arg,
-                )
-                await self.custom_delay(seconds=1)
-                await self.dispense(
-                    resources=[target],
-                    vols=[mix_vol],
-                    use_channels=use_channels,
-                    flow_rates=rate_arg,
-                    offsets=offset_arg,
-                    liquid_height=height_arg,
-                )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,11 +30,11 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.resources.itemized_carrier import ItemizedCarrier
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
+
 
 class PRCXIError(RuntimeError):
     """Lilith 返回 Success=false 时抛出的业务异常"""
@@ -71,10 +71,7 @@ class PRCXI9300Deck(Deck):
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
         super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
-        self.slot_locations = []
+        self.slot_locations = [Coordinate(0, 0, 0)] * 16
-
-        for i in range(0, 16):
-            self.slot_locations.append(Coordinate((i%4)*137.5+5, (3-int(i/4))*96+13, 0))
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
         if self.slots[slot - 1] is not None and not reassign:
@@ -139,30 +136,12 @@ class PRCXI9300Plate(Plate):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
+                # ordering 的值已经是对象，可以直接使用
-                # 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
+                items = ordering
-                sample_value = next(iter(ordering.values()), None)
+                ordering_param = None
-                if sample_value is not None and hasattr(sample_value, 'location'):
-                    # 如果是 Well 对象但 location 为 None，说明是反序列化过程
-                    # 让 Plate 自己创建 Well 对象
-                    if sample_value.location is None:
-                        items = None
-                        ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
-                    else:
-                        # Well 对象有有效的 location，可以直接使用
-                        items = ordering
-                        ordering_param = None
-                elif sample_value is None:
-                    # ordering 的值都是 None，让 Plate 自己创建 Well 对象
-                    items = None
-                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
-                else:
-                    # 其他情况，直接使用
-                    items = ordering
-                    ordering_param = None
         else:
             items = None
-            ordering_param = collections.OrderedDict()  # 提供空的 ordering
+            ordering_param = None
         
         # 根据情况传递不同的参数
         if items is not None:
@@ -240,16 +219,9 @@ class PRCXI9300TipRack(TipRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，需要过滤掉 None 值
+                # ordering 的值已经是对象，可以直接使用
-                # 只保留有效的对象，用于 ordered_items 参数
+                items = ordering
-                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                ordering_param = None
-                if valid_items:
-                    items = valid_items
-                    ordering_param = None
-                else:
-                    # 如果没有有效对象，使用 ordering 参数
-                    items = None
-                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         else:
             items = None
             ordering_param = None
@@ -312,7 +284,7 @@ class PRCXI9300Trash(Trash):
     """
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate", 
+                 category: str = "trash", 
                  material_info: Optional[Dict[str, Any]] = None,
                  **kwargs):
         
@@ -364,8 +336,8 @@ class PRCXI9300TubeRack(TubeRack):
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
                  category: str = "tube_rack", 
                  items: Optional[Dict[str, Any]] = None,
-                 ordered_items: collections.OrderedDict = None, 
+                 ordered_items: Optional[OrderedDict] = None,
-                 ordering: Optional[collections.OrderedDict] = None,
+                 ordering: Optional[OrderedDict] = None,
                  model: Optional[str] = None,
                  material_info: Optional[Dict[str, Any]] = None, 
                  **kwargs):
@@ -376,24 +348,18 @@ class PRCXI9300TubeRack(TubeRack):
             ordering_param = None
         elif ordering is not None:
             # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
             if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，这种情况下我们让 TubeRack 使用默认行为
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
-                # 不在初始化时创建 items，而是在 deserialize 后处理
+                # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
-                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())  # 提供空的 ordering 来满足要求
+                # 使用 ordering 参数，只包含位置信息（键）
-                # 保存 ordering 信息以便后续处理
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
-                self._temp_ordering = ordering
             else:
-                # ordering 的值已经是对象，需要过滤掉 None 值
+                # ordering 的值已经是对象，可以直接使用
-                # 只保留有效的对象，用于 ordered_items 参数
+                items_to_pass = ordering
-                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                ordering_param = None
-                if valid_items:
-                    items_to_pass = valid_items
-                    ordering_param = None
-                else:
-                    # 如果没有有效对象，创建空的 ordered_items
-                    items_to_pass = {}
-                    ordering_param = None
         elif items is not None:
             # 兼容旧的 items 参数
             items_to_pass = items
@@ -409,13 +375,11 @@ class PRCXI9300TubeRack(TubeRack):
                              model=model, 
                              **kwargs)
         elif ordering_param is not None:
-            # 直接调用 ItemizedResource 的构造函数来处理 ordering
+            # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
-            from pylabrobot.resources import ItemizedResource
+            super().__init__(name, size_x, size_y, size_z, 
-            ItemizedResource.__init__(self, name, size_x, size_y, size_z,
+                             ordering=ordering_param,
-                                     ordering=ordering_param,
+                             model=model, 
-                                     category=category,
+                             **kwargs)
-                                     model=model,
-                                     **kwargs)
         else:
             super().__init__(name, size_x, size_y, size_z, 
                              model=model, 
@@ -425,29 +389,6 @@ class PRCXI9300TubeRack(TubeRack):
         if material_info:
             self._unilabos_state["Material"] = material_info
 
