adjust with_children param

modify devices to use correct executor (sleep, create_task)
support sleep and create_task in node
2025-12-17 13:01:12 +00:00 · 2025-11-03 16:31:37 +08:00 · 2025-11-03 15:49:11 +08:00 · 2025-11-03 15:42:12 +08:00 · 2025-10-31 21:43:25 +08:00 · 2025-10-30 17:29:47 +08:00
85 changed files with 8423 additions and 10493 deletions
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -42,7 +42,7 @@ jobs:
    defaults:
      run:
        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
+        shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 Detailed documentation can be found at:

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

 ## Quick Start

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

 3. Start Uni-Lab System:

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

 ## Message Format

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

 详细文档可在以下位置找到:

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

 ## 快速开始

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

 3. 启动 Uni-Lab 系统:

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

 ## 消息格式

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

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

 ### 2. 执行抽真空和充气操作
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -23,7 +23,8 @@ extensions = [
    "myst_parser",
    "sphinx.ext.autodoc",
    "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
-    "sphinx_rtd_theme"
+    "sphinx_rtd_theme",
+    "sphinxcontrib.mermaid"
 ]

 source_suffix = {
@@ -42,6 +43,8 @@ myst_enable_extensions = [
    "substitution",
 ]

+myst_fence_as_directive = ["mermaid"]
+
 templates_path = ["_templates"]
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]

@@ -203,3 +206,5 @@ def generate_action_includes(app):

 def setup(app):
    app.connect("builder-inited", generate_action_includes)
+    app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
+    app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")
--- a/docs/developer_guide/action_includes.md
+++ b/docs/developer_guide/action_includes.md
@@ -1,88 +1,26 @@
 ## 简单单变量动作函数

+
 ### `SendCmd`

 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```

---
-
-### `StrSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
-:language: yaml
-```
-
---
-
-### `IntSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
-:language: yaml
-```
-
---
-
-### `FloatSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
-:language: yaml
-```
-
---
-
-### `Point3DSeparateInput`
-
-```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
-:language: yaml
-```
-
---
-
-### `Wait`
-
-```{literalinclude} ../../unilabos_msgs/action/Wait.action
-:language: yaml
-```
-
---
-
+----
 ## 常量有机化学操作

 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。

+
+
 ### `Clean`

 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```

---
-
-### `EvacuateAndRefill`
-
-```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
-:language: yaml
-```
-
---
-
-### `Evaporate`
-
-```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
-:language: yaml
-```
-
---
-
-### `HeatChill`
-
-```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
-:language: yaml
-```
-
---
+----

 ### `HeatChillStart`

@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `HeatChillStop`

@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `PumpTransfer`

@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
-
-### `Separate`
-
-```{literalinclude} ../../unilabos_msgs/action/Separate.action
-:language: yaml
-```
-
---
-
-### `Stir`
-
-```{literalinclude} ../../unilabos_msgs/action/Stir.action
-:language: yaml
-```
-
---
-
-### `Add`
-
-```{literalinclude} ../../unilabos_msgs/action/Add.action
-:language: yaml
-```
-
---
-
-### `AddSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
-:language: yaml
-```
-
---
-
-### `AdjustPH`
-
-```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
-:language: yaml
-```
-
---
-
-### `Centrifuge`
-
-```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
-:language: yaml
-```
-
---
-
-### `CleanVessel`
-
-```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
-:language: yaml
-```
-
---
-
-### `Crystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
-:language: yaml
-```
-
---
-
-### `Dissolve`
-
-```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
-:language: yaml
-```
-
---
-
-### `Dry`
-
-```{literalinclude} ../../unilabos_msgs/action/Dry.action
-:language: yaml
-```
-
---
-
-### `Filter`
-
-```{literalinclude} ../../unilabos_msgs/action/Filter.action
-:language: yaml
-```
-
---
-
-### `FilterThrough`
-
-```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
-:language: yaml
-```
-
---
-
-### `Hydrogenate`
-
-```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
-:language: yaml
-```
-
---
-
-### `Purge`
-
-```{literalinclude} ../../unilabos_msgs/action/Purge.action
-:language: yaml
-```
-
---
-
-### `Recrystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
-:language: yaml
-```
-
---
-
-### `RunColumn`
-
-```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
-:language: yaml
-```
-
---
-
-### `StartPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
-:language: yaml
-```
-
---
-
-### `StartStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StartStir.action
-:language: yaml
-```
-
---
-
-### `StopPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
-:language: yaml
-```
-
---
-
-### `StopStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StopStir.action
-:language: yaml
-```
-
---
-
-### `Transfer`
-
-```{literalinclude} ../../unilabos_msgs/action/Transfer.action
-:language: yaml
-```
-
---
-
-### `WashSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
-:language: yaml
-```
-
---
-
+----
 ## 移液工作站及相关生物自动化设备操作

 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。

-### `LiquidHandlerAspirate`

-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
-:language: yaml
-```
-
---

 ### `LiquidHandlerDiscardTips`

@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
-
-### `LiquidHandlerDispense`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
-:language: yaml
-```
-
---
+----

 ### `LiquidHandlerDropTips`

@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerDropTips96`

@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMoveLid`

@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMovePlate`

@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMoveResource`

@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerPickUpTips`

@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerPickUpTips96`

@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerReturnTips`

@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerReturnTips96`

@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerStamp`

@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
-
-### `LiquidHandlerTransfer`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerAdd`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerIncubateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerMix`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerMoveBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerMoveTo`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerOscillateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerProtocolCreation`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerRemove`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerSetGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerSetLiquid`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerSetTipRack`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerTransferBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
-:language: yaml
-```
-
---
-
-### `LiquidHandlerTransferGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
-:language: yaml
-```
-
---
-
+----
 ## 多工作站及小车运行、物料转移

+
 ### `AGVTransfer`

 ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
 :language: yaml
 ```

---
+----

 ### `WorkStationRun`

@@ -520,64 +155,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
-
-### `ResetHandling`
-
-```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
-:language: yaml
-```
-
---
-
-### `ResourceCreateFromOuter`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
-:language: yaml
-```
-
---
-
-### `ResourceCreateFromOuterEasy`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
-:language: yaml
-```
-
---
-
-### `SetPumpPosition`
-
-```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
-:language: yaml
-```
-
---
-
-## 固体分配与处理设备操作
-
-### `SolidDispenseAddPowderTube`
-
-```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
-:language: yaml
-```
-
---
-
-## 其他设备操作
-
-### `EmptyIn`
-
-```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
-:language: yaml
-```
-
---
-
+----
 ## 机械臂、夹爪等机器人设备

 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：

+
 ### `FollowJointTrajectory`

 ```yaml
@@ -645,8 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error

 ```

---
-
+----
 ### `GripperCommand`

 ```yaml
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp

 ```

---
-
+----
 ### `JointTrajectory`

 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
-
 ---
+
 ```

---
+----
+### `ParallelGripperCommand`

+```yaml
+# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
+sensor_msgs/JointState command
+# name: the name(s) of the joint this command is requesting
+# position: desired position of each gripper joint (radians or meters)
+# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
+# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
+---
+sensor_msgs/JointState state # The current gripper state.
+# position of each joint (radians or meters)
+# optional: velocity of each joint (radians or meters / second)
+# optional: effort of each joint (Newtons or Newton-meters)
+bool stalled      # True if the gripper is exerting max effort and not moving
+bool reached_goal # True if the gripper position has reached the commanded setpoint
+---
+sensor_msgs/JointState state # The current gripper state.
+# position of each joint (radians or meters)
+# optional: velocity of each joint (radians or meters / second)
+# optional: effort of each joint (Newtons or Newton-meters)
+
+```
+
+----
 ### `PointHead`

 ```yaml
@@ -686,13 +291,12 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 float64 pointing_angle_error
+
 ```

---
-
+----
 ### `SingleJointPosition`

 ```yaml
@@ -700,16 +304,15 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
+
 ```

---
-
+----
 ### `AssistedTeleop`

 ```yaml
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
+
 ```

---
-
+----
 ### `BackUp`

 ```yaml
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```

---
-
+----
 ### `ComputePathThroughPoses`

 ```yaml
@@ -756,10 +359,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```

---
-
+----
 ### `ComputePathToPose`

 ```yaml
@@ -774,10 +377,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```

---
-
+----
 ### `DriveOnHeading`

 ```yaml
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```

---
-
+----
 ### `DummyBehavior`

 ```yaml
@@ -805,10 +408,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
+
 ```

---
-
+----
 ### `FollowPath`

 ```yaml
@@ -823,10 +426,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
+
 ```

---
-
+----
 ### `FollowWaypoints`

 ```yaml
@@ -838,10 +441,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
+
 ```

---
-
+----
 ### `NavigateThroughPoses`

 ```yaml
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
+
 ```

---
-
+----
 ### `NavigateToPose`

 ```yaml
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
+
 ```

---
-
+----
 ### `SmoothPath`

 ```yaml
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
+
 ```

---
-
+----
 ### `Spin`

 ```yaml
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
+
 ```

---
-
+----
 ### `Wait`

 ```yaml
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
+
 ```