-        # 如果有临时 ordering 信息，在初始化完成后处理
-        if hasattr(self, '_temp_ordering') and self._temp_ordering:
-            self._process_temp_ordering()
-
-    def _process_temp_ordering(self):
-        """处理临时的 ordering 信息，创建相应的 Tube 对象"""
-        from pylabrobot.resources import Tube, Coordinate
-
-        for location, item_type in self._temp_ordering.items():
-            if item_type == 'Tube' or item_type == 'tube':
-                # 为每个位置创建 Tube 对象
-                tube = Tube(name=f"{self.name}_{location}", size_x=10, size_y=10, size_z=50, max_volume=2000.0)
-                # 使用 assign_child_resource 添加到 rack 中
-                self.assign_child_resource(tube, location=Coordinate(0, 0, 0))
-
-        # 清理临时数据
-        del self._temp_ordering
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """从给定的状态加载工作台信息。"""
-        # super().load_state(state)
-        self._unilabos_state = state
-
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         try:
             data = super().serialize_state()
@@ -474,97 +415,6 @@ class PRCXI9300TubeRack(TubeRack):
             
             data.update(safe_state)
         return data
-class PRCXI9300PlateAdapterSite(ItemizedCarrier):
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
-                 material_info: Optional[Dict[str, Any]] = None, **kwargs):
-        # 处理 sites 参数的不同格式
-
-        sites = create_homogeneous_resources(
-        klass=ResourceHolder,
-        locations=[Coordinate(0, 0, 0)],
-        resource_size_x=size_x,
-        resource_size_y=size_y,
-        resource_size_z=size_z,
-        name_prefix=name,
-        )[0]
-        
-        # 确保不传递重复的参数
-        kwargs.pop('layout', None)
-        sites_in = kwargs.pop('sites', None)
-
-        # 创建默认的sites字典
-        sites_dict = {name: sites}
-        # 优先从 sites_in 读取 'content_type'，否则使用默认值
-
-        content_type = [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-        # 如果提供了sites参数，则用sites_in中的值替换sites_dict中对应的元素
-        if sites_in is not None and isinstance(sites_in, dict):
-            for site_key, site_value in sites_in.items():
-                if site_key in sites_dict:
-                    sites_dict[site_key] = site_value
-        
-        super().__init__(name, size_x, size_y, size_z,
-        sites=sites_dict,
-        num_items_x=kwargs.pop('num_items_x', 1),
-        num_items_y=kwargs.pop('num_items_y', 1),
-        num_items_z=kwargs.pop('num_items_z', 1),
-        content_type=content_type,
-        **kwargs)
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-
-
-    def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None):
-        """重写 assign_child_resource 方法，对于适配器位置，不使用索引分配"""
-        # 直接调用 Resource 的 assign_child_resource，避免 ItemizedCarrier 的索引逻辑
-        from pylabrobot.resources.resource import Resource
-        Resource.assign_child_resource(self, resource, location=location, reassign=reassign)
-
-    def unassign_child_resource(self, resource):
-        """重写 unassign_child_resource 方法，对于适配器位置，不使用 sites 列表"""
-        # 直接调用 Resource 的 unassign_child_resource，避免 ItemizedCarrier 的 sites 逻辑
-        from pylabrobot.resources.resource import Resource
-        Resource.unassign_child_resource(self, resource)
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-
-        # 包含 sites 配置信息，但避免序列化 ResourceHolder 对象
-        if hasattr(self, 'sites') and self.sites:
-            # 只保存 sites 的基本信息，不保存 ResourceHolder 对象本身
-            sites_info = []
-            for site in self.sites:
-                if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__):
-                    # 对于 pylabrobot 对象，只保存基本信息
-                    sites_info.append({
-                        "__pylabrobot_object__": True,
-                        "class": site.__class__.__name__,
-                        "module": site.__class__.__module__,
-                        "name": getattr(site, 'name', str(site))
-                    })
-                else:
-                    sites_info.append(site)
-            data['sites'] = sites_info
-
-        return data
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """加载状态，包括 sites 配置信息"""
-        super().load_state(state)
-
-        # 从状态中恢复 sites 配置信息
-        if 'sites' in state:
-            self.sites = [state['sites']]
 
 class PRCXI9300PlateAdapter(PlateAdapter):
     """
@@ -660,51 +510,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         step_mode=False,
         matrix_id="",
         is_9320=False,
-        start_rail=2,
-        rail_nums=4,
-        rail_interval=0,
-        x_increase = -0.003636,
-        y_increase = -0.003636,
-        x_offset = -0.8,
-        y_offset = -37.98,
-        deck_z = 300,
-        deck_y = 400,
-        rail_width=27.5,
-        xy_coupling = -0.0045,
     ):
-
+        tablets_info = []
-        self.deck_x = (start_rail + rail_nums*5 + (rail_nums-1)*rail_interval) * rail_width
+        count = 0
-        self.deck_y = deck_y
-        self.deck_z = deck_z
-        self.x_increase = x_increase
-        self.y_increase = y_increase
-        self.x_offset = x_offset
-        self.y_offset = y_offset
-        self.xy_coupling = xy_coupling
-
-        tablets_info = {}
-        plate_positions = []
         for child in deck.children:
-            number = int(child.name.replace("T", ""))
-
             if child.children:
                 if "Material" in child.children[0]._unilabos_state:
-                    tablets_info[number] = child.children[0]._unilabos_state["Material"].get("uuid", "730067cf07ae43849ddf4034299030e9")
+                    number = int(child.name.replace("T", ""))
-                else:
+                    tablets_info.append(
-                    tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
+                        WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
-            else:
+                    )
-                tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
-            pos = self.plr_pos_to_prcxi(child)
-            plate_positions.append(
-                {
-                    "Number": number,
-                    "XPos": pos.x,
-                    "YPos": pos.y,
-                    "ZPos": pos.z
-                }
-            )
-
-        
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性
@@ -714,39 +529,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 self.step_mode = step_mode
             else:
                 print("9300设备不支持 单点动作模式")
-        
         self._unilabos_backend = PRCXI9300Backend(
-            tablets_info, plate_positions, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320,
+            tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
-            x_increase, y_increase, x_offset, y_offset, 
-            deck_z, deck_x=self.deck_x, deck_y=self.deck_y, xy_coupling=xy_coupling
         )
-
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
 
-    def plr_pos_to_prcxi(self, resource: Resource):
-        resource_pos = resource.get_absolute_location(x="c",y="c",z="t")
-        x = resource_pos.x 
-        y = resource_pos.y 
-        z = resource_pos.z
-        # 如果z等于0，则递归resource.parent的高度并向z加，使用get_size_z方法
-
-        parent = resource.parent
-        res_z = resource.location.z
-        while not isinstance(parent, LiquidHandlerAbstract) and (res_z == 0) and parent is not None:
-            z += parent.get_size_z()
-            res_z = parent.location.z
-            parent = getattr(parent, "parent", None)
-        
-        prcxi_x = (self.deck_x - x)*(1+self.x_increase) + self.x_offset + self.xy_coupling * (self.deck_y - y)
-        prcxi_y = (self.deck_y - y)*(1+self.y_increase) + self.y_offset
-        prcxi_z = self.deck_z - z
-
-        prcxi_x = min(max(0, prcxi_x),self.deck_x)
-        prcxi_y = min(max(0, prcxi_y),self.deck_y)
-        prcxi_z = min(max(0, prcxi_z),self.deck_z)
-
-        return Coordinate(prcxi_x, prcxi_y, prcxi_z)
-
     def post_init(self, ros_node: BaseROS2DeviceNode):
         super().post_init(ros_node)
         self._unilabos_backend.post_init(ros_node)
@@ -1026,7 +813,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         **backend_kwargs,
     ):
 
-        res = await super().move_plate(
+        return await super().move_plate(
             plate,
             to,
             intermediate_locations,
@@ -1038,12 +825,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             target_plate_number = to,
             **backend_kwargs,
         )
-        plate.unassign()
-        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
-        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-            "resources": [self.deck]
-        })
-        return res
 