---
+----
--- a/docs/developer_guide/image/workstation_architecture/workstation_by_supplier.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_by_supplier.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_liquid_handler.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_liquid_handler.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_organic.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_organic.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_organic_yed.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_organic_yed.png
--- a/docs/developer_guide/workstation_architecture.md
+++ b/docs/developer_guide/workstation_architecture.md
--- a/docs/intro.md
+++ b/docs/intro.md
@@ -32,9 +32,8 @@ developer_guide/device_driver
 developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
+developer_guide/workstation_architecture
 developer_guide/add_protocol
-developer_guide/add_batteryPLC
-developer_guide/materials_tutorial.md
 ```

 ## 接口文档
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -2,6 +2,7 @@
 sphinx>=7.0.0
 sphinx-rtd-theme>=2.0.0
 myst-parser>=2.0.0
+sphinxcontrib-mermaid

 # 用于支持Jupyter notebook文档
 myst-nb>=1.0.0
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -172,7 +172,7 @@ Examples:
        with open(output_path, "w", encoding="utf-8") as f:
            f.write(readme_content)

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

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

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

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

 import sys
 import os
+import argparse

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

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


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

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

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

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

        print(f"  {CHECK_MARK} UniLabOS installed")

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

        if env_check_passed:
            print(f"  {CHECK_MARK} All required packages available")
        else:
            print(f"  {CROSS_MARK} Some optional packages are missing")
+            if not args.auto_install:
+                print("  Hint: Run with --auto-install to automatically install missing packages")
    except ImportError:
        print(f"  {CROSS_MARK} UniLabOS not installed")
        all_passed = False
--- a/scripts/workflow.py
+++ b/scripts/workflow.py
@@ -0,0 +1,695 @@
+import json
+import logging
+import traceback
+import uuid
+import xml.etree.ElementTree as ET
+from typing import Any, Dict, List
+
+import networkx as nx
+import matplotlib.pyplot as plt
+import requests
+
+logger = logging.getLogger(__name__)
+
+
+class SimpleGraph:
+    """简单的有向图实现，用于构建工作流图"""
+
+    def __init__(self):
+        self.nodes = {}
+        self.edges = []
+
+    def add_node(self, node_id, **attrs):
+        """添加节点"""
+        self.nodes[node_id] = attrs
+
+    def add_edge(self, source, target, **attrs):
+        """添加边"""
+        edge = {"source": source, "target": target, **attrs}
+        self.edges.append(edge)
+
+    def to_dict(self):
+        """转换为工作流图格式"""
+        nodes_list = []
+        for node_id, attrs in self.nodes.items():
+            node_attrs = attrs.copy()
+            params = node_attrs.pop("parameters", {}) or {}
+            node_attrs.update(params)
+            nodes_list.append({"id": node_id, **node_attrs})
+
+        return {
+            "directed": True,
+            "multigraph": False,
+            "graph": {},
+            "nodes": nodes_list,
+            "links": self.edges,
+        }
+
+
+def extract_json_from_markdown(text: str) -> str:
+    """从markdown代码块中提取JSON"""
+    text = text.strip()
+    if text.startswith("```json\n"):
+        text = text[8:]
+    if text.startswith("```\n"):
+        text = text[4:]
+    if text.endswith("\n```"):
+        text = text[:-4]
+    return text
+
+
+def convert_to_type(val: str) -> Any:
+    """将字符串值转换为适当的数据类型"""
+    if val == "True":
+        return True
+    if val == "False":
+        return False
+    if val == "?":
+        return None
+    if val.endswith(" g"):
+        return float(val.split(" ")[0])
+    if val.endswith("mg"):
+        return float(val.split("mg")[0])
+    elif val.endswith("mmol"):
+        return float(val.split("mmol")[0]) / 1000
+    elif val.endswith("mol"):
+        return float(val.split("mol")[0])
+    elif val.endswith("ml"):
+        return float(val.split("ml")[0])
+    elif val.endswith("RPM"):
+        return float(val.split("RPM")[0])
+    elif val.endswith(" °C"):
+        return float(val.split(" ")[0])
+    elif val.endswith(" %"):
+        return float(val.split(" ")[0])
+    return val
+
+
+def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
+    """统一的数据重构函数，根据操作类型自动选择模板"""
+    refactored_data = []
+
+    # 定义操作映射，包含生物实验和有机化学的所有操作
+    OPERATION_MAPPING = {
+        # 生物实验操作
+        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
+        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
+        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
+        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
+        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
+        # 有机化学操作
+        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
+        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
+        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
+        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
+        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
+        "Transfer": "SynBioFactory-workstation-TransferProtocol",
+        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
+        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
+        "Filter": "SynBioFactory-workstation-FilterProtocol",
+        "Dry": "SynBioFactory-workstation-DryProtocol",
+        "Add": "SynBioFactory-workstation-AddProtocol",
+    }
+
+    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    for step in data:
+        operation = step.get("action")
+        if not operation or operation in UNSUPPORTED_OPERATIONS:
+            continue
+
+        # 处理重复操作
+        if operation == "Repeat":
+            times = step.get("times", step.get("parameters", {}).get("times", 1))
+            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
+            for i in range(int(times)):
+                sub_data = refactor_data(sub_steps)
+                refactored_data.extend(sub_data)
+            continue
+
+        # 获取模板名称
+        template = OPERATION_MAPPING.get(operation)
+        if not template:
+            # 自动推断模板类型
+            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
+                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
+            else:
+                template = f"SynBioFactory-workstation-{operation}Protocol"
+
+        # 创建步骤数据
+        step_data = {
+            "template": template,
+            "description": step.get("description", step.get("purpose", f"{operation} operation")),
+            "lab_node_type": "Device",
+            "parameters": step.get("parameters", step.get("action_args", {})),
+        }
+        refactored_data.append(step_data)
+
+    return refactored_data
+
+
+def build_protocol_graph(
+    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
+) -> SimpleGraph:
+    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
+    G = SimpleGraph()
+    resource_last_writer = {}
+    LAB_NAME = "SynBioFactory"
+
+    protocol_steps = refactor_data(protocol_steps)
+
+    # 检查协议步骤中的模板来判断协议类型
+    has_biomek_template = any(
+        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
+        for step in protocol_steps
+    )
+
+    if has_biomek_template:
+        # 生物实验协议图构建
+        for labware_id, labware in labware_info.items():
+            node_id = str(uuid.uuid4())
+
+            labware_attrs = labware.copy()
+            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
+            labware_attrs["description"] = labware_id
+            labware_attrs["lab_node_type"] = (
+                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
+            )
+            labware_attrs["device_id"] = workstation_name
+
+            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
+            resource_last_writer[labware_id] = f"{node_id}:labware"
+
+        # 处理协议步骤
+        prev_node = None
+        for i, step in enumerate(protocol_steps):
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 添加控制流边
+            if prev_node is not None:
+                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
+            prev_node = node_id
+
+            # 处理物料流
+            params = step.get("parameters", {})
+            if "sources" in params and params["sources"] in resource_last_writer:
+                source_node, source_port = resource_last_writer[params["sources"]].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
+
+            if "targets" in params:
+                resource_last_writer[params["targets"]] = f"{node_id}:labware"
+
+        # 添加协议结束节点
+        end_id = str(uuid.uuid4())
+        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
+        if prev_node is not None:
+            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
+
+    else:
+        # 有机化学协议图构建
+        WORKSTATION_ID = workstation_name
+
+        # 为所有labware创建资源节点
+        for item_id, item in labware_info.items():
+            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
+            node_id = str(uuid.uuid4())
+
+            # 判断节点类型
+            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
+                if "reactor" not in str(item_id).lower():
+                    continue
+                lab_node_type = "Sample"
+                description = f"Prepare Reactor: {item_id}"
+                liquid_type = []
+                liquid_volume = []
+            else:
+                lab_node_type = "Reagent"
+                description = f"Add Reagent to Flask: {item_id}"
+                liquid_type = [item_id]
+                liquid_volume = [1e5]
+
+            G.add_node(
+                node_id,
+                template=f"{LAB_NAME}-host_node-create_resource",
+                description=description,
+                lab_node_type=lab_node_type,
+                res_id=item_id,
+                device_id=WORKSTATION_ID,
+                class_name="container",
+                parent=WORKSTATION_ID,
+                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
+                liquid_input_slot=[-1],
+                liquid_type=liquid_type,
+                liquid_volume=liquid_volume,
+                slot_on_deck="",
+                role=item.get("role", ""),
+            )
+            resource_last_writer[item_id] = f"{node_id}:labware"
+
+        last_control_node_id = None
+
+        # 处理协议步骤
+        for step in protocol_steps:
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 控制流
+            if last_control_node_id is not None:
+                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
+            last_control_node_id = node_id
+
+            # 物料流
+            params = step.get("parameters", {})
+            input_resources = {
+                "Vessel": params.get("vessel"),
+                "ToVessel": params.get("to_vessel"),
+                "FromVessel": params.get("from_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources": params.get("sources"),
+                "targets": params.get("targets"),
+            }
+
+            for target_port, resource_name in input_resources.items():
+                if resource_name and resource_name in resource_last_writer:
+                    source_node, source_port = resource_last_writer[resource_name].split(":")
+                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+            output_resources = {
+                "VesselOut": params.get("vessel"),
+                "FromVesselOut": params.get("from_vessel"),
+                "ToVesselOut": params.get("to_vessel"),
+                "FiltrateOut": params.get("filtrate_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources_out": params.get("sources"),
+                "targets_out": params.get("targets"),
+            }
+
+            for source_port, resource_name in output_resources.items():
+                if resource_name:
+                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
+
+    return G
+
+
+def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
+    """
+    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    G = nx.DiGraph()
+
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        G.add_node(node_id, label=label, **attrs)
+
+    for edge in protocol_graph.edges:
+        G.add_edge(edge["source"], edge["target"])
+
+    plt.figure(figsize=(20, 15))
+    try:
+        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
+    except Exception:
+        pos = nx.shell_layout(G)  # Fallback layout
+
+    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
+    nx.draw(
+        G,
+        pos,
+        with_labels=False,
+        node_size=2500,
+        node_color="skyblue",
+        node_shape="o",
+        edge_color="gray",
+        width=1.5,
+        arrowsize=15,
+    )
+    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
+
+    plt.title("Chemical Protocol Workflow Graph", size=15)
+    plt.savefig(output_path, dpi=300, bbox_inches="tight")
+    plt.close()
+    print(f"  - Visualization saved to '{output_path}'")
+
+
+from networkx.drawing.nx_agraph import to_agraph
+import re
+
+COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
+
+def _is_compass(port: str) -> bool:
+    return isinstance(port, str) and port.lower() in COMPASS
+
+def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
+    """
+    使用 Graphviz 端口语法绘制协议工作流图。
+    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
+    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
+    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    # 1) 先用 networkx 搭建有向图，保留端口属性
+    G = nx.DiGraph()
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
+        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
+
+    edges_data = []
+    in_ports_by_node  = {}  # 收集命名输入端口
+    out_ports_by_node = {}  # 收集命名输出端口
+
+    for edge in protocol_graph.edges:
+        u = edge["source"]
+        v = edge["target"]
+        sp = edge.get("source_port")
+        tp = edge.get("target_port")
+
+        # 记录到图里（保留原始端口信息）
+        G.add_edge(u, v, source_port=sp, target_port=tp)
+        edges_data.append((u, v, sp, tp))
+
+        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
+        if sp and not _is_compass(sp):
+            out_ports_by_node.setdefault(u, set()).add(str(sp))
+        if tp and not _is_compass(tp):
+            in_ports_by_node.setdefault(v, set()).add(str(tp))
+
+    # 2) 转为 AGraph，使用 Graphviz 渲染
+    A = to_agraph(G)
+    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
+    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
+    A.edge_attr.update(arrowsize="0.8", color="#666666")
+
+    # 3) 为需要命名端口的节点设置 record 形状与 label
+    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
+    for n in A.nodes():
+        node = A.get_node(n)
+        core = G.nodes[n].get("_core_label", n)
+
+        in_ports  = sorted(in_ports_by_node.get(n, []))
+        out_ports = sorted(out_ports_by_node.get(n, []))
+
+        # 如果该节点涉及命名端口，则用 record；否则保留原 box
+        if in_ports or out_ports:
+            def port_fields(ports):
+                if not ports:
+                    return " "  # 必须留一个空槽占位
+                # 每个端口一个小格子，<p> name
+                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
+
+            left  = port_fields(in_ports)
+            right = port_fields(out_ports)
+
+            # 三栏：左(入) | 中(节点名) | 右(出)
+            record_label = f"{{ {left} | {core} | {right} }}"
+            node.attr.update(shape="record", label=record_label)
+        else:
+            # 没有命名端口：普通盒子，显示核心标签
+            node.attr.update(label=str(core))
+
+    # 4) 给边设置 headport / tailport
+    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
+    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
+    for (u, v, sp, tp) in edges_data:
+        e = A.get_edge(u, v)
+
+        # Graphviz 属性：tail 是源，head 是目标
+        if sp:
+            if _is_compass(sp):
+                e.attr["tailport"] = sp.lower()
+            else:
+                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
+                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
+
+        if tp:
+            if _is_compass(tp):
+                e.attr["headport"] = tp.lower()
+            else:
+                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
+
+        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
+        # e.attr["arrowhead"] = "vee"
+
+    # 5) 输出
+    A.draw(output_path, prog="dot")
+    print(f"  - Port-aware workflow rendered to '{output_path}'")
+
+
+def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
+    """展平嵌套的XDL程序结构"""
+    flattened_operations = []
+    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    def extract_operations(element: ET.Element):
+        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
+            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
+                flattened_operations.append(element)
+
+        for child in element:
+            extract_operations(child)
+
+    for child in procedure_elem:
+        extract_operations(child)
+
+    return flattened_operations
+
+
+def parse_xdl_content(xdl_content: str) -> tuple:
+    """解析XDL内容"""
+    try:
+        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
+        root = ET.fromstring(xdl_content_cleaned)
+
+        synthesis_elem = root.find("Synthesis")
+        if synthesis_elem is None:
+            return None, None, None
+
+        # 解析硬件组件
+        hardware_elem = synthesis_elem.find("Hardware")
+        hardware = []
+        if hardware_elem is not None:
+            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
+
+        # 解析试剂
+        reagents_elem = synthesis_elem.find("Reagents")
+        reagents = []
+        if reagents_elem is not None:
+            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
+
+        # 解析程序
+        procedure_elem = synthesis_elem.find("Procedure")
+        if procedure_elem is None:
+            return None, None, None
+
+        flattened_operations = flatten_xdl_procedure(procedure_elem)
+        return hardware, reagents, flattened_operations
+
+    except ET.ParseError as e:
+        raise ValueError(f"Invalid XDL format: {e}")
+
+
+def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
+    """
+    将XDL XML格式转换为标准的字典格式
+
+    Args:
+        xdl_content: XDL XML内容
+
+    Returns:
+        转换结果，包含步骤和器材信息
+    """
+    try:
+        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
+        if hardware is None:
+            return {"error": "Failed to parse XDL content", "success": False}
+
+        # 将XDL元素转换为字典格式
+        steps_data = []
+        for elem in flattened_operations:
+            # 转换参数类型
+            parameters = {}
+            for key, val in elem.attrib.items():
+                converted_val = convert_to_type(val)
+                if converted_val is not None:
+                    parameters[key] = converted_val
+
+            step_dict = {
+                "operation": elem.tag,
+                "parameters": parameters,
+                "description": elem.get("purpose", f"Operation: {elem.tag}"),
+            }
+            steps_data.append(step_dict)
+
+        # 合并硬件和试剂为统一的labware_info格式
+        labware_data = []
+        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
+        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
+
+        return {
+            "success": True,
+            "steps": steps_data,
+            "labware": labware_data,
+            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
+        }
+
+    except Exception as e:
+        error_msg = f"XDL conversion failed: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
+
+
+def create_workflow(
+    steps_info: str,
+    labware_info: str,
+    workflow_name: str = "Generated Workflow",
+    workstation_name: str = "workstation",
+    workflow_description: str = "Auto-generated workflow from protocol",
+) -> Dict[str, Any]:
+    """
+    创建工作流，输入数据已经是统一的字典格式
+
+    Args:
+        steps_info: 步骤信息 (JSON字符串，已经是list of dict格式)
+        labware_info: 实验器材和试剂信息 (JSON字符串，已经是list of dict格式)
+        workflow_name: 工作流名称
+        workflow_description: 工作流描述
+
+    Returns:
+        创建结果，包含工作流UUID和详细信息
+    """
+    try:
+        # 直接解析JSON数据
+        steps_info_clean = extract_json_from_markdown(steps_info)
+        labware_info_clean = extract_json_from_markdown(labware_info)