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
@@ -1067,7 +848,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     def __init__(
         self,
         tablets_info: list[WorkTablets],
-        plate_positions: dict[int, Coordinate],
         host: str = "127.0.0.1",
         port: int = 9999,
         timeout: float = 10.0,
@@ -1077,18 +857,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         debug=False,
         matrix_id="",
         is_9320=False,
-        x_increase = 0,
-        y_increase = 0,
-        x_offset = 0,
-        y_offset = 0,
-        deck_z = 300,
-        deck_x = 0,
-        deck_y = 0,
-        xy_coupling = 0.0,
     ) -> None:
         super().__init__()
         self.tablets_info = tablets_info
-        self.plate_positions = plate_positions
         self.matrix_id = matrix_id
         self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320)
         self.host, self.port, self.timeout = host, port, timeout
@@ -1096,15 +867,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._execute_setup = setup
         self.debug = debug
         self.axis = "Left"
-        self.x_increase = x_increase
-        self.y_increase = y_increase
-        self.xy_coupling = xy_coupling
-        self.x_offset = x_offset
-        self.y_offset = y_offset
-        self.deck_x = deck_x
-        self.deck_y = deck_y
-        self.deck_z = deck_z
-        self.tip_length = 0
 
     async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
         step = self.api_client.shaker_action(
@@ -1134,11 +896,13 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
 
+
         plate_number = None
         target_plate_number = backend_kwargs.get("target_plate_number", None)
         if target_plate_number is not None:
             plate_number = int(target_plate_number.name.replace("T", ""))
 
+
         is_whole_plate = True
         balance_height = 0
         if plate_number is None:
@@ -1156,42 +920,29 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._ros_node = ros_node
 
     def create_protocol(self, protocol_name):
-        if protocol_name == "":
-            protocol_name = f"protocol_{time.time()}"
         self.protocol_name = protocol_name
         self.steps_todo_list = []
 
-        if not len(self.matrix_id):
-            self.matrix_id = str(uuid.uuid4())
-            
-            material_list = self.api_client.get_all_materials()
-            material_dict = {material["uuid"]: material for material in material_list}
-            
-            work_tablets = []
-            for num, material_id in self.tablets_info.items():
-                work_tablets.append({
-                    "Number": num,
-                    "Material": material_dict[material_id]
-                })
-
-            self.matrix_info = {
-                "MatrixId": self.matrix_id,
-                "MatrixName": self.matrix_id,
-                "WorkTablets": work_tablets,
-                }
-            # print(json.dumps(self.matrix_info, indent=2))
-            res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
-            if not res["Success"]:
-                self.matrix_id = ""
-                raise AssertionError(f"Failed to create matrix: {res.get('Message', 'Unknown error')}")
-            print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
-
     def run_protocol(self):
         assert self.is_reset_ok, "PRCXI9300Backend is not reset successfully. Please call setup() first."
         run_time = time.time()
-        solution_id = self.api_client.add_solution(
+        self.matrix_info = MatrixInfo(
-            f"protocol_{run_time}", self.matrix_id, self.steps_todo_list
+            MatrixId=f"{int(run_time)}",
+            MatrixName=f"protocol_{run_time}",
+            MatrixCount=len(self.tablets_info),
+            WorkTablets=self.tablets_info,
         )
+        # print(json.dumps(self.matrix_info, indent=2))
+        if not len(self.matrix_id):
+            res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
+            assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
+            print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
+            solution_id = self.api_client.add_solution(
+                f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
+            )
+        else:
+            print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
+            solution_id = self.api_client.add_solution(f"protocol_{run_time}", self.matrix_id, self.steps_todo_list)
         print(f"PRCXI9300Backend created solution with ID: {solution_id}")
         self.api_client.load_solution(solution_id)
         print(json.dumps(self.steps_todo_list, indent=2))
@@ -1234,9 +985,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                     else:
                         await asyncio.sleep(1)
                 print("PRCXI9300 reset successfully.")
-                
-                self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)
-
         except ConnectionRefusedError as e:
             raise RuntimeError(
                 f"Failed to connect to PRCXI9300 API at {self.host}:{self.port}. "
@@ -1285,7 +1033,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self.num_channels != 8:
+        if self._num_channels == 1:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Load(
@@ -1298,7 +1046,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             blending_times=0,
             balance_height=0,
             plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-            hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels != 8 else "1,2,3,4,5",
+            hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
         )
         self.steps_todo_list.append(step)
 
@@ -1359,7 +1107,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
-        if self.num_channels != 8:
+        if self.channel_num == 1:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.UnLoad(
@@ -1411,7 +1159,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self.num_channels != 8:
+        if self.num_channels == 1:
             hole_row = tipspot_index % 8 + 1
 
         assert mix_time > 0
@@ -1468,7 +1216,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self.num_channels != 8:
+        if self.num_channels == 1:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Imbibing(
@@ -1526,7 +1274,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         hole_col = tip_columns[0] + 1
 
         hole_row = 1
-        if self.num_channels != 8:
+        if self.num_channels == 1:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Tapping(
@@ -1652,10 +1400,10 @@ class PRCXI9300Api:
         start = False
         while not success:
             status = self.step_state_list()
-            if status is None:
-                break
             if len(status) == 1:
                 start = True
+            if status is None:
+                break
             if len(status) == 0:
                 break
             if status[-1]["State"] == 2 and start:
@@ -1735,13 +1483,6 @@ class PRCXI9300Api:
         """GetWorkTabletMatrixById"""
         return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
 