+
+        steps_data = json.loads(steps_info_clean)
+        labware_data = json.loads(labware_info_clean)
+
+        # 统一处理所有数据
+        protocol_graph = build_protocol_graph(labware_data, steps_data, workstation_name=workstation_name)
+
+        # 检测协议类型（用于标签）
+        protocol_type = "bio" if any("biomek" in step.get("template", "") for step in refactored_steps) else "organic"
+
+        # 转换为工作流格式
+        data = protocol_graph.to_dict()
+
+        # 转换节点格式
+        for i, node in enumerate(data["nodes"]):
+            description = node.get("description", "")
+            onode = {
+                "template": node.pop("template"),
+                "id": node["id"],
+                "lab_node_type": node.get("lab_node_type", "Device"),
+                "name": description or f"Node {i + 1}",
+                "params": {"default": node},
+                "handles": {},
+            }
+
+            # 处理边连接
+            for edge in data["links"]:
+                if edge["source"] == node["id"]:
+                    source_port = edge.get("source_port", "output")
+                    if source_port not in onode["handles"]:
+                        onode["handles"][source_port] = {"type": "source"}
+
+                if edge["target"] == node["id"]:
+                    target_port = edge.get("target_port", "input")
+                    if target_port not in onode["handles"]:
+                        onode["handles"][target_port] = {"type": "target"}
+
+            data["nodes"][i] = onode
+
+        # 发送到API创建工作流
+        api_secret = configs.Lab.Key
+        if not api_secret:
+            return {"error": "API SecretKey is not configured", "success": False}
+
+        # Step 1: 创建工作流
+        workflow_url = f"{configs.Lab.Api}/api/v1/workflow/"
+        headers = {
+            "Content-Type": "application/json",
+        }
+        params = {"secret_key": api_secret}
+
+        graph_data = {"name": workflow_name, **data}
+
+        logger.info(f"Creating workflow: {workflow_name}")
+        response = requests.post(
+            workflow_url, params=params, json=graph_data, headers=headers, timeout=configs.Lab.Timeout
+        )
+        response.raise_for_status()
+
+        workflow_info = response.json()
+
+        if workflow_info.get("code") != 0:
+            error_msg = f"API returned an error: {workflow_info.get('msg', 'Unknown Error')}"
+            logger.error(error_msg)
+            return {"error": error_msg, "success": False}
+
+        workflow_uuid = workflow_info.get("data", {}).get("uuid")
+        if not workflow_uuid:
+            return {"error": "Failed to get workflow UUID from response", "success": False}
+
+        # Step 2: 添加到模板库（可选）
+        try:
+            library_url = f"{configs.Lab.Api}/api/flociety/vs/workflows/library/"
+            lib_payload = {
+                "workflow_uuid": workflow_uuid,
+                "title": workflow_name,
+                "description": workflow_description,
+                "labels": [protocol_type.title(), "Auto-generated"],
+            }
+
+            library_response = requests.post(
+                library_url, params=params, json=lib_payload, headers=headers, timeout=configs.Lab.Timeout
+            )
+            library_response.raise_for_status()
+
+            library_info = library_response.json()
+            logger.info(f"Workflow added to library: {library_info}")
+
+            return {
+                "success": True,
+                "workflow_uuid": workflow_uuid,
+                "workflow_info": workflow_info.get("data"),
+                "library_info": library_info.get("data"),
+                "protocol_type": protocol_type,
+                "message": f"Workflow '{workflow_name}' created successfully",
+            }
+
+        except Exception as e:
+            # 即使添加到库失败，工作流创建仍然成功
+            logger.warning(f"Failed to add workflow to library: {str(e)}")
+            return {
+                "success": True,
+                "workflow_uuid": workflow_uuid,
+                "workflow_info": workflow_info.get("data"),
+                "protocol_type": protocol_type,
+                "message": f"Workflow '{workflow_name}' created successfully (library addition failed)",
+            }
+
+    except requests.exceptions.RequestException as e:
+        error_msg = f"Network error when calling API: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
+    except json.JSONDecodeError as e:
+        error_msg = f"JSON parsing error: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
+    except Exception as e:
+        error_msg = f"An unexpected error occurred: {str(e)}"
+        logger.error(error_msg)
+        logger.error(traceback.format_exc())
+        return {"error": error_msg, "success": False}
--- a/test/experiments/comprehensive_protocol/comprehensive_station.json
+++ b/test/experiments/comprehensive_protocol/comprehensive_station.json
@@ -170,15 +170,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["DMF", 500.0]],
+                "pending_liquids": [["DMF", 500.0]]
            }
        },
        {
@@ -194,15 +195,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["ethyl_acetate", 1000.0]],
+                "pending_liquids": [["ethyl_acetate", 1000.0]]
            }
        },
        {
@@ -218,15 +220,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 300,
+                "size_y": 150,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "hexane",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["hexane", 1000.0]],
+                "pending_liquids": [["hexane", 1000.0]]
            }
        },
        {
@@ -242,15 +245,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 150,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["methanol", 1000.0]],
+                "pending_liquids": [["methanol", 1000.0]]
            }
        },
        {
@@ -266,15 +270,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 150,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["water", 1000.0]],
+                "pending_liquids": [["water", 1000.0]]
            }
        },
        {
@@ -335,14 +340,16 @@
            },
            "config": {
                "max_volume": 500.0,
+                "type": "RegularContainer",
+                "category": "container",
                "max_temp": 200.0,
                "min_temp": -20.0,
                "has_stirrer": true,
                "has_heater": true
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -419,11 +426,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 500,
+                "size_y": 400,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -439,11 +451,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1100,
+                "size_y": 500,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -649,11 +666,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 500,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -669,11 +691,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 500,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -689,11 +716,16 @@
                "z": 0
            },
            "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1050,
+                "size_y": 500,
+                "size_z": 0
            },
            "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
            }
        },
        {
@@ -733,6 +765,11 @@
            },
            "config": {
                "max_volume": 500.0,
+                "size_x": 550,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                "reagent": "sodium_chloride",
                "physical_state": "solid"
            },
@@ -756,6 +793,11 @@
            },
            "config": {
                "volume": 500.0,
+                "size_x": 600,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                "reagent": "sodium_carbonate",
                "physical_state": "solid"
            },
@@ -779,6 +821,11 @@
            },
            "config": {
                "volume": 500.0,
+                "size_x": 650,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                "reagent": "magnesium_chloride",
                "physical_state": "solid"
            },
--- a/test/experiments/dispensing_station_bioyond.json
+++ b/test/experiments/dispensing_station_bioyond.json
@@ -8,7 +8,7 @@
            ],
            "parent": null,
            "type": "device",
-            "class": "dispensing_station.bioyond",
+            "class": "bioyond_dispensing_station",
            "config": {
                "config": {
                    "api_key": "DE9BDDA0",
@@ -20,13 +20,6 @@
                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
                    }
                },
-                "station_config": {
-                    "station_type": "dispensing_station",
-                    "enable_dispensing_station": true,
-                    "enable_reaction_station": false,
-                    "station_name": "DispensingStation_001",
-                    "description": "Bioyond配液工作站"
-                },
                "protocol_type": []
            },
            "data": {}
@@ -57,4 +50,4 @@
            "data": {}
        }
    ]
-}
+}
--- a/test/experiments/reaction_station_bioyond.json
+++ b/test/experiments/reaction_station_bioyond.json
@@ -10,7 +10,7 @@
            "type": "device",
            "class": "reaction_station.bioyond",
            "config": {
-                "bioyond_config": {
+                "config": {
                    "api_key": "DE9BDDA0",
                    "api_host": "http://192.168.1.200:44402",
                    "workflow_mappings": {
@@ -19,14 +19,47 @@
                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
+                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                    },
                    "material_type_mappings": {
-                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                        "烧杯": [
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
+                        ],
+                        "试剂瓶": [
+                            "BIOYOND_PolymerStation_1BottleCarrier",
+                            ""
+                        ],
+                        "样品板": [
+                            "BIOYOND_PolymerStation_6StockCarrier",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "分装板": [
+                            "BIOYOND_PolymerStation_6VialCarrier",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "样品瓶": [
+                            "BIOYOND_PolymerStation_Solid_Stock",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ],
+                        "90%分装小瓶": [
+                            "BIOYOND_PolymerStation_Solid_Vial",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "10%分装小瓶": [
+                            "BIOYOND_PolymerStation_Liquid_Vial",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "枪头盒": [
+                            "BIOYOND_PolymerStation_TipBox",
+                            ""
+                        ],
+                        "反应器": [
+                            "BIOYOND_PolymerStation_Reactor",
+                            ""
+                        ]
                    }
                },
                "deck": {
@@ -42,9 +75,7 @@
        {
            "id": "Bioyond_Deck",
            "name": "Bioyond_Deck",
-            "sample_id": null,
-            "children": [
-            ],
+            "children": [],
            "parent": "reaction_station_bioyond",
            "type": "deck",
            "class": "BIOYOND_PolymerReactionStation_Deck",
@@ -66,4 +97,4 @@
            "data": {}
        }
    ]
-}
+}
--- a/test/registry/example_devices.py
+++ b/test/registry/example_devices.py
@@ -3,7 +3,8 @@
 """

 import asyncio
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, List
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode


 class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
    适用于实验室自动化系统中的液体处理任务。
    """

+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
        """
        初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
        self.calibration_factor = 1.0
        self.pump_mode = "continuous"  # continuous, volume, rate

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def connect_device(self, timeout: int = 10) -> bool:
        """
        连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
        pump_time = (volume / flow_rate) * 60  # 转换为秒

        self.current_flow_rate = flow_rate
-        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程

        self.total_volume_pumped += volume
        self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
    适用于需要精确温度控制的化学反应和材料处理过程。
    """

+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, controller_id: str = "temp_controller_01"):
        """
        初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
        self.pid_enabled = True
        self.temperature_history: List[Dict] = []

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
        """
        设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
                }
            )

-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)

            # 保持历史记录不超过100条
            if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
    常用于光谱分析、电化学测量等应用场景。
    """

+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
        """
        初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
        self.is_measuring = False
        self.sample_rate = 1000  # Hz

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
        """
        配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:

        # 模拟数据采集
        measurements = []
-        for second in range(duration):
+        for _ in range(duration):
            timestamp = asyncio.get_event_loop().time()
            frame_data = {}

@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:

            measurements.append({"timestamp": timestamp, "data": frame_data})

-            await asyncio.sleep(1.0)  # 每秒采集一次
+            await self._ros_node.sleep(1.0)  # 每秒采集一次

        self.is_measuring = False

@@ -465,6 +481,8 @@ class AutomatedDispenser:
    集成称重功能，确保分配精度和重现性。
    """

+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, dispenser_id: str = "dispenser_01"):
        """
        初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
        self.container_capacity = 1000.0  # mL
        self.precision_mode = True

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def move_to_position(self, x: float, y: float, z: float) -> bool:
        """
        移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
        if viscosity == "high":
            dispense_time *= 2  # 高粘度液体需要更长时间

-        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒

        self.dispensed_total += volume

--- a/test/resources/test_converter_bioyond.py
+++ b/test/resources/test_converter_bioyond.py
@@ -12,23 +12,13 @@ lab_registry.setup()


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


--- a/test/resources/test_itemized_carrier.py
+++ b/test/resources/test_itemized_carrier.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+"""
+测试修改后的 get_child_identifier 函数
+"""
+
+from unilabos.resources.itemized_carrier import ItemizedCarrier, Bottle
+from pylabrobot.resources.coordinate import Coordinate
+
+def test_get_child_identifier_with_indices():
+    """测试返回x,y,z索引的 get_child_identifier 函数"""
+    
+    # 创建一些测试瓶子
+    bottle1 = Bottle("bottle1", diameter=25.0, height=50.0, max_volume=15.0)
+    bottle1.location = Coordinate(10, 20, 5)
+    
+    bottle2 = Bottle("bottle2", diameter=25.0, height=50.0, max_volume=15.0) 
+    bottle2.location = Coordinate(50, 20, 5)
+    
+    bottle3 = Bottle("bottle3", diameter=25.0, height=50.0, max_volume=15.0) 
+    bottle3.location = Coordinate(90, 20, 5)
+    
+    # 创建载架，指定维度
+    sites = {
+        "A1": bottle1,
+        "A2": bottle2, 
+        "A3": bottle3,
+        "B1": None,  # 空位
+        "B2": None,
+        "B3": None
+    }
+    
+    carrier = ItemizedCarrier(
+        name="test_carrier",
+        size_x=150,
+        size_y=100,
+        size_z=30,
+        num_items_x=3,  # 3列
+        num_items_y=2,  # 2行  
+        num_items_z=1,  # 1层
+        sites=sites
+    )
+    
+    print("测试载架维度:")
+    print(f"num_items_x: {carrier.num_items_x}")
+    print(f"num_items_y: {carrier.num_items_y}")
+    print(f"num_items_z: {carrier.num_items_z}")
+    print()
+    
+    # 测试获取bottle1的标识符信息 (A1 = idx:0, x:0, y:0, z:0)
+    result1 = carrier.get_child_identifier(bottle1)
+    print("测试bottle1 (A1):")
+    print(f"  identifier: {result1['identifier']}")
+    print(f"  idx: {result1['idx']}")
+    print(f"  x index: {result1['x']}")
+    print(f"  y index: {result1['y']}")
+    print(f"  z index: {result1['z']}")
+    
+    # Assert 验证 bottle1 (A1) 的结果
+    assert result1['identifier'] == 'A1', f"Expected identifier 'A1', got '{result1['identifier']}'"
+    assert result1['idx'] == 0, f"Expected idx 0, got {result1['idx']}"
+    assert result1['x'] == 0, f"Expected x index 0, got {result1['x']}"
+    assert result1['y'] == 0, f"Expected y index 0, got {result1['y']}"
+    assert result1['z'] == 0, f"Expected z index 0, got {result1['z']}"
+    print("  ✓ bottle1 (A1) 测试通过")
+    print()
+    
+    # 测试获取bottle2的标识符信息 (A2 = idx:1, x:1, y:0, z:0)
+    result2 = carrier.get_child_identifier(bottle2)
+    print("测试bottle2 (A2):")
+    print(f"  identifier: {result2['identifier']}")
+    print(f"  idx: {result2['idx']}")
+    print(f"  x index: {result2['x']}")
+    print(f"  y index: {result2['y']}")
+    print(f"  z index: {result2['z']}")
+    
+    # Assert 验证 bottle2 (A2) 的结果
+    assert result2['identifier'] == 'A2', f"Expected identifier 'A2', got '{result2['identifier']}'"
+    assert result2['idx'] == 1, f"Expected idx 1, got {result2['idx']}"
+    assert result2['x'] == 1, f"Expected x index 1, got {result2['x']}"
+    assert result2['y'] == 0, f"Expected y index 0, got {result2['y']}"
+    assert result2['z'] == 0, f"Expected z index 0, got {result2['z']}"
+    print("  ✓ bottle2 (A2) 测试通过")
+    print()
+        
+    # 测试获取bottle3的标识符信息 (A3 = idx:2, x:2, y:0, z:0)
+    result3 = carrier.get_child_identifier(bottle3)
+    print("测试bottle3 (A3):")
+    print(f"  identifier: {result3['identifier']}")
+    print(f"  idx: {result3['idx']}")
+    print(f"  x index: {result3['x']}")
+    print(f"  y index: {result3['y']}")
+    print(f"  z index: {result3['z']}")
+    
+    # Assert 验证 bottle3 (A3) 的结果
+    assert result3['identifier'] == 'A3', f"Expected identifier 'A3', got '{result3['identifier']}'"
+    assert result3['idx'] == 2, f"Expected idx 2, got {result3['idx']}"
+    assert result3['x'] == 2, f"Expected x index 2, got {result3['x']}"
+    assert result3['y'] == 0, f"Expected y index 0, got {result3['y']}"
+    assert result3['z'] == 0, f"Expected z index 0, got {result3['z']}"
+    print("  ✓ bottle3 (A3) 测试通过")
+    print()
+    
+    # 测试错误情况：查找不存在的资源
+    bottle_not_exists = Bottle("bottle_not_exists", diameter=25.0, height=50.0, max_volume=15.0)
+    try:
+        carrier.get_child_identifier(bottle_not_exists)
+        assert False, "应该抛出 ValueError 异常"
+    except ValueError as e:
+        print("✓ 正确抛出了 ValueError 异常：", str(e))
+        assert "is not assigned to this carrier" in str(e), "异常消息应该包含预期的文本"
+    
+    print("\n🎉 所有测试都通过了！")
+
+if __name__ == "__main__":
+    test_get_child_identifier_with_indices()
--- a/test/resources/test_resourcetreeset.py
+++ b/test/resources/test_resourcetreeset.py
@@ -0,0 +1,68 @@
+import pytest
+import json
+import os
+
+from pylabrobot.resources import Resource as ResourcePLR
+from unilabos.resources.graphio import resource_bioyond_to_plr
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.registry.registry import lab_registry
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+lab_registry.setup()
+
+
+type_mapping = {
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+}
+
+
+@pytest.fixture
+def bioyond_materials_reaction() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_1() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_2() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.mark.parametrize("materials_fixture", [
+    "bioyond_materials_reaction",
+    "bioyond_materials_liquidhandling_1",
+])
+def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
+    materials = request.getfixturevalue(materials_fixture)
+    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
+    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
+    print(deck.summary())
+
+    r = ResourceTreeSet.from_plr_resources([deck])
+    print(r.dump())
+    # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
--- a/test/workflow/example_bio.json
+++ b/test/workflow/example_bio.json
@@ -0,0 +1,186 @@
+{
+  "workflow": [
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_1",
+        "targets": "Liquid_2",
+        "asp_vol": 66.0,
+        "dis_vol": 66.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_2",
+        "targets": "Liquid_3",
+        "asp_vol": 58.0,
+        "dis_vol": 96.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_4",
+        "targets": "Liquid_2",
+        "asp_vol": 85.0,
+        "dis_vol": 170.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_4",
+        "targets": "Liquid_2",
+        "asp_vol": 63.333333333333336,
+        "dis_vol": 170.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_2",
+        "targets": "Liquid_3",
+        "asp_vol": 72.0,
+        "dis_vol": 150.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_4",
+        "targets": "Liquid_2",
+        "asp_vol": 85.0,
+        "dis_vol": 170.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_4",
+        "targets": "Liquid_2",
+        "asp_vol": 63.333333333333336,
+        "dis_vol": 170.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_2",
+        "targets": "Liquid_3",
+        "asp_vol": 72.0,
+        "dis_vol": 150.0,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 94.0
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_2",
+        "targets": "Liquid_3",
+        "asp_vol": 20.0,
+        "dis_vol": 20.0,
+        "asp_flow_rate": 7.6,
+        "dis_flow_rate": 7.6
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_5",
+        "targets": "Liquid_2",
+        "asp_vol": 6.0,
+        "dis_vol": 12.0,
+        "asp_flow_rate": 7.6,
+        "dis_flow_rate": 7.6
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_5",
+        "targets": "Liquid_2",
+        "asp_vol": 10.666666666666666,
+        "dis_vol": 12.0,
+        "asp_flow_rate": 7.599999999999999,
+        "dis_flow_rate": 7.6
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "Liquid_2",
+        "targets": "Liquid_6",
+        "asp_vol": 12.0,
+        "dis_vol": 10.0,
+        "asp_flow_rate": 7.6,
+        "dis_flow_rate": 7.6
+      }
+    }
+  ],
+  "reagent": {
+    "Liquid_6": {
+      "slot": 1,
+      "well": [
+        "A2"
+      ],
+      "labware": "elution plate"
+    },
+    "Liquid_1": {
+      "slot": 2,
+      "well": [
+        "A1",
+        "A2",
+        "A4"
+      ],
+      "labware": "reagent reservoir"
+    },
+    "Liquid_4": {
+      "slot": 2,
+      "well": [
+        "A1",
+        "A2",
+        "A4"
+      ],
+      "labware": "reagent reservoir"
+    },
+    "Liquid_5": {
+      "slot": 2,
+      "well": [
+        "A1",
+        "A2",
+        "A4"
+      ],
+      "labware": "reagent reservoir"
+    },
+    "Liquid_2": {
+      "slot": 4,
+      "well": [
+        "A2"
+      ],
+      "labware": "TAG1 plate on Magnetic Module GEN2"
+    },
+    "Liquid_3": {
+      "slot": 12,
+      "well": [
+        "A1"
+      ],
+      "labware": "Opentrons Fixed Trash"
+    }
+  }
+}
--- a/test/workflow/example_bio_graph.png
+++ b/test/workflow/example_bio_graph.png
--- a/test/workflow/example_prcxi.json
+++ b/test/workflow/example_prcxi.json
@@ -0,0 +1,63 @@
+{
+    "steps_info": [
+        {
+            "step_number": 1,
+            "action": "transfer_liquid",
+            "parameters": {
+                "source": "sample supernatant",
+                "target": "antibody-coated well",
+                "volume": 100
+            }
+        },
+        {
+            "step_number": 2,
+            "action": "transfer_liquid",
+            "parameters": {
+                "source": "washing buffer",
+                "target": "antibody-coated well",
+                "volume": 200
+            }
+        },
+        {
+            "step_number": 3,
+            "action": "transfer_liquid",
+            "parameters": {
+                "source": "washing buffer",
+                "target": "antibody-coated well",
+                "volume": 200
+            }
+        },
+        {
+            "step_number": 4,
+            "action": "transfer_liquid",
+            "parameters": {
+                "source": "washing buffer",
+                "target": "antibody-coated well",
+                "volume": 200
+            }
+        },
+        {
+            "step_number": 5,
+            "action": "transfer_liquid",
+            "parameters": {
+                "source": "TMB substrate",
+                "target": "antibody-coated well",
+                "volume": 100
+            }
+        }
+    ],
+    "labware_info": [
+        {"reagent_name": "sample supernatant", "material_name": "96深孔板", "positions": 1},
+        {"reagent_name": "washing buffer", "material_name": "储液槽", "positions": 2},
+        {"reagent_name": "TMB substrate", "material_name": "储液槽", "positions": 3},
+        {"reagent_name": "antibody-coated well", "material_name": "96 细胞培养皿", "positions": 4},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 5},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 6},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 7},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 8},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 9},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 10},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 11},
+        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 13}
+    ]
+}
--- a/test/workflow/example_prcxi_graph.png
+++ b/test/workflow/example_prcxi_graph.png
--- a/test/workflow/example_prcxi_graph_20251022_1359.png
+++ b/test/workflow/example_prcxi_graph_20251022_1359.png
--- a/test/workflow/merge_workflow.py
+++ b/test/workflow/merge_workflow.py
@@ -0,0 +1,94 @@
+import json
+import sys
+from datetime import datetime
+from pathlib import Path
+
+ROOT_DIR = Path(__file__).resolve().parents[2]
+if str(ROOT_DIR) not in sys.path:
+    sys.path.insert(0, str(ROOT_DIR))
+
+import pytest
+
+from scripts.workflow import build_protocol_graph, draw_protocol_graph, draw_protocol_graph_with_ports
+
+
+ROOT_DIR = Path(__file__).resolve().parents[2]
+if str(ROOT_DIR) not in sys.path:
+    sys.path.insert(0, str(ROOT_DIR))
+
+
+def _normalize_steps(data):
+    normalized = []
+    for step in data:
+        action = step.get("action") or step.get("operation")
+        if not action:
+            continue
+        raw_params = step.get("parameters") or step.get("action_args") or {}
+        params = dict(raw_params)
+
+        if "source" in raw_params and "sources" not in raw_params:
+            params["sources"] = raw_params["source"]
+        if "target" in raw_params and "targets" not in raw_params:
+            params["targets"] = raw_params["target"]
+
+        description = step.get("description") or step.get("purpose")
+        step_dict = {"action": action, "parameters": params}
+        if description:
+            step_dict["description"] = description
+        normalized.append(step_dict)
+    return normalized
+
+
+def _normalize_labware(data):
+    labware = {}
+    for item in data:
+        reagent_name = item.get("reagent_name")
+        key = reagent_name or item.get("material_name") or item.get("name")
+        if not key:
+            continue
+        key = str(key)
+        idx = 1
+        original_key = key
+        while key in labware:
+            idx += 1
+            key = f"{original_key}_{idx}"
+
+        labware[key] = {
+            "slot": item.get("positions") or item.get("slot"),
+            "labware": item.get("material_name") or item.get("labware"),
+            "well": item.get("well", []),
+            "type": item.get("type", "reagent"),
+            "role": item.get("role", ""),
+            "name": key,
+        }
+    return labware
+
+
+@pytest.mark.parametrize("protocol_name", [
+    "example_bio",
+    # "bioyond_materials_liquidhandling_1",
+    "example_prcxi",
+])
+def test_build_protocol_graph(protocol_name):
+    data_path = Path(__file__).with_name(f"{protocol_name}.json")
+    with data_path.open("r", encoding="utf-8") as fp:
+        d = json.load(fp)
+
+    if "workflow" in d and "reagent" in d:
+        protocol_steps = d["workflow"]
+        labware_info = d["reagent"]
+    elif "steps_info" in d and "labware_info" in d:
+        protocol_steps = _normalize_steps(d["steps_info"])
+        labware_info = _normalize_labware(d["labware_info"])
+    else:
+        raise ValueError("Unsupported protocol format")
+
+    graph = build_protocol_graph(
+        labware_info=labware_info,
+        protocol_steps=protocol_steps,
+        workstation_name="PRCXi",
+    )
+    timestamp = datetime.now().strftime("%Y%m%d_%H%M")
+    output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png")
+    draw_protocol_graph_with_ports(graph, str(output_path))
+    print(graph)
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -11,18 +11,14 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml

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

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

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

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

    if BasicConfig.upload_registry:
        # 设备注册到服务端 - 需要 ak 和 sk
-        if args_dict.get("ak") and args_dict.get("sk"):
+        if BasicConfig.ak and BasicConfig.sk:
            print_status("开始注册设备到服务端...", "info")
            try:
                register_devices_and_resources(lab_registry)
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -6,6 +6,8 @@ HTTP客户端模块

 import json
 import os
+import time
+from threading import Thread
 from typing import List, Dict, Any, Optional

 import requests
@@ -73,6 +75,8 @@ class HTTPClient:
        Returns:
            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
        """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
        if not self.initialized or first_add:
@@ -82,16 +86,18 @@ class HTTPClient:
                f"{self.remote_addr}/edge/material",
                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
+                timeout=60,
            )
        else:
            response = requests.put(
                f"{self.remote_addr}/edge/material",
                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
+                timeout=10,
            )

+        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
        # 处理响应，构建UUID映射
        uuid_mapping = {}
        if response.status_code == 200:
@@ -122,12 +128,16 @@ class HTTPClient:
        Returns:
            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
        """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
        response = requests.post(
            f"{self.remote_addr}/edge/material/query",
            json={"uuids": uuid_list, "with_children": with_children},
            headers={"Authorization": f"Lab {self.auth}"},
            timeout=100,
        )
+        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_get.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
        if response.status_code == 200:
            res = response.json()
            if "code" in res and res["code"] != 0:
@@ -183,12 +193,16 @@ class HTTPClient:
        Returns:
            Dict: 返回的资源数据
        """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
        response = requests.get(
            f"{self.remote_addr}/lab/material",
            params={"id": id, "with_children": with_children},
            headers={"Authorization": f"Lab {self.auth}"},
            timeout=20,
        )
+        with open(os.path.join(BasicConfig.working_dir, "res_resource_get.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
        return response.json()

    def resource_del(self, id: str) -> requests.Response:
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -2,7 +2,7 @@ import base64
 import traceback
 import os
 import importlib.util
-from typing import Optional
+from typing import Optional, Literal
 from unilabos.utils import logger


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

    @classmethod
    def auth_secret(cls):
--- a/unilabos/devices/cnc/grbl_async.py
+++ b/unilabos/devices/cnc/grbl_async.py
@@ -12,6 +12,7 @@ from serial import Serial
 from serial.serialutil import SerialException

 from unilabos.messages import Point3D
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode


 class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
 class GrblCNCAsync:
    _status: str = "Offline"
    _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
+    _ros_node: BaseROS2DeviceNode
    
    def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
        self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
        self._run_future: Optional[Future[Any]] = None
        self._run_lock = Lock()
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    def _read_all(self):
        data = self._serial.read_until(b"\n")
        data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
            try:
                await self._query(command)
                while True:
-                    await asyncio.sleep(0.2)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.2)  # Wait for 0.5 seconds before polling again
                    
                    status = await self.get_status()
                    if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
            self._pose_number = i
            self.pose_number_remaining = len(points) - i
            await self.set_position(point)
-            await asyncio.sleep(0.5)
+            await self._ros_node.sleep(0.5)
        self._step_number = -1

    async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
    async def open(self):
        if self._read_task:
            raise GrblCNCConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())

        try:
            await self.get_status()
--- a/unilabos/devices/cnc/mock.py
+++ b/unilabos/devices/cnc/mock.py
@@ -2,6 +2,8 @@ import time
 import asyncio
 from pydantic import BaseModel

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class Point3D(BaseModel):
    x: float
@@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float:


 class MockCNCAsync:
+    _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
+
    def __init__(self):
        self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
        self._status = "Idle"
+
+    def post_create(self, ros_node):
+        self._ros_node = ros_node
    
    @property
    def position(self) -> Point3D:
@@ -38,5 +45,5 @@ class MockCNCAsync:
            self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
            self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
            self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
-            await asyncio.sleep(move_time / 20)
+            await self._ros_node.sleep(move_time / 20)
        self._status = "Idle"
--- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
+++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -25,6 +25,8 @@ from pylabrobot.resources import (
    Tip,
 )

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class LiquidHandlerMiddleware(LiquidHandler):
    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 class LiquidHandlerAbstract(LiquidHandlerMiddleware):
    """Extended LiquidHandler with additional operations."""
    support_touch_tip = True
+    _ros_node: BaseROS2DeviceNode

    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
        """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
        self.group_info = dict()
        super().__init__(backend, deck, simulator, channel_num)

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    @classmethod
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        """Set the liquid in a well."""
        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
            well.set_liquids([(liquid_name, volume)])  # type: ignore
@@ -1081,7 +1087,7 @@ 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))}")
-            await asyncio.sleep(seconds)
+            await self._ros_node.sleep(seconds)
            if msg:
                print(f"Done: {msg}")
                print(f"Current time: {time.strftime('%H:%M:%S')}")
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash

 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode


 class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
        )
        super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        super().post_init(ros_node)
+        self._unilabos_backend.post_init(ros_node)
+
    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        return super().set_liquid(wells, liquid_names, volumes)

@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):

    _num_channels = 8  # 默认通道数为 8
    _is_reset_ok = False
+    _ros_node: BaseROS2DeviceNode

    @property
    def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
        self._execute_setup = setup
        self.debug = debug

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    def create_protocol(self, protocol_name):
        self.protocol_name = protocol_name
        self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                self.api_client.call("IAutomation", "Reset")
                while not self.is_reset_ok:
                    print("Waiting for PRCXI9300 to reset...")
-                    await asyncio.sleep(1)
+                    await self._ros_node.sleep(1)
                print("PRCXI9300 reset successfully.")
        except ConnectionRefusedError as e:
            raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
            tipspot_index = tipspot.parent.children.index(tipspot)
            tip_columns.append(tipspot_index // 8)
        if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
        PlateNo = plate_indexes[0] + 1
        hole_col = tip_columns[0] + 1
        hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
            "LiquidDispensingMethod": liquid_method,
        }

+
 class DefaultLayout:

    def __init__(self, product_name: str = "PRCXI9300"):
        self.labresource = {}
        if product_name not in ["PRCXI9300", "PRCXI9320"]:
-            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+            raise ValueError(
+                f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
+            )

        if product_name == "PRCXI9300":
            self.rows = 2
@@ -1129,25 +1143,93 @@ class DefaultLayout:
            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
            self.trash_slot = 16
            self.waste_liquid_slot = 12
-            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
-            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 12, "Code": "T12", "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", "materialEnum": 0}},
-  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
-]
-}
+            self.default_layout = {
+                "MatrixId": f"{time.time()}",
+                "MatrixName": f"{time.time()}",
+                "MatrixCount": 16,
+                "WorkTablets": [
+                    {
+                        "Number": 1,
+                        "Code": "T1",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 2,
+                        "Code": "T2",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 3,
+                        "Code": "T3",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 4,
+                        "Code": "T4",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 5,
+                        "Code": "T5",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 6,
+                        "Code": "T6",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 7,
+                        "Code": "T7",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 8,
+                        "Code": "T8",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 9,
+                        "Code": "T9",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 10,
+                        "Code": "T10",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 11,
+                        "Code": "T11",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 12,
+                        "Code": "T12",
+                        "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", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 14,
+                        "Code": "T14",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 15,
+                        "Code": "T15",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 16,
+                        "Code": "T16",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成垃圾桶，用储液槽表示
+                ],
+            }

    def get_layout(self) -> Dict[str, Any]:
        return {
@@ -1155,7 +1237,7 @@ class DefaultLayout:
            "columns": self.columns,
            "layout": self.layout,
            "trash_slot": self.trash_slot,
-            "waste_liquid_slot": self.waste_liquid_slot
+            "waste_liquid_slot": self.waste_liquid_slot,
        }

    def get_trash_slot(self) -> int:
@@ -1178,17 +1260,19 @@ class DefaultLayout:
        reserved_positions = {12, 16}
        available_positions = [i for i in range(1, 17) if i not in reserved_positions]