-    def update_clamp_jaw_position(self, target_matrix_id: str, plate_positions: List[Dict[str, Any]]):
-        position_params = {
-            "MatrixId": target_matrix_id,  
-            "WorkTablets": plate_positions
-        }
-        return self.call("IMatrix", "UpdateClampJawPosition", [position_params])
-
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
         return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix])
 
@@ -2015,82 +1756,82 @@ class DefaultLayout:
                     {
                         "Number": 1,
                         "Code": "T1",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 2,
                         "Code": "T2",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 3,
                         "Code": "T3",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 4,
                         "Code": "T4",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 5,
                         "Code": "T5",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 6,
                         "Code": "T6",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 7,
                         "Code": "T7",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 8,
                         "Code": "T8",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 9,
                         "Code": "T9",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 10,
                         "Code": "T10",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 11,
                         "Code": "T11",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 12,
                         "Code": "T12",
-                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
                     },  # 这个设置成废液槽，用储液槽表示
                     {
                         "Number": 13,
                         "Code": "T13",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 14,
                         "Code": "T14",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 15,
                         "Code": "T15",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                     },
                     {
                         "Number": 16,
                         "Code": "T16",
-                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
                     },  # 这个设置成垃圾桶，用储液槽表示
                 ],
             }

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,8 +4019,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4176,11 +4175,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5187,11 +5183,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -9677,8 +9671,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9752,21 +9745,21 @@ liquid_handler.prcxi:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
-            handler_key: sources_identifier
+            handler_key: sources
-            label: 待移动液体
+            label: sources
-          - data_key: targets
+          - data_key: liquid
-            data_source: handle
+            data_source: executor
             data_type: resource
-            handler_key: targets_identifier
+            handler_key: targets
-            label: 转移目标
+            label: targets
-          - data_key: tip_rack
+          - data_key: liquid
-            data_source: handle
+            data_source: executor
             data_type: resource
-            handler_key: tip_rack_identifier
+            handler_key: tip_rack
-            label: 墙头盒
+            label: tip_rack
           output:
           - data_key: liquid
             data_source: handle
@@ -9834,11 +9827,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/virtual_device.yaml