-            # 计算总需求
+        # 计算总需求
        total_needed = sum(count for _, _, count in needs)
        if total_needed > len(available_positions):
-            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+            raise ValueError(
+                f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
+            )

            # 依次分配位置
        current_pos = 0
        for reagent_name, material_name, count in needs:

-            material_uuid = self.labresource[material_name]['uuid']
-            material_enum = self.labresource[material_name]['materialEnum']
+            material_uuid = self.labresource[material_name]["uuid"]
+            material_enum = self.labresource[material_name]["materialEnum"]

            for _ in range(count):
                if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:

                position = available_positions[current_pos]
                # 找到对应的tablet并更新
-                for tablet in self.default_layout['WorkTablets']:
-                    if tablet['Number'] == position:
-                        tablet['Material']['uuid'] = material_uuid
-                        tablet['Material']['materialEnum'] = material_enum
-                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                for tablet in self.default_layout["WorkTablets"]:
+                    if tablet["Number"] == position:
+                        tablet["Material"]["uuid"] = material_uuid
+                        tablet["Material"]["materialEnum"] = material_enum
+                        layout_list.append(
+                            dict(reagent_name=reagent_name, material_name=material_name, positions=position)
+                        )
                        break
                current_pos += 1
        return self.default_layout, layout_list


-
 if __name__ == "__main__":
    # Example usage
    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,10 +1387,7 @@ if __name__ == "__main__":

    # # # plate2.set_well_liquids(plate_2_liquids)

-
-
-
-    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
+    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
    #                            timeout=10.0, setup=False, debug=False,
    #                            simulator=True,
    #                            matrix_id="71593",
@@ -1391,10 +1473,7 @@ if __name__ == "__main__":
    # # input("Press Enter to continue...")  # Wait for user input before proceeding
    # # print("PRCXI9300Handler initialized with deck and host settings.")

-
-
-### 9320 ###
-
+    ### 9320 ###

    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)

@@ -1412,12 +1491,15 @@ if __name__ == "__main__":
        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
        return new_plate

-    def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
+    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
        tip_racks = opentrons_96_tiprack_10ul(name).serialize()
        tip_rack = PRCXI9300Container(
-            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
-                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
-            })
+            name=name,
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
        )
        tip_rack_serialized = tip_rack.serialize()
        tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
    )
    backend: PRCXI9300Backend = handler.backend
    from pylabrobot.resources import set_volume_tracking
+
    set_volume_tracking(enabled=True)
    # res = backend.api_client.get_all_materials()
    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1640,10 +1723,10 @@ if __name__ == "__main__":

    for well in plate13.get_all_items():
        # well_pos = well.name.split("_")[1]       # 走一行
-        # if well_pos.startswith("A"):             
-        if well.name.startswith("PlateT13"):       # 走整个Plate
+        # if well_pos.startswith("A"):
+        if well.name.startswith("PlateT13"):  # 走整个Plate
            asyncio.run(handler.dispense([well], [0.01], [0]))
-        
+
    # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
    # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
    # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
@@ -1652,26 +1735,25 @@ if __name__ == "__main__":
    asyncio.run(handler.run_protocol())
    time.sleep(5)
    os._exit(0)
-# 第一种情景：一个孔往多个孔加液
+    # 第一种情景：一个孔往多个孔加液
    # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
    # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
-# 第二个情景：多个孔往多个孔加液(但是个数得对应)
-    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
-    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+    # 第二个情景：多个孔往多个孔加液(但是个数得对应)
+    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)

    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8

    # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8

-#     A = tree_to_list([resource_plr_to_ulab(deck)])
-#     # with open("deck.json", "w", encoding="utf-8") as f:
-#     #     json.dump(A, f, indent=4, ensure_ascii=False)
+    #     A = tree_to_list([resource_plr_to_ulab(deck)])
+    #     # with open("deck.json", "w", encoding="utf-8") as f:
+    #     #     json.dump(A, f, indent=4, ensure_ascii=False)

-#     print(plate11.get_well(0).tracker.get_used_volume())
-     # Initialize the backend and setup the connection
+    #     print(plate11.get_well(0).tracker.get_used_volume())
+    # Initialize the backend and setup the connection
    asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking

-
    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
    # print(plate8.children[8])
    # asyncio.run(handler.run_protocol())
@@ -1685,121 +1767,118 @@ if __name__ == "__main__":
    # print(plate1.children[0])
    # asyncio.run(handler.discard_tips([0]))

-#     asyncio.run(handler.add_liquid(
-#     asp_vols=[10]*7,
-#     dis_vols=[10]*7,
-#     reagent_sources=plate11.children[:7],
-#     targets=plate1.children[2:9],
-#     use_channels=[0],
-#     flow_rates=[None] * 7,
-#     offsets=[Coordinate(0, 0, 0)] * 7,
-#     liquid_height=[None] * 7,
-#     blow_out_air_volume=[None] * 2,
-#     delays=None,
-#     mix_time=3,
-#     mix_vol=5,
-#     spread="custom",
-# ))
+    #     asyncio.run(handler.add_liquid(
+    #     asp_vols=[10]*7,
+    #     dis_vols=[10]*7,
+    #     reagent_sources=plate11.children[:7],
+    #     targets=plate1.children[2:9],
+    #     use_channels=[0],
+    #     flow_rates=[None] * 7,
+    #     offsets=[Coordinate(0, 0, 0)] * 7,
+    #     liquid_height=[None] * 7,
+    #     blow_out_air_volume=[None] * 2,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=5,
+    #     spread="custom",
+    # ))

    # asyncio.run(handler.run_protocol())  # Run the protocol

+    # # #     asyncio.run(handler.transfer_liquid(
+    # # #     asp_vols=[10]*2,
+    # # #     dis_vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     targets=plate11.children[-2:],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     mix_times=3,
+    # # #     mix_vol=5,
+    # # #     spread="wide",
+    # # #     tip_racks=[plate8]
+    # # # ))

+    # # #     asyncio.run(handler.remove_liquid(
+    # # #     vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     waste_liquid=plate11.children[43],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     spread="wide"
+    # # # ))
+    # #     asyncio.run(handler.run_protocol())

+    # #     # asyncio.run(handler.discard_tips())
+    # #     # asyncio.run(handler.mix(well_containers.children[:8
+    # #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info

-# # #     asyncio.run(handler.transfer_liquid(
-# # #     asp_vols=[10]*2,
-# # #     dis_vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     targets=plate11.children[-2:],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     mix_times=3,
-# # #     mix_vol=5,
-# # #     spread="wide",
-# # #     tip_racks=[plate8]
-# # # ))
-
-# # #     asyncio.run(handler.remove_liquid(
-# # #     vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     waste_liquid=plate11.children[43],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     spread="wide"
-# # # ))
-# #     asyncio.run(handler.run_protocol())
-
-# #     # asyncio.run(handler.discard_tips())
-# #     # asyncio.run(handler.mix(well_containers.children[:8
-# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-
-
-# #     # asyncio.run(handler.remove_liquid(
-# #     #     vols=[100]*16,
-# #     #     sources=well_containers.children[-16:],
-# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     flow_rates=[None] * 32,
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     spread="wide",
-# #     # ))
-# #     # asyncio.run(handler.transfer_liquid(
-# #     #     asp_vols=[100]*16,
-# #     #     dis_vols=[100]*16,
-# #     #     tip_racks=[tip_rack],
-# #     #     sources=well_containers.children[-16:],
-# #     #     targets=well_containers.children[:16],
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     asp_flow_rates=[None] * 16,
-# #     #     dis_flow_rates=[None] * 16,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     mix_times=3,
-# #     #     mix_vol=50,
-# #     #     spread="wide",
-# #     # ))
-#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-# #     # input("pick_up_tips add step")
-     #asyncio.run(handler.run_protocol())  # Run the protocol
-# #     # input("Running protocol...")
-# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
-# #     # print("PRCXI9300Handler initialized with deck and host settings.")
-
-
-# 一些推荐版位组合的测试样例：
-
-# 一些推荐版位组合的测试样例：
+    # #     # asyncio.run(handler.remove_liquid(
+    # #     #     vols=[100]*16,
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     flow_rates=[None] * 32,
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     spread="wide",
+    # #     # ))
+    # #     # asyncio.run(handler.transfer_liquid(
+    # #     #     asp_vols=[100]*16,
+    # #     #     dis_vols=[100]*16,
+    # #     #     tip_racks=[tip_rack],
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     targets=well_containers.children[:16],
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     asp_flow_rates=[None] * 16,
+    # #     #     dis_flow_rates=[None] * 16,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     mix_times=3,
+    # #     #     mix_vol=50,
+    # #     #     spread="wide",
+    # #     # ))
+    #       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # #     # input("pick_up_tips add step")
+    # asyncio.run(handler.run_protocol())  # Run the protocol
+    # #     # input("Running protocol...")
+    # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # #     # print("PRCXI9300Handler initialized with deck and host settings.")

+    # 一些推荐版位组合的测试样例：

+    # 一些推荐版位组合的测试样例：

    with open("prcxi_material.json", "r") as f:
        material_info = json.load(f)

    layout = DefaultLayout("PRCXI9320")
    layout.add_lab_resource(material_info)
-    MatrixLayout_1, dict_1 = layout.recommend_layout([
-        ("reagent_1", "96 细胞培养皿", 3),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 7),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_1, dict_1 = layout.recommend_layout(
+        [
+            ("reagent_1", "96 细胞培养皿", 3),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 7),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )
    print(dict_1)
-    MatrixLayout_2, dict_2 = layout.recommend_layout([
-        ("reagent_1", "96深孔板", 4),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 1),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_2, dict_2 = layout.recommend_layout(
+        [
+            ("reagent_1", "96深孔板", 4),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 1),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )

 # with open("prcxi_material.json", "r") as f:
 #     material_info = json.load(f)
--- a/unilabos/devices/pump_and_valve/runze_async.py
+++ b/unilabos/devices/pump_and_valve/runze_async.py
@@ -8,6 +8,8 @@ import serial.tools.list_ports
 from serial import Serial
 from serial.serialutil import SerialException

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class RunzeSyringePumpMode(Enum):
    Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:


 class RunzeSyringePumpAsync:
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
        self.port = port
        self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
        self._run_future: Optional[Future[Any]] = None
        self._run_lock = Lock()
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    def _adjust_total_steps(self):
        self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
        self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
            try:
                await self._query(command)
                while True:
-                    await asyncio.sleep(0.5)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.5)  # Wait for 0.5 seconds before polling again
                    
                    status = await self.query_device_status()
                    if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
        if self._read_task:
            raise RunzeSyringePumpConnectionError

-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())

        try:
            await self.query_device_status()
--- a/unilabos/devices/virtual/virtual_centrifuge.py
+++ b/unilabos/devices/virtual/virtual_centrifuge.py
@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class VirtualCentrifuge:
    """Virtual centrifuge device - 简化版，只保留核心功能"""
+    
+    _ros_node: BaseROS2DeviceNode

    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
@@ -32,6 +36,9 @@ class VirtualCentrifuge:
        for key, value in kwargs.items():
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node

    async def initialize(self) -> bool:
        """Initialize virtual centrifuge"""
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
                    break
                
                # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            
            # 离心完成
            self.data.update({
--- a/unilabos/devices/virtual/virtual_column.py
+++ b/unilabos/devices/virtual/virtual_column.py
@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualColumn:
    """Virtual column device for RunColumn protocol 🏛️"""
    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
        print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
        print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    async def initialize(self) -> bool:
        """Initialize virtual column 🚀"""
        self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
        step_time = separation_time / steps
        
        for i in range(steps):
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
            
            progress = (i + 1) / steps * 100
            volume_processed = (i + 1) * 5.0  # 假设每步处理5mL
--- a/unilabos/devices/virtual/virtual_filter.py
+++ b/unilabos/devices/virtual/virtual_filter.py
@@ -4,70 +4,76 @@ import time as time_module
 from typing import Dict, Any, Optional

 from unilabos.compile.utils.vessel_parser import get_vessel
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode


 class VirtualFilter:
    """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
-    
+
+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and 'id' in kwargs:
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
-        
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
+
        self.device_id = device_id or "unknown_filter"
        self.config = config or {}
        self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
        self.data = {}
-        
+
        # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
-        self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
-        
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
+        self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
+        self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
+
        # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
+        skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
        for key, value in kwargs.items():
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
-    
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    async def initialize(self) -> bool:
        """Initialize virtual filter 🚀"""
        self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
-        
+
        # 按照 Filter.action 的 feedback 字段初始化
-        self.data.update({
-            "status": "Idle",
-            "progress": 0.0,           # Filter.action feedback
-            "current_temp": 25.0,      # Filter.action feedback
-            "filtered_volume": 0.0,    # Filter.action feedback
-            "message": "Ready for filtration"
-        })
-        
+        self.data.update(
+            {
+                "status": "Idle",
+                "progress": 0.0,  # Filter.action feedback
+                "current_temp": 25.0,  # Filter.action feedback
+                "filtered_volume": 0.0,  # Filter.action feedback
+                "message": "Ready for filtration",
+            }
+        )
+
        self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
        return True
-    
+
    async def cleanup(self) -> bool:
        """Cleanup virtual filter 🧹"""
        self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
-        
-        self.data.update({
-            "status": "Offline"
-        })
-        
+
+        self.data.update({"status": "Offline"})
+
        self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
        return True
-    
+
    async def filter(
-        self, 
+        self,
        vessel: dict,
        filtrate_vessel: dict = {},
-        stir: bool = False, 
-        stir_speed: float = 300.0, 
-        temp: float = 25.0, 
-        continue_heatchill: bool = False, 
-        volume: float = 0.0
+        stir: bool = False,
+        stir_speed: float = 300.0,
+        temp: float = 25.0,
+        continue_heatchill: bool = False,
+        volume: float = 0.0,
    ) -> bool:
        """Execute filter action - 完全按照 Filter.action 参数 🌊"""
        vessel_id, _ = get_vessel(vessel)
@@ -79,59 +85,52 @@ class VirtualFilter:
            temp = 25.0  # 0度自动设置为室温
            self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
        elif temp < 4.0:
-            temp = 4.0   # 小于4度自动设置为4度
+            temp = 4.0  # 小于4度自动设置为4度
            self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
-        
+
        self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
        self.logger.info(f"  🌪️ 搅拌: {stir} ({stir_speed} RPM)")
        self.logger.info(f"  🌡️ 温度: {temp}°C")
        self.logger.info(f"  💧 体积: {volume}mL")
        self.logger.info(f"  🔥 保持加热: {continue_heatchill}")
-        
+
        # 验证参数
        if temp > self._max_temp or temp < 4.0:
            error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 温度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
            return False
-        
+
        if stir and stir_speed > self._max_stir_speed:
            error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 搅拌速度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
            return False
-        
+
        if volume > self._max_volume:
            error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error", "message": error_msg})
            return False
-        
+
        # 开始过滤
        filter_volume = volume if volume > 0 else 50.0
        self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
-        
-        self.data.update({
-            "status": f"Running",
-            "current_temp": temp,
-            "filtered_volume": 0.0,
-            "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
-        })
-        
+
+        self.data.update(
+            {
+                "status": f"Running",
+                "current_temp": temp,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
+            }
+        )
+
        try:
            # 过滤过程 - 实时更新进度
            start_time = time_module.time()
-            
+
            # 根据体积和搅拌估算过滤时间
            base_time = filter_volume / 5.0  # 5mL/s 基础速度
            if stir:
@@ -140,78 +139,79 @@ class VirtualFilter:
            if temp > 50.0:
                base_time *= 0.7  # 高温加速过滤
                self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
-            
+
            filter_time = max(base_time, 10.0)  # 最少10秒
            self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
-            
+
            while True:
                current_time = time_module.time()
                elapsed = current_time - start_time
                remaining = max(0, filter_time - elapsed)
                progress = min(100.0, (elapsed / filter_time) * 100)
                current_filtered = (progress / 100.0) * filter_volume
-                
+
                # 更新状态 - 按照 Filter.action feedback 字段
                status_msg = f"🌊 过滤中: {vessel}"
                if stir:
                    status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
                status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
-                
-                self.data.update({
-                    "progress": progress,               # Filter.action feedback
-                    "current_temp": temp,              # Filter.action feedback
-                    "filtered_volume": current_filtered, # Filter.action feedback
-                    "status": "Running",
-                    "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
-                })
-                
+
+                self.data.update(
+                    {
+                        "progress": progress,  # Filter.action feedback
+                        "current_temp": temp,  # Filter.action feedback
+                        "filtered_volume": current_filtered,  # Filter.action feedback
+                        "status": "Running",
+                        "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
+                    }
+                )
+
                # 进度日志（每25%打印一次）
                if progress >= 25 and progress % 25 < 1:
                    self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
-                
+
                if remaining <= 0:
                    break
-                
-                await asyncio.sleep(1.0)
-            
+
+                await self._ros_node.sleep(1.0)
+
            # 过滤完成
            final_temp = temp if continue_heatchill else 25.0
            final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
            if continue_heatchill:
                final_status += " | 🔥 继续加热搅拌"
                self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
-            
-            self.data.update({
-                "status": final_status,
-                "progress": 100.0,                    # Filter.action feedback
-                "current_temp": final_temp,           # Filter.action feedback
-                "filtered_volume": filter_volume,     # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
-            })
-            
+
+            self.data.update(
+                {
+                    "status": final_status,
+                    "progress": 100.0,  # Filter.action feedback
+                    "current_temp": final_temp,  # Filter.action feedback
+                    "filtered_volume": filter_volume,  # Filter.action feedback
+                    "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
+                }
+            )
+
            self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
            self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
            return True
-            
+
        except Exception as e:
            error_msg = f"过滤过程中发生错误: {str(e)} 💥"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": f"❌ Filtration failed: {str(e)}"
-            })
+            self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
            return False
-    
+
    # === 核心状态属性 - 按照 Filter.action feedback 字段 ===
    @property
    def status(self) -> str:
        return self.data.get("status", "❓ Unknown")
-    
+
    @property
    def progress(self) -> float:
        """Filter.action feedback 字段 📊"""
        return self.data.get("progress", 0.0)
-    
+
    @property
    def current_temp(self) -> float:
        """Filter.action feedback 字段 🌡️"""
@@ -230,15 +230,15 @@ class VirtualFilter:
    @property
    def message(self) -> str:
        return self.data.get("message", "")
-    
+
    @property
    def max_temp(self) -> float:
        return self._max_temp
-    
+
    @property
    def max_stir_speed(self) -> float:
        return self._max_stir_speed
-    
+
    @property
    def max_volume(self) -> float:
-        return self._max_volume
+        return self._max_volume
--- a/unilabos/devices/virtual/virtual_heatchill.py
+++ b/unilabos/devices/virtual/virtual_heatchill.py
@@ -3,9 +3,13 @@ import logging
 import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualHeatChill:
    """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
        print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
        print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    async def initialize(self) -> bool:
        """Initialize virtual heat chill 🚀"""
        self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
                break
            
            # 等待1秒后再次检查
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
        
        # 操作完成
        final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
--- a/unilabos/devices/virtual/virtual_rotavap.py
+++ b/unilabos/devices/virtual/virtual_rotavap.py
@@ -3,13 +3,19 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
 def debug_print(message):
    """调试输出 🔍"""
    print(f"🌪️ [ROTAVAP] {message}", flush=True)

+
 class VirtualRotavap:
    """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""

+    _ros_node: BaseROS2DeviceNode
+
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and "id" in kwargs:
@@ -38,56 +44,65 @@ class VirtualRotavap:
        print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
        print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")

+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
    async def initialize(self) -> bool:
        """Initialize virtual rotary evaporator 🚀"""
        self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
-        
+
        # 只保留核心状态
-        self.data.update({
-            "status": "🏠 待机中",
-            "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
-            "current_temp": 25.0,
-            "target_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,  # 大气压
-            "evaporated_volume": 0.0,
-            "progress": 0.0,
-            "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
-        })
-        
+        self.data.update(
+            {
+                "status": "🏠 待机中",
+                "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,  # 大气压
+                "evaporated_volume": 0.0,
+                "progress": 0.0,
+                "remaining_time": 0.0,
+                "message": "🌪️ Ready for evaporation",
+            }
+        )
+
        self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
-        self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
+        self.logger.info(
+            f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
+        )
        return True

    async def cleanup(self) -> bool:
        """Cleanup virtual rotary evaporator 🧹"""
        self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
-        
-        self.data.update({
-            "status": "💤 离线",
-            "rotavap_state": "Offline",
-            "current_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
-        })
-        
+
+        self.data.update(
+            {
+                "status": "💤 离线",
+                "rotavap_state": "Offline",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,
+                "message": "💤 System offline",
+            }
+        )
+
        self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
        return True

    async def evaporate(
-        self, 
-        vessel: str, 
-        pressure: float = 0.1, 
-        temp: float = 60.0, 
+        self,
+        vessel: str,
+        pressure: float = 0.1,
+        temp: float = 60.0,
        time: float = 180.0,
        stir_speed: float = 100.0,
        solvent: str = "",
-        **kwargs
+        **kwargs,
    ) -> bool:
        """Execute evaporate action - 简化版 🌪️"""
-        
+
        # 🔧 新增：确保time参数是数值类型
        if isinstance(time, str):
            try:
@@ -98,31 +113,31 @@ class VirtualRotavap:
        elif not isinstance(time, (int, float)):
            self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
            time = 180.0
-        
+
        # 确保time是float类型; 并加速
        time = float(time) / 10.0
-        
+
        # 🔧 简化处理：如果vessel就是设备自己，直接操作
        if vessel == self.device_id:
            debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
            actual_vessel = self.device_id
        else:
            actual_vessel = vessel
-        
+
        # 参数预处理
        if solvent:
            self.logger.info(f"🧪 识别到溶剂: {solvent}")
            # 根据溶剂调整参数
            solvent_lower = solvent.lower()
-            if any(s in solvent_lower for s in ['water', 'aqueous']):
+            if any(s in solvent_lower for s in ["water", "aqueous"]):
                temp = max(temp, 80.0)
                pressure = max(pressure, 0.2)
                self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
                temp = min(temp, 50.0)
                pressure = min(pressure, 0.05)
                self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-        
+
        self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
        self.logger.info(f"  🥽 容器: {actual_vessel}")
        self.logger.info(f"  🌡️ 温度: {temp}°C")
@@ -131,126 +146,140 @@ class VirtualRotavap:
        self.logger.info(f"  🌀 转速: {stir_speed} RPM")
        if solvent:
            self.logger.info(f"  🧪 溶剂: {solvent}")
-        
+
        # 验证参数
        if temp > self._max_temp or temp < 10.0:
            error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 温度超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 温度超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
            return False

        if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
            error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 转速超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 转速超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
            return False

        if pressure < 0.01 or pressure > 1.0:
            error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 压力超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 压力超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
            return False

        # 开始蒸发 - 🔧 现在time已经确保是float类型
        self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
-        
-        self.data.update({
-            "status": f"🌪️ 蒸发中: {actual_vessel}",
-            "rotavap_state": "Evaporating",
-            "current_temp": temp,
-            "target_temp": temp,
-            "rotation_speed": stir_speed,
-            "vacuum_pressure": pressure,
-            "remaining_time": time,
-            "progress": 0.0,
-            "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
-        })
+
+        self.data.update(
+            {
+                "status": f"🌪️ 蒸发中: {actual_vessel}",
+                "rotavap_state": "Evaporating",
+                "current_temp": temp,
+                "target_temp": temp,
+                "rotation_speed": stir_speed,
+                "vacuum_pressure": pressure,
+                "remaining_time": time,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
+            }
+        )

        try:
            # 蒸发过程 - 实时更新进度
            start_time = time_module.time()
            total_time = time
            last_logged_progress = 0
-            
+
            while True:
                current_time = time_module.time()
                elapsed = current_time - start_time
                remaining = max(0, total_time - elapsed)
                progress = min(100.0, (elapsed / total_time) * 100)
-                
+
                # 模拟蒸发体积 - 根据溶剂类型调整
-                if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+                if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                    evaporated_vol = progress * 0.6  # 水系溶剂蒸发慢
-                elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+                elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                    evaporated_vol = progress * 1.0  # 易挥发溶剂蒸发快
                else:
                    evaporated_vol = progress * 0.8  # 默认蒸发量
-                
+
                # 🔧 更新状态 - 确保包含所有必需字段
                status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
-                
-                self.data.update({
-                    "remaining_time": remaining,
-                    "progress": progress,
-                    "evaporated_volume": evaporated_vol,
-                    "current_temp": temp,
-                    "status": status_msg,
-                    "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
-                })
-                
+
+                self.data.update(
+                    {
+                        "remaining_time": remaining,
+                        "progress": progress,
+                        "evaporated_volume": evaporated_vol,
+                        "current_temp": temp,
+                        "status": status_msg,
+                        "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
+                    }
+                )
+
                # 进度日志（每25%打印一次）
                if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
-                    self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
+                    self.logger.info(
+                        f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
+                    )
                    last_logged_progress = int(progress)
-                
+
                # 时间到了，退出循环
                if remaining <= 0:
                    break
-                
+
                # 每秒更新一次
-                await asyncio.sleep(1.0)
-            
+                await self._ros_node.sleep(1.0)
+
            # 蒸发完成
-            if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+            if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                final_evaporated = 60.0  # 水系溶剂
-            elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+            elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                final_evaporated = 100.0  # 易挥发溶剂
            else:
                final_evaporated = 80.0  # 默认
-            
-            self.data.update({
-                "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
-                "rotavap_state": "Completed",
-                "evaporated_volume": final_evaporated,
-                "progress": 100.0,
-                "current_temp": temp,
-                "remaining_time": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
-            })
+
+            self.data.update(
+                {
+                    "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
+                    "rotavap_state": "Completed",
+                    "evaporated_volume": final_evaporated,
+                    "progress": 100.0,
+                    "current_temp": temp,
+                    "remaining_time": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
+                }
+            )

            self.logger.info(f"🎉 蒸发操作完成! ✨")
            self.logger.info(f"📊 蒸发结果:")
@@ -262,24 +291,26 @@ class VirtualRotavap:
            self.logger.info(f"  ⏱️ 总用时: {total_time:.0f}s")
            if solvent:
                self.logger.info(f"  🧪 处理溶剂: {solvent} 🏁")
-            
+
            return True

        except Exception as e:
            # 出错处理
            error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
            self.logger.error(f"❌ {error_msg}")
-            
-            self.data.update({
-                "status": f"❌ 蒸发错误: {str(e)}",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
-            })
+
+            self.data.update(
+                {
+                    "status": f"❌ 蒸发错误: {str(e)}",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "message": f"❌ Evaporation failed: {str(e)}",
+                }
+            )
            return False

    # === 核心状态属性 ===
--- a/unilabos/devices/virtual/virtual_separator.py
+++ b/unilabos/devices/virtual/virtual_separator.py
@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class VirtualSeparator:
    """Virtual separator device for SeparateProtocol testing"""
+    
+    _ros_node: BaseROS2DeviceNode

    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
@@ -35,6 +39,9 @@ class VirtualSeparator:
        for key, value in kwargs.items():
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node

    async def initialize(self) -> bool:
        """Initialize virtual separator"""
@@ -119,14 +126,14 @@ class VirtualSeparator:
        for repeat in range(repeats):
            # 搅拌阶段
            for progress in range(0, 51, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                self.data["progress"] = overall_progress
                self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"

            # 静置分相阶段
            for progress in range(50, 101, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                self.data["progress"] = overall_progress
                self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
--- a/unilabos/devices/virtual/virtual_solenoid_valve.py
+++ b/unilabos/devices/virtual/virtual_solenoid_valve.py
@@ -2,11 +2,16 @@ import time
 import asyncio
 from typing import Union

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class VirtualSolenoidValve:
    """
    虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
    """
+    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
        # 从配置中获取参数，提供默认值
        if config is None:
@@ -21,6 +26,9 @@ class VirtualSolenoidValve:
        self._status = "Idle"
        self._valve_state = "Closed"  # "Open" or "Closed"
        self._is_open = False
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node

    async def initialize(self) -> bool:
        """初始化设备"""
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
        self._status = "Busy"
        
        # 模拟阀门响应时间
-        await asyncio.sleep(self.response_time)
+        await self._ros_node.sleep(self.response_time)
        
        # 处理不同的命令格式
        if isinstance(command, str):
--- a/unilabos/devices/virtual/virtual_solid_dispenser.py
+++ b/unilabos/devices/virtual/virtual_solid_dispenser.py
@@ -3,6 +3,8 @@ import logging
 import re
 from typing import Dict, Any, Optional

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualSolidDispenser:
    """
    虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
    - 简单反馈：成功/失败 + 消息 📊
    """
    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        self.device_id = device_id or "virtual_solid_dispenser"
        self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
        print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
        print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    async def initialize(self) -> bool:
        """初始化固体加样器 🚀"""
        self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
            
            for i in range(steps):
                progress = (i + 1) / steps * 100
-                await asyncio.sleep(step_time)
+                await self._ros_node.sleep(step_time)
                if i % 2 == 0:  # 每隔一步显示进度
                    self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
            
--- a/unilabos/devices/virtual/virtual_stirrer.py
+++ b/unilabos/devices/virtual/virtual_stirrer.py
@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualStirrer:
    """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
        print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
        print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    async def initialize(self) -> bool:
        """Initialize virtual stirrer 🚀"""
        self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
            if remaining <= 0:
                break
            
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
        
        self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
        
@@ -176,7 +183,7 @@ class VirtualStirrer:
                if remaining <= 0:
                    break
                
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            
            self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
        
--- a/unilabos/devices/virtual/virtual_transferpump.py
+++ b/unilabos/devices/virtual/virtual_transferpump.py
@@ -4,6 +4,8 @@ from enum import Enum
 from typing import Union, Optional
 import logging

+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+

 class VirtualPumpMode(Enum):
    Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
 class VirtualTransferPump:
    """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
    
+    _ros_node: BaseROS2DeviceNode
+    
    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
        """
        初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
        print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
    async def initialize(self) -> bool:
        """初始化虚拟泵 🚀"""
        self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