@@ -5792,381 +5792,3 @@ virtual_vacuum_pump:
       - status
       type: object
   version: 1.0.0
-virtual_workbench:
-  category:
-  - virtual_device
-  class:
-    action_value_mappings:
-      auto-move_to_heating_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-        handles:
-          input:
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: material_input
-            label: 物料编号
-          output:
-          - data_key: station_id
-            data_source: executor
-            data_type: workbench_station
-            handler_key: heating_station_output
-            label: 加热台ID
-          - data_key: material_number
-            data_source: executor
-            data_type: workbench_material
-            handler_key: material_number_output
-            label: 物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 将物料从An位置移动到空闲加热台，返回分配的加热台ID
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，1-5，物料ID自动生成为A{n}
-                  type: integer
-              required:
-              - material_number
-              type: object
-            result:
-              description: move_to_heating_station 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                material_number:
-                  title: Material Number
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                station_id:
-                  description: 分配的加热台ID
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-              required:
-              - success
-              - station_id
-              - material_id
-              - material_number
-              - message
-              title: MoveToHeatingStationResult
-              type: object
-          required:
-          - goal
-          title: move_to_heating_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_to_output:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-          station_id: null
-        handles:
-          input:
-          - data_key: station_id
-            data_source: handle
-            data_type: workbench_station
-            handler_key: output_station_input
-            label: 加热台ID
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: output_material_input
-            label: 物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 将物料从加热台移动到输出位置Cn
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，用于确定输出位置Cn
-                  type: integer
-                station_id:
-                  description: 加热台ID，1-3，从上一节点传入
-                  type: integer
-              required:
-              - station_id
-              - material_number
-              type: object
-            result:
-              description: move_to_output 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                station_id:
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-              required:
-              - success
-              - station_id
-              - material_id
-              title: MoveToOutputResult
-              type: object
-          required:
-          - goal
-          title: move_to_output参数
-          type: object
-        type: UniLabJsonCommand
-      auto-prepare_materials:
-        feedback: {}
-        goal: {}
-        goal_default:
-          count: 5
-        handles:
-          output:
-          - data_key: material_1
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_1
-            label: 实验1
-          - data_key: material_2
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_2
-            label: 实验2
-          - data_key: material_3
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_3
-            label: 实验3
-          - data_key: material_4
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_4
-            label: 实验4
-          - data_key: material_5
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_5
-            label: 实验5
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 批量准备物料 - 虚拟起始节点，生成A1-A5物料，输出5个handle供后续节点使用
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                count:
-                  default: 5
-                  description: 待生成的物料数量，默认5 (生成 A1-A5)
-                  type: integer
-              required: []
-              type: object
-            result:
-              description: prepare_materials 返回类型 - 批量准备物料
-              properties:
-                count:
-                  title: Count
-                  type: integer
-                material_1:
-                  title: Material 1
-                  type: integer
-                material_2:
-                  title: Material 2
-                  type: integer
-                material_3:
-                  title: Material 3
-                  type: integer
-                material_4:
-                  title: Material 4
-                  type: integer
-                material_5:
-                  title: Material 5
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                success:
-                  title: Success
-                  type: boolean
-              required:
-              - success
-              - count
-              - material_1
-              - material_2
-              - material_3
-              - material_4
-              - material_5
-              - message
-              title: PrepareMaterialsResult
-              type: object
-          required:
-          - goal
-          title: prepare_materials参数
-          type: object
-        type: UniLabJsonCommand
-      auto-start_heating:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-          station_id: null
-        handles:
-          input:
-          - data_key: station_id
-            data_source: handle
-            data_type: workbench_station
-            handler_key: station_id_input
-            label: 加热台ID
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: material_number_input
-            label: 物料编号
-          output:
-          - data_key: station_id
-            data_source: executor
-            data_type: workbench_station
-            handler_key: heating_done_station
-            label: 加热完成-加热台ID
-          - data_key: material_number
-            data_source: executor
-            data_type: workbench_material
-            handler_key: heating_done_material
-            label: 加热完成-物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 启动指定加热台的加热程序
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，从上一节点传入
-                  type: integer
-                station_id:
-                  description: 加热台ID，1-3，从上一节点传入
-                  type: integer
-              required:
-              - station_id
-              - material_number
-              type: object
-            result:
-              description: start_heating 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                material_number:
-                  title: Material Number
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                station_id:
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-              required:
-              - success
-              - station_id
-              - material_id
-              - material_number
-              - message
-              title: StartHeatingResult
-              type: object
-          required:
-          - goal
-          title: start_heating参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.virtual.workbench:VirtualWorkbench
-    status_types:
-      active_tasks_count: int
-      arm_current_task: str
-      arm_state: str
-      heating_station_1_material: str
-      heating_station_1_progress: float
-      heating_station_1_state: str
-      heating_station_2_material: str
-      heating_station_2_progress: float
-      heating_station_2_state: str
-      heating_station_3_material: str
-      heating_station_3_progress: float
-      heating_station_3_state: str
-      message: str
-      status: str
-    type: python
-  config_info: []
-  description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
-    material processing
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-        device_id:
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        active_tasks_count:
-          type: integer
-        arm_current_task:
-          type: string
-        arm_state:
-          type: string
-        heating_station_1_material:
-          type: string
-        heating_station_1_progress:
-          type: number
-        heating_station_1_state:
-          type: string
-        heating_station_2_material:
-          type: string
-        heating_station_2_progress:
-          type: number
-        heating_station_2_state:
-          type: string
-        heating_station_3_material:
-          type: string
-        heating_station_3_progress:
-          type: number
-        heating_station_3_state:
-          type: string
-        message:
-          type: string
-        status:
-          type: string
-      required:
-      - status
-      - arm_state
-      - arm_current_task
-      - heating_station_1_state
-      - heating_station_1_material
-      - heating_station_1_progress
-      - heating_station_2_state
-      - heating_station_2_material
-      - heating_station_2_progress
-      - heating_station_3_state
-      - heating_station_3_material
-      - heating_station_3_progress
-      - active_tasks_count
-      - message
-      type: object
-  version: 1.0.0

unilabos/resources/graphio.py

@@ -597,8 +597,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tube": "tube",
             "bottle_carrier": "bottle_carrier",
             "plate_adapter": "plate_adapter",
-            "electrode_sheet": "electrode_sheet",
-            "material_hole": "material_hole",
         }
         if source in replace_info:
             return replace_info[source]

unilabos/resources/itemized_carrier.py

@@ -79,7 +79,6 @@ class ItemizedCarrier(ResourcePLR):
     category: Optional[str] = "carrier",
     model: Optional[str] = None,
     invisible_slots: Optional[str] = None,
-    content_type: Optional[List[str]] = ["bottle", "container", "tube", "bottle_carrier", "tip_rack"],
   ):
     super().__init__(
       name=name,
@@ -93,7 +92,6 @@ class ItemizedCarrier(ResourcePLR):
     self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
     self.invisible_slots = [] if invisible_slots is None else invisible_slots
     self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
-    self.content_type = content_type
 
     if isinstance(sites, dict):
       sites = sites or {}
@@ -421,7 +419,7 @@ class ItemizedCarrier(ResourcePLR):
                         self[identifier] if isinstance(self[identifier], str) else None,
         "position": {"x": location.x, "y": location.y, "z": location.z},
         "size": self.child_size[identifier],
-        "content_type": self.content_type
+        "content_type": ["bottle", "container", "tube", "bottle_carrier", "tip_rack"]
       } for identifier, location in self.child_locations.items()]
     }
 

unilabos/ros/msgs/message_converter.py

@@ -361,14 +361,7 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
         if hasattr(ros_msg, key):
             attr = getattr(ros_msg, key)
             if isinstance(attr, (float, int, str, bool)):
-                # 处理list类型的值，取第一个元素或抛出错误
+                setattr(ros_msg, key, type(attr)(value))
-                if isinstance(value, list):
-                    if len(value) > 0:
-                        setattr(ros_msg, key, type(attr)(value[0]))
-                    else:
-                        setattr(ros_msg, key, type(attr)())  # 使用默认值
-                else:
-                    setattr(ros_msg, key, type(attr)(value))
             elif isinstance(attr, (list, tuple)) and isinstance(value, Iterable):
                 td = ros_msg.SLOT_TYPES[ind].value_type
                 if isinstance(td, NamespacedType):
@@ -381,35 +374,9 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
                     setattr(ros_msg, key, [])  # FIXME
             elif "array.array" in str(type(attr)):
                 if attr.typecode == "f" or attr.typecode == "d":
-                    # 如果是单个值，转换为列表
-                    if value is None:
-                        value = []
-                    elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
-                        value = [value]
                     setattr(ros_msg, key, [float(i) for i in value])
                 else:
-                    # 对于整数数组，需要确保是序列且每个值在有效范围内
+                    setattr(ros_msg, key, value)
-                    if value is None:
-                        value = []
-                    elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
-                        # 如果是单个值，转换为列表
-                        value = [value]
-                    # 确保每个整数值在有效范围内（-2147483648 到 2147483647）
-                    converted_value = []
-                    for i in value:
-                        if i is None:
-                            continue  # 跳过 None 值
-                        if isinstance(i, (int, float)):
-                            int_val = int(i)
-                            # 确保在 int32 范围内
-                            if int_val < -2147483648:
-                                int_val = -2147483648
-                            elif int_val > 2147483647:
-                                int_val = 2147483647
-                            converted_value.append(int_val)
-                        else:
-                            converted_value.append(i)
-                    setattr(ros_msg, key, converted_value)
             else:
                 nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
                 setattr(ros_msg, key, nested_ros_msg)

unilabos/ros/nodes/base_device_node.py

@@ -1320,32 +1320,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
 
                             # 批量查询资源
-                            queried_resources: list = [None] * len(resource_inputs)
+                            queried_resources = []
-                            uuid_indices: list[tuple[int, str, dict]] = []  # (index, uuid, resource_data)
+                            for resource_data in resource_inputs:
-
-                            # 第一遍：处理没有uuid的资源，收集有uuid的资源信息
-                            for idx, resource_data in enumerate(resource_inputs):
                                 unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
                                 if unilabos_uuid is None:
                                     plr_resource = await self.get_resource_with_dir(
                                         resource_id=resource_data["id"], with_children=True
                                     )
-                                    if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                    queried_resources[idx] = plr_resource
                                 else:
-                                    uuid_indices.append((idx, unilabos_uuid, resource_data))
+                                    resource_tree = await self.get_resource([unilabos_uuid])
-
+                                    plr_resource = resource_tree.to_plr_resources()[0]
-                            # 第二遍：批量查询有uuid的资源
+                                if "sample_id" in resource_data:
-                            if uuid_indices:
+                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                uuids = [item[1] for item in uuid_indices]
+                                queried_resources.append(plr_resource)
-                                resource_tree = await self.get_resource(uuids)
-                                plr_resources = resource_tree.to_plr_resources()
-                                for i, (idx, _, resource_data) in enumerate(uuid_indices):
-                                    plr_resource = plr_resources[i]
-                                    if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                    queried_resources[idx] = plr_resource
 
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
 
@@ -1481,8 +1468,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if isinstance(rs, list):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
-                            elif type(rs).__name__ == "ResourceHolder":
-                                pass
                             else:
                                 res = self.resource_tracker.parent_resource(rs)
                             if id(res) not in seen:

unilabos/ros/nodes/presets/host_node.py

@@ -795,7 +795,6 @@ class HostNode(BaseROS2DeviceNode):
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
         self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
-        self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
         goal_uuid_obj = UUID(uuid=list(u.bytes))

unilabos/test/experiments/prcxi_9320_no_res.json

@@ -1,836 +0,0 @@
-{
-  "nodes": [
-    {
-      "id": "PRCXI",
-      "name": "PRCXI",
-      "type": "device",
-      "class": "liquid_handler.prcxi",
-      "parent": "",
-      "pose": {
-        "size": {
-          "width": 550,
-          "height": 400,
-          "depth": 0
-        }
-      },
-      "config": {
-        "axis": "Left",
-        "deck": {
-          "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
-          "_resource_child_name": "PRCXI_Deck"
-        },
-        "host": "10.20.30.184",
-        "port": 9999,
-        "debug": false,
-        "setup": false,
-        "is_9320": true,
-        "timeout": 10,
-        "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-        "simulator": false,
-        "channel_num": 2
-      },
-      "data": {
-        "reset_ok": true
-      },
-      "schema": {},
-      "description": "",
-      "model": null,
-      "position": {
-        "x": 0,
-        "y": 700,
-        "z": 0
-      }
-    },
-    {
-      "id": "PRCXI_Deck",
-      "name": "PRCXI_Deck",
-
-      "children": [],
-      "parent": "PRCXI",
-      "type": "deck",
-      "class": "",
-      "position": {
-        "x": 0,
-        "y": 0,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300Deck",
-        "size_x": 550,
-        "size_y": 400,
-        "size_z": 17,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "deck",
-        "barcode": null
-      },
-      "data": {}
-    },
-    {
-      "id": "T1",
-      "name": "T1",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 5,
-        "y": 301,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T1",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T2",
-      "name": "T2",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 142.5,
-        "y": 301,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T2",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T3",
-      "name": "T3",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 280,
-        "y": 301,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T3",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T4",
-      "name": "T4",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 417.5,
-        "y": 301,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 94,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T4",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T5",
-      "name": "T5",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 5,
-        "y": 205,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T5",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T6",
-      "name": "T6",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 142.5,
-        "y": 205,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T6",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T7",
-      "name": "T7",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 280,
-        "y": 205,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T7",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T8",
-      "name": "T8",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 417.5,
-        "y": 205,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T8",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T9",
-      "name": "T9",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 5,
-        "y": 109,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T9",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T10",
-      "name": "T10",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 142.5,
-        "y": 109,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T10",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T11",
-      "name": "T11",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 280,
-        "y": 109,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T11",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T12",
-      "name": "T12",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 417.5,
-        "y": 109,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T12",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T13",
-      "name": "T13",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 5,
-        "y": 13,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T13",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T14",
-      "name": "T14",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 142.5,
-        "y": 13,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T14",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T15",
-      "name": "T15",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 280,
-        "y": 13,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T15",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "T16",
-      "name": "T16",
-      "children": [],
-      "parent": "PRCXI_Deck",
-      "type": "plate",
-      "class": "",
-      "position": {
-        "x": 417.5,
-        "y": 13,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300PlateAdapterSite",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 28,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "plate",
-        "model": null,
-        "barcode": null,
-        
-        "sites": [
-          {
-            "label": "T16",
-            "visible": true,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": [
-              "plate",
-              "tip_rack",
-              "plates",
-              "tip_racks",
-              "tube_rack"
-            ]
-          }
-        ]
-      },
-      "data": {}
-    },
-    {
-      "id": "trash",
-      "name": "trash",
-
-      "children": [],
-      "parent": "T16",
-      "type": "trash",
-      "class": "",
-      "position": {
-        "x": 0,
-        "y": 0,
-        "z": 0
-      },
-      "config": {
-        "type": "PRCXI9300Trash",
-        "size_x": 127.5,
-        "size_y": 86,
-        "size_z": 10,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        },
-        "category": "trash",
-        "model": null,
-        "barcode": null,
-        "max_volume": "Infinity",
-        "material_z_thickness": 0,
-        "compute_volume_from_height": null,
-        "compute_height_from_volume": null
-      },
-      "data": {
-        "liquids": [],
-        "pending_liquids": [],
-        "liquid_history": [],
-        "Material": {
-          "uuid": "730067cf07ae43849ddf4034299030e9"
-        }
-      }
-    }
-  ],
-  "edges": []
-}

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）

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

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>0.10.17</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>