    async def _simulate_operation(self, duration: float):
        """模拟操作延时 ⏱️"""
        self._status = "Busy"
-        await asyncio.sleep(duration)
+        await self._ros_node.sleep(duration)
        self._status = "Idle"
    
    def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
                    
                    # 等待一小步时间
                    if i < steps and step_duration > 0:
-                        await asyncio.sleep(step_duration)
+                        await self._ros_node.sleep(step_duration)
            else:
                # 移动距离很小，直接完成
                self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
        
        # 短暂停顿
        self.logger.debug("⏸️ 短暂停顿...")
-        await asyncio.sleep(0.1)
+        await self._ros_node.sleep(0.1)
        
        # 排液
        await self.dispense(volume, dispense_velocity)
--- a/unilabos/devices/workstation/README.md
+++ b/unilabos/devices/workstation/README.md
@@ -37,7 +37,7 @@ def _initialize_material_system(self, deck_config: Dict[str, Any], children_conf
 **定义在**: `workstation_base.py`

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

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

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

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

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

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

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

 # 步骤参数配置（各工作流的步骤UUID）
@@ -127,3 +134,5 @@ WORKFLOW_STEP_IDS = {
        "observe": ""
    }
 }
+
+LOCATION_MAPPING = {}
--- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
--- a/unilabos/devices/workstation/bioyond_studio/experiment.py
+++ b/unilabos/devices/workstation/bioyond_studio/experiment.py
@@ -1,203 +1,205 @@
-# experiment_workflow.py
 """
 实验流程主程序
 """

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


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

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

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


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


 if __name__ == "__main__":
    # 运行主实验流程
    bioyond_client = run_experiment()
-    
+
    # 可选：准备材料数据
    # materials = prepare_materials(bioyond_client)
    # print(f"\n准备的材料数据: {materials}")
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
@@ -0,0 +1,783 @@
+import json
+import requests
+from typing import List, Dict, Any
+from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
+from unilabos.devices.workstation.bioyond_studio.config import (
+    WORKFLOW_STEP_IDS,
+    WORKFLOW_TO_SECTION_MAP,
+    ACTION_NAMES
+)
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
+
+
+class BioyondReactionStation(BioyondWorkstation):
+    """Bioyond反应站类
+
+    继承自BioyondWorkstation，提供反应站特定的业务方法
+    """
+
+    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
+        """初始化反应站
+
+        Args:
+            config: 配置字典，应包含workflow_mappings等配置
+            deck: Deck对象
+            protocol_type: 协议类型（由ROS系统传递，此处忽略）
+            **kwargs: 其他可能的参数
+        """
+        if deck is None and config:
+            deck = config.get('deck')
+
+        print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
+        if config and 'workflow_mappings' in config:
+            print(f"workflow_mappings内容: {config['workflow_mappings']}")
+
+        super().__init__(bioyond_config=config, deck=deck)
+
+        print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
+        print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
+
+    # ==================== 工作流方法 ====================
+
+    def reactor_taken_out(self):
+        """反应器取出"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
+        reactor_taken_out_params = {"param_values": {}}
+        self.pending_task_params.append(reactor_taken_out_params)
+        print(f"成功添加反应器取出工作流")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def reactor_taken_in(
+        self,
+        assign_material_name: str,
+        cutoff: str = "900000",
+        temperature: float = -10.00
+    ):
+        """反应器放入
+
+        Args:
+            assign_material_name: 物料名称（不能为空）
+            cutoff: 粘度上限（需为有效数字字符串，默认 "900000"）
+            temperature: 温度设定（°C，范围：-50.00 至 100.00）
+
+        Returns:
+            str: JSON 字符串，格式为 {"suc": True}
+
+        Raises:
+            ValueError: 若物料名称无效或 cutoff 格式错误
+        """
+        if not assign_material_name:
+            raise ValueError("物料名称不能为空")
+        try:
+            float(cutoff)
+        except ValueError:
+            raise ValueError("cutoff 必须是有效的数字字符串")
+
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
+        reactor_taken_in_params = {
+            "param_values": {
+                step_id: {
+                    ACTION_NAMES["reactor_taken_in"]["config"]: [
+                        {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                    ],
+                    ACTION_NAMES["reactor_taken_in"]["stirring"]: [
+                        {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(reactor_taken_in_params)
+        print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def solid_feeding_vials(
+        self,
+        material_id: str,
+        time: str = "0",
+        torque_variation: int = 1,
+        assign_material_name: str = None,
+        temperature: float = 25.00
+    ):
+        """固体进料小瓶
+
+        Args:
+            material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            assign_material_name: 物料名称(用于获取试剂瓶位ID)
+            temperature: 温度设定(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
+        material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
+        observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
+
+        solid_feeding_vials_params = {
+            "param_values": {
+                feeding_step_id: {
+                    ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
+                        {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["solid_feeding_vials"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(solid_feeding_vials_params)
+        print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_vials_non_titration(
+        self,
+        volume_formula: str,
+        assign_material_name: str,
+        titration_type: str = "1",
+        time: str = "0",
+        torque_variation: int = 1,
+        temperature: float = 25.00
+    ):
+        """液体进料小瓶(非滴定)
+
+        Args:
+            volume_formula: 分液公式(μL)
+            assign_material_name: 物料名称
+            titration_type: 是否滴定(1=否, 2=是)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
+                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_solvents(
+        self,
+        assign_material_name: str,
+        volume: str = None,
+        solvents = None,
+        titration_type: str = "1",
+        time: str = "360",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """液体进料-溶剂
+
+        Args:
+            assign_material_name: 物料名称
+            volume: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
+            solvents: 溶剂信息的字典或JSON字符串(可选),格式如下:
+              {
+                  "additional_solvent": 33.55092503597727,  # 溶剂体积(mL)
+                  "total_liquid_volume": 48.00916988195499
+              }
+              如果提供solvents,则从中提取additional_solvent并转换为μL
+            titration_type: 是否滴定(1=否, 2=是)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            temperature: 温度设定(°C)
+        """
+        # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
+        if not volume and solvents is not None:
+            # 参数类型转换:如果是字符串则解析为字典
+            if isinstance(solvents, str):
+                try:
+                    solvents = json.loads(solvents)
+                except json.JSONDecodeError as e:
+                    raise ValueError(f"solvents参数JSON解析失败: {str(e)}")
+
+            # 参数验证
+            if not isinstance(solvents, dict):
+                raise ValueError("solvents 必须是字典类型或有效的JSON字符串")
+
+            # 提取 additional_solvent 值
+            additional_solvent = solvents.get("additional_solvent")
+            if additional_solvent is None:
+                raise ValueError("solvents 中没有找到 additional_solvent 字段")
+
+            # 转换为微升(μL) - 从毫升(mL)转换
+            volume = str(float(additional_solvent) * 1000)
+        elif volume is None:
+            raise ValueError("必须提供 volume 或 solvents 参数之一")
+
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
+                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 1, "Key": "volume", "Value": volume},
+                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_titration(
+        self,
+        volume_formula: str,
+        assign_material_name: str,
+        titration_type: str = "1",
+        time: str = "90",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """液体进料(滴定)
+
+        Args:
+            volume_formula: 分液公式(μL)
+            assign_material_name: 物料名称
+            titration_type: 是否滴定(1=否, 2=是)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
+                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
+                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_beaker(
+        self,
+        volume: str = "35000",
+        assign_material_name: str = "BAPP",
+        time: str = "0",
+        torque_variation: int = 1,
+        titration_type: str = "1",
+        temperature: float = 25.00
+    ):
+        """液体进料烧杯
+
+        Args:
+            volume: 分液量(μL)
+            assign_material_name: 物料名称(试剂瓶位)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            titration_type: 是否滴定(1=否, 2=是)
+            temperature: 温度设定(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
+                        {"m": 0, "n": 2, "Key": "volume", "Value": volume},
+                        {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def drip_back(
+        self,
+        assign_material_name: str,
+        volume: str,
+        titration_type: str = "1",
+        time: str = "90",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """滴回去
+
+        Args:
+            assign_material_name: 物料名称(液体种类)
+            volume: 分液量(μL)
+            titration_type: 是否滴定(1=否, 2=是)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["drip_back"]["liquid"]: [
+                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 1, "Key": "volume", "Value": volume}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["drip_back"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    # ==================== 工作流管理方法 ====================
+
+    def get_workflow_sequence(self) -> List[str]:
+        """获取当前工作流执行顺序
+
+        Returns:
+            工作流名称列表
+        """
+        id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
+        workflow_names = []
+        for workflow_id in self.workflow_sequence:
+            workflow_name = id_to_name.get(workflow_id, workflow_id)
+            workflow_names.append(workflow_name)
+        print(f"工作流序列: {workflow_names}")
+        return workflow_names
+
+    def workflow_step_query(self, workflow_id: str) -> dict:
+        """查询工作流步骤参数
+
+        Args:
+            workflow_id: 工作流ID
+
+        Returns:
+            工作流步骤参数字典
+        """
+        return self.hardware_interface.workflow_step_query(workflow_id)
+
+    def create_order(self, json_str: str) -> dict:
+        """创建订单
+
+        Args:
+            json_str: 订单参数的JSON字符串
+
+        Returns:
+            创建结果
+        """
+        return self.hardware_interface.create_order(json_str)
+
+    # ==================== 工作流执行核心方法 ====================
+
+    def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
+        """处理网页工作流列表
+
+        Args:
+            web_workflow_json: JSON 格式的网页工作流列表
+
+        Returns:
+            List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
+        """
+        try:
+            web_workflow_data = json.loads(web_workflow_json)
+            web_workflow_list = web_workflow_data.get("web_workflow_list", [])
+            workflows_result = []
+            for name in web_workflow_list:
+                workflow_id = self.workflow_mappings.get(name, "")
+                if not workflow_id:
+                    print(f"警告：未找到工作流名称 {name} 对应的 ID")
+                    continue
+                workflows_result.append({"id": workflow_id, "name": name})
+            print(f"process_web_workflows 输出: {workflows_result}")
+            return workflows_result
+        except json.JSONDecodeError as e:
+            print(f"错误：无法解析 web_workflow_json: {e}")
+            return []
+        except Exception as e:
+            print(f"错误：处理工作流失败: {e}")
+            return []
+
+    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
+        """
+        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
+
+        Args:
+            workflow_name: 合并后的工作流名称
+            task_name: 任务名称
+
+        Returns:
+            任务创建结果
+        """
+        web_workflow_list = self.get_workflow_sequence()
+        print(f"\n{'='*60}")
+        print(f"📋 处理网页工作流列表: {web_workflow_list}")
+        print(f"{'='*60}")
+
+        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
+        workflows_result = self.process_web_workflows(web_workflow_json)
+
+        if not workflows_result:
+            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
+
+        print(f"workflows_result 类型: {type(workflows_result)}")
+        print(f"workflows_result 内容: {workflows_result}")
+
+        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
+
+        merge_data = {
+            "name": workflow_name,
+            "workflows": workflows_with_params
+        }
+
+        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
+        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
+
+        if not merged_workflow:
+            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
+
+        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
+        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
+
+        order_params = [{
+            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
+            "orderName": task_name,
+            "workFlowId": workflow_id,
+            "borderNumber": 1,
+            "paramValues": {}
+        }]
+
+        result = self.create_order(json.dumps(order_params))
+
+        if not result:
+            return self._create_error_result("创建任务失败", "create_order")
+
+        # 清空工作流序列和参数，防止下次执行时累积重复
+        self.pending_task_params = []
+        self.clear_workflows()  # 清空工作流序列，避免重复累积
+
+        # print(f"\n✅ 任务创建成功: {result}")
+        # print(f"\n✅ 任务创建成功")
+        print(f"{'='*60}\n")
+        return json.dumps({"success": True, "result": result})
+
+    def _build_workflows_with_parameters(self, workflows_result: list) -> list:
+        """
+        构建带参数的工作流列表
+
+        Args:
+            workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
+
+        Returns:
+            符合新接口格式的工作流参数结构
+        """
+        workflows_with_params = []
+        total_params = 0
+        successful_params = 0
+        failed_params = []
+
+        for idx, workflow_info in enumerate(workflows_result):
+            if not isinstance(workflow_info, dict):
+                print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
+                continue
+            workflow_id = workflow_info.get("id")
+            if not workflow_id:
+                print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
+                continue
+            workflow_name = workflow_info.get("name", "")
+            # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
+
+            if idx >= len(self.pending_task_params):
+                # print(f"   ⚠️ 无对应参数，跳过")
+                workflows_with_params.append({"id": workflow_id})
+                continue
+
+            param_data = self.pending_task_params[idx]
+            param_values = param_data.get("param_values", {})
+            if not param_values:
+                # print(f"   ⚠️ 参数为空，跳过")
+                workflows_with_params.append({"id": workflow_id})
+                continue
+
+            step_parameters = {}
+            for step_id, actions_dict in param_values.items():
+                # print(f"   📍 步骤ID: {step_id}")
+                for action_name, param_list in actions_dict.items():
+                    # print(f"      🔹 模块: {action_name}, 参数数量: {len(param_list)}")
+                    if step_id not in step_parameters:
+                        step_parameters[step_id] = {}
+                    if action_name not in step_parameters[step_id]:
+                        step_parameters[step_id][action_name] = []
+                    for param_item in param_list:
+                        param_key = param_item.get("Key", "")
+                        param_value = param_item.get("Value", "")
+                        total_params += 1
+                        step_parameters[step_id][action_name].append({
+                            "Key": param_key,
+                            "DisplayValue": param_value,
+                            "Value": param_value
+                        })
+                        successful_params += 1
+                        # print(f"         ✓ {param_key} = {param_value}")
+
+            workflows_with_params.append({
+                "id": workflow_id,
+                "stepParameters": step_parameters
+            })
+
+        self._print_mapping_stats(total_params, successful_params, failed_params)
+        return workflows_with_params
+
+    def _print_mapping_stats(self, total: int, success: int, failed: list):
+        """打印参数映射统计"""
+        print(f"\n{'='*20} 参数映射统计 {'='*20}")
+        print(f"📊 总参数数量: {total}")
+        print(f"✅ 成功映射: {success}")
+        print(f"❌ 映射失败: {len(failed)}")
+        if not failed:
+            print("🎉 成功映射所有参数！")
+        else:
+            print(f"⚠️ 失败的参数: {', '.join(failed)}")
+        success_rate = (success/total*100) if total > 0 else 0
+        print(f"📈 映射成功率: {success_rate:.1f}%")
+        print("="*60)
+
+    def _create_error_result(self, error_msg: str, step: str) -> str:
+        """创建统一的错误返回格式"""
+        print(f"❌ {error_msg}")
+        return json.dumps({
+            "success": False,
+            "error": f"process_and_execute_workflow: {error_msg}",
+            "method": "process_and_execute_workflow",
+            "step": step
+        })
+
+    def merge_workflow_with_parameters(self, json_str: str) -> dict:
+        """
+        调用新接口：合并工作流并传递参数
+
+        Args:
+            json_str: JSON格式的字符串，包含:
+                - name: 工作流名称
+                - workflows: [{"id": "工作流ID", "stepParameters": {...}}]
+
+        Returns:
+            合并后的工作流信息
+        """
+        try:
+            data = json.loads(json_str)
+
+            # 在工作流名称后面添加时间戳，避免重复
+            if "name" in data and data["name"]:
+                timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
+                original_name = data["name"]
+                data["name"] = f"{original_name}_{timestamp}"
+                print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
+
+            request_data = {
+                "apiKey": API_CONFIG["api_key"],
+                "requestTime": self.hardware_interface.get_current_time_iso8601(),
+                "data": data
+            }
+            print(f"\n📤 发送合并请求:")
+            print(f"   工作流名称: {data.get('name')}")
+            print(f"   子工作流数量: {len(data.get('workflows', []))}")
+
+            # 打印完整的POST请求内容
+            print(f"\n🔍 POST请求详细内容:")
+            print(f"   URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
+            print(f"   Headers: {{'Content-Type': 'application/json'}}")
+            print(f"   Request Data:")
+            print(f"   {json.dumps(request_data, indent=4, ensure_ascii=False)}")
+            #
+            response = requests.post(
+                f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+
+            # # 打印响应详细内容
+            # print(f"\n📥 POST响应详细内容:")
+            # print(f"   状态码: {response.status_code}")
+            # print(f"   响应头: {dict(response.headers)}")
+            # print(f"   响应体: {response.text}")
+            # #
+            try:
+                result = response.json()
+                # #
+                # print(f"\n📋 解析后的响应JSON:")
+                # print(f"   {json.dumps(result, indent=4, ensure_ascii=False)}")
+                # #
+            except json.JSONDecodeError:
+                print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
+                return None
+
+            if result.get("code") == 1:
+                print(f"✅ 工作流合并成功（带参数）")
+                return result.get("data", {})
+            else:
+                error_msg = result.get('message', '未知错误')
+                print(f"❌ 工作流合并失败: {error_msg}")
+                return None
+
+        except requests.exceptions.Timeout:
+            print(f"❌ 合并工作流请求超时")
+            return None
+        except requests.exceptions.RequestException as e:
+            print(f"❌ 合并工作流网络异常: {str(e)}")
+            return None
+        except json.JSONDecodeError as e:
+            print(f"❌ 合并工作流响应解析失败: {str(e)}")
+            return None
+        except Exception as e:
+            print(f"❌ 合并工作流异常: {str(e)}")
+            return None
+
+    def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
+        """验证工作流ID是否有效，如果无效则重新合并
+
+        Args:
+            workflow_name: 工作流名称
+
+        Returns:
+            bool: 验证或刷新是否成功
+        """
+        print(f"\n🔍 验证工作流ID有效性...")
+        if not self.workflow_sequence:
+            print(f"   ⚠️ 工作流序列为空，需要重新合并")
+            return False
+        first_workflow_id = self.workflow_sequence[0]
+        try:
+            structure = self.workflow_step_query(first_workflow_id)
+            if structure:
+                print(f"   ✅ 工作流ID有效")
+                return True
+            else:
+                print(f"   ⚠️ 工作流ID已过期，需要重新合并")
+                return False
+        except Exception as e:
+            print(f"   ❌ 工作流ID验证失败: {e}")
+            print(f"   💡 将重新合并工作流")
+            return False
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
--- a/unilabos/devices/workstation/workstation_base.py
+++ b/unilabos/devices/workstation/workstation_base.py
@@ -171,7 +171,6 @@ class WorkstationBase(ABC):
    def post_init(self, ros_node: ROS2WorkstationNode) -> None:
        # 初始化物料系统
        self._ros_node = ros_node
-        self._ros_node.update_resource([self.deck])

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

 if __name__ == "__main__":
    # 简单测试HTTP服务
-    class DummyWorkstation:
+    class BioyondWorkstation:
        device_id = "WS-001"
        
        def process_step_finish_report(self, report_request):
--- a/unilabos/devices/workstation/workstation_material_management.py
+++ b/unilabos/devices/workstation/workstation_material_management.py
@@ -1,583 +0,0 @@
-"""
-工作站物料管理基类
-Workstation Material Management Base Class
-
-基于PyLabRobot的物料管理系统
-"""
-from typing import Dict, Any, List, Optional, Union, Type
-from abc import ABC, abstractmethod
-import json
-
-from pylabrobot.resources import (
-    Resource as PLRResource,
-    Container,
-    Deck,
-    Coordinate as PLRCoordinate,
-)
-
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-from unilabos.utils.log import logger
-from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
-
-
-class MaterialManagementBase(ABC):
-    """物料管理基类
-    
-    定义工作站物料管理的标准接口：
-    1. 物料初始化 - 根据配置创建物料资源
-    2. 物料追踪 - 实时跟踪物料位置和状态
-    3. 物料查找 - 按类型、位置、状态查找物料
-    4. 物料转换 - PyLabRobot与UniLab资源格式转换
-    """
-
-    def __init__(
-        self,
-        device_id: str,
-        deck_config: Dict[str, Any],
-        resource_tracker: DeviceNodeResourceTracker,
-        children_config: Dict[str, Dict[str, Any]] = None
-    ):
-        self.device_id = device_id
-        self.deck_config = deck_config
-        self.resource_tracker = resource_tracker
-        self.children_config = children_config or {}
-        
-        # 创建主台面
-        self.plr_deck = self._create_deck()
-        
-        # 扩展ResourceTracker
-        self._extend_resource_tracker()
-        
-        # 注册deck到resource tracker
-        self.resource_tracker.add_resource(self.plr_deck)
-        
-        # 初始化子资源
-        self.plr_resources = {}
-        self._initialize_materials()
-
-    def _create_deck(self) -> Deck:
-        """创建主台面"""
-        return Deck(
-            name=f"{self.device_id}_deck",
-            size_x=self.deck_config.get("size_x", 1000.0),
-            size_y=self.deck_config.get("size_y", 1000.0),
-            size_z=self.deck_config.get("size_z", 500.0),
-            origin=PLRCoordinate(0, 0, 0)
-        )
-
-    def _extend_resource_tracker(self):
-        """扩展ResourceTracker以支持PyLabRobot特定功能"""
-        
-        def find_by_type(resource_type):
-            """按类型查找资源"""
-            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
-        
-        def find_by_category(category: str):
-            """按类别查找资源"""
-            found = []
-            for resource in self._get_all_resources():
-                if hasattr(resource, 'category') and resource.category == category:
-                    found.append(resource)
-            return found
-        
-        def find_by_name_pattern(pattern: str):
-            """按名称模式查找资源"""
-            import re
-            found = []
-            for resource in self._get_all_resources():
-                if re.search(pattern, resource.name):
-                    found.append(resource)
-            return found
-        
-        # 动态添加方法到resource_tracker
-        self.resource_tracker.find_by_type = find_by_type
-        self.resource_tracker.find_by_category = find_by_category
-        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
-
-    def _find_resources_by_type_recursive(self, resource, target_type):
-        """递归查找指定类型的资源"""
-        found = []
-        if isinstance(resource, target_type):
-            found.append(resource)
-        
-        # 递归查找子资源
-        children = getattr(resource, "children", [])
-        for child in children:
-            found.extend(self._find_resources_by_type_recursive(child, target_type))
-        
-        return found
-
-    def _get_all_resources(self) -> List[PLRResource]:
-        """获取所有资源"""
-        all_resources = []
-        
-        def collect_resources(resource):
-            all_resources.append(resource)
-            children = getattr(resource, "children", [])
-            for child in children:
-                collect_resources(child)
-        
-        collect_resources(self.plr_deck)
-        return all_resources
-
-    def _initialize_materials(self):
-        """初始化物料"""
-        try:
-            # 确定创建顺序，确保父资源先于子资源创建
-            creation_order = self._determine_creation_order()
-            
-            # 按顺序创建资源
-            for resource_id in creation_order:
-                config = self.children_config[resource_id]
-                self._create_plr_resource(resource_id, config)
-            
-            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
-            
-        except Exception as e:
-            logger.error(f"物料初始化失败: {e}")
-
-    def _determine_creation_order(self) -> List[str]:
-        """确定资源创建顺序"""
-        order = []
-        visited = set()
-        
-        def visit(resource_id: str):
-            if resource_id in visited:
-                return
-            visited.add(resource_id)
-            
-            config = self.children_config.get(resource_id, {})
-            parent_id = config.get("parent")
-            
-            # 如果有父资源，先访问父资源
-            if parent_id and parent_id in self.children_config:
-                visit(parent_id)
-            
-            order.append(resource_id)
-        
-        for resource_id in self.children_config:
-            visit(resource_id)
-        
-        return order
-
-    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
-        """创建PyLabRobot资源"""
-        try:
-            resource_type = config.get("type", "unknown")
-            data = config.get("data", {})
-            location_config = config.get("location", {})
-            
-            # 创建位置坐标
-            location = PLRCoordinate(
-                x=location_config.get("x", 0.0),
-                y=location_config.get("y", 0.0),
-                z=location_config.get("z", 0.0)
-            )
-            
-            # 根据类型创建资源
-            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
-            
-            if resource:
-                # 设置父子关系
-                parent_id = config.get("parent")
-                if parent_id and parent_id in self.plr_resources:
-                    parent_resource = self.plr_resources[parent_id]
-                    parent_resource.assign_child_resource(resource, location)
-                else:
-                    # 直接放在deck上
-                    self.plr_deck.assign_child_resource(resource, location)
-                
-                # 保存资源引用
-                self.plr_resources[resource_id] = resource
-                
-                # 注册到resource tracker
-                self.resource_tracker.add_resource(resource)
-                
-                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
-            
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id}: {e}")
-
-    @abstractmethod
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建资源 - 子类必须实现"""
-        pass
-
-    # ============ 物料查找接口 ============
-    
-    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
-        """按材料类型查找物料"""
-        return self.resource_tracker.find_by_category(material_type)
-
-    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
-        """按ID查找物料"""
-        return self.plr_resources.get(resource_id)
-
-    def find_available_positions(self, position_type: str) -> List[PLRResource]:
-        """查找可用位置"""
-        positions = self.resource_tracker.find_by_category(position_type)
-        available = []
-        
-        for pos in positions:
-            if hasattr(pos, 'is_available') and pos.is_available():
-                available.append(pos)
-            elif hasattr(pos, 'children') and len(pos.children) == 0:
-                available.append(pos)
-        
-        return available
-
-    def get_material_inventory(self) -> Dict[str, int]:
-        """获取物料库存统计"""
-        inventory = {}
-        
-        for resource in self._get_all_resources():
-            if hasattr(resource, 'category'):
-                category = resource.category
-                inventory[category] = inventory.get(category, 0) + 1
-        
-        return inventory
-
-    # ============ 物料状态更新接口 ============
-    
-    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
-        """更新物料位置"""
-        try:
-            material = self.find_material_by_id(material_id)
-            if material:
-                material.location = new_location
-                return True
-            return False
-        except Exception as e:
-            logger.error(f"更新物料位置失败: {e}")
-            return False
-
-    def move_material(self, material_id: str, target_container_id: str) -> bool:
-        """移动物料到目标容器"""
-        try:
-            material = self.find_material_by_id(material_id)
-            target = self.find_material_by_id(target_container_id)
-            
-            if material and target:
-                # 从原位置移除
-                if material.parent:
-                    material.parent.unassign_child_resource(material)
-                
-                # 添加到新位置
-                target.assign_child_resource(material)
-                return True
-            
-            return False
-            
-        except Exception as e:
-            logger.error(f"移动物料失败: {e}")
-            return False
-
-    # ============ 资源转换接口 ============
-    
-    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
-        """将PyLabRobot资源转换为UniLab格式"""
-        return resource_plr_to_ulab(plr_resource)
-
-    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
-        """将UniLab格式转换为PyLabRobot资源"""
-        return resource_ulab_to_plr(unilab_resource)
-
-    def get_deck_state(self) -> Dict[str, Any]:
-        """获取Deck状态"""
-        try:
-            return {
-                "deck_info": {
-                    "name": self.plr_deck.name,
-                    "size": {
-                        "x": self.plr_deck.size_x,
-                        "y": self.plr_deck.size_y,
-                        "z": self.plr_deck.size_z
-                    },
-                    "children_count": len(self.plr_deck.children)
-                },
-                "resources": {
-                    resource_id: self.convert_to_unilab_format(resource)
-                    for resource_id, resource in self.plr_resources.items()
-                },
-                "inventory": self.get_material_inventory()
-            }
-        except Exception as e:
-            logger.error(f"获取Deck状态失败: {e}")
-            return {"error": str(e)}
-
-    # ============ 数据持久化接口 ============
-    
-    def save_state_to_file(self, file_path: str) -> bool:
-        """保存状态到文件"""
-        try:
-            state = self.get_deck_state()
-            with open(file_path, 'w', encoding='utf-8') as f:
-                json.dump(state, f, indent=2, ensure_ascii=False)
-            logger.info(f"状态已保存到: {file_path}")
-            return True
-        except Exception as e:
-            logger.error(f"保存状态失败: {e}")
-            return False
-
-    def load_state_from_file(self, file_path: str) -> bool:
-        """从文件加载状态"""
-        try:
-            with open(file_path, 'r', encoding='utf-8') as f:
-                state = json.load(f)
-            
-            # 重新创建资源
-            self._recreate_resources_from_state(state)
-            logger.info(f"状态已从文件加载: {file_path}")
-            return True
-            
-        except Exception as e:
-            logger.error(f"加载状态失败: {e}")
-            return False
-
-    def _recreate_resources_from_state(self, state: Dict[str, Any]):
-        """从状态重新创建资源"""
-        # 清除现有资源
-        self.plr_resources.clear()
-        self.plr_deck.children.clear()
-        
-        # 从状态重新创建
-        resources_data = state.get("resources", {})
-        for resource_id, resource_data in resources_data.items():
-            try:
-                plr_resource = self.convert_from_unilab_format(resource_data)
-                self.plr_resources[resource_id] = plr_resource
-                self.plr_deck.assign_child_resource(plr_resource)
-            except Exception as e:
-                logger.error(f"重新创建资源失败 {resource_id}: {e}")
-
-
-class CoinCellMaterialManagement(MaterialManagementBase):
-    """纽扣电池物料管理类
-    
-    从 button_battery_station 抽取的物料管理功能
-    """
-
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建纽扣电池相关资源"""
-        
-        # 导入纽扣电池资源类
-        from unilabos.device_comms.button_battery_station import (
-            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
-            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
-        )
-        
-        try:
-            if resource_type == "material_plate":
-                return self._create_material_plate(resource_id, config, data, location)
-            
-            elif resource_type == "plate_slot":
-                return self._create_plate_slot(resource_id, config, data, location)
-            
-            elif resource_type == "clip_magazine":
-                return self._create_clip_magazine(resource_id, config, data, location)
-            
-            elif resource_type == "battery_press_slot":
-                return self._create_battery_press_slot(resource_id, config, data, location)
-            
-            elif resource_type == "tip_box":
-                return self._create_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "waste_tip_box":
-                return self._create_waste_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "bottle_rack":
-                return self._create_bottle_rack(resource_id, config, data, location)
-            
-            elif resource_type == "battery":
-                return self._create_battery(resource_id, config, data, location)
-            
-            else:
-                logger.warning(f"未知的资源类型: {resource_type}")
-                return None
-                
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
-            return None
-
-    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
-        
-        plate = MaterialPlate(
-            name=resource_id,
-            size_x=config.get("size_x", 80.0),
-            size_y=config.get("size_y", 80.0),
-            size_z=config.get("size_z", 10.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 8.0),
-            hole_spacing_x=config.get("hole_spacing_x", 20.0),
-            hole_spacing_y=config.get("hole_spacing_y", 20.0),
-            number=data.get("number", "")
-        )
-        plate.location = location
-        
-        # 如果有预填充的极片数据，创建极片
-        electrode_sheets = data.get("electrode_sheets", [])
-        for i, sheet_data in enumerate(electrode_sheets):
-            if i < len(plate.children):  # 确保不超过洞位数量
-                hole = plate.children[i]
-                sheet = ElectrodeSheet(
-                    name=f"{resource_id}_sheet_{i}",
-                    diameter=sheet_data.get("diameter", 14.0),
-                    thickness=sheet_data.get("thickness", 0.1),
-                    mass=sheet_data.get("mass", 0.01),
-                    material_type=sheet_data.get("material_type", "cathode"),
-                    info=sheet_data.get("info", "")
-                )
-                hole.place_electrode_sheet(sheet)
-        
-        return plate
-
-    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        
-        slot = PlateSlot(
-            name=resource_id,
-            max_plates=config.get("max_plates", 8)
-        )
-        slot.location = location
-        return slot
-
-    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        
-        magazine = ClipMagazine(
-            name=resource_id,
-            size_x=config.get("size_x", 150.0),
-            size_y=config.get("size_y", 100.0),
-            size_z=config.get("size_z", 50.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 40.0),
-            hole_spacing=config.get("hole_spacing", 25.0),
-            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
-        )
-        magazine.location = location
-        return magazine
-
-    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        
-        slot = BatteryPressSlot(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            depth=config.get("depth", 15.0)
-        )
-        slot.location = location
-        return slot
-
-    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建枪头盒"""
-        from unilabos.device_comms.button_battery_station import TipBox64
-        
-        tip_box = TipBox64(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            with_tips=data.get("with_tips", True)
-        )
-        tip_box.location = location
-        return tip_box
-
-    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建废枪头盒"""
-        from unilabos.device_comms.button_battery_station import WasteTipBox
-        
-        waste_box = WasteTipBox(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            max_tips=config.get("max_tips", 100)
-        )
-        waste_box.location = location
-        return waste_box
-
-    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建瓶架"""
-        from unilabos.device_comms.button_battery_station import BottleRack
-        
-        rack = BottleRack(
-            name=resource_id,
-            size_x=config.get("size_x", 210.0),
-            size_y=config.get("size_y", 140.0),
-            size_z=config.get("size_z", 100.0),
-            bottle_diameter=config.get("bottle_diameter", 30.0),
-            bottle_height=config.get("bottle_height", 100.0),
-            position_spacing=config.get("position_spacing", 35.0)
-        )
-        rack.location = location
-        return rack
-
-    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        
-        battery = Battery(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            height=config.get("height", 3.2),
-            max_volume=config.get("max_volume", 100.0),
-            barcode=data.get("barcode", "")
-        )
-        battery.location = location
-        return battery
-
-    # ============ 纽扣电池特定查找方法 ============
-    
-    def find_material_plates(self):
-        """查找所有料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate
-        return self.resource_tracker.find_by_type(MaterialPlate)
-    
-    def find_batteries(self):
-        """查找所有电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        return self.resource_tracker.find_by_type(Battery)
-    
-    def find_electrode_sheets(self):
-        """查找所有极片"""
-        found = []
-        plates = self.find_material_plates()
-        for plate in plates:
-            for hole in plate.children:
-                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
-                    found.append(hole._electrode_sheet)
-        return found
-    
-    def find_plate_slots(self):
-        """查找所有板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        return self.resource_tracker.find_by_type(PlateSlot)
-    
-    def find_clip_magazines(self):
-        """查找所有子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        return self.resource_tracker.find_by_type(ClipMagazine)
-    
-    def find_press_slots(self):
-        """查找所有压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        return self.resource_tracker.find_by_type(BatteryPressSlot)
--- a/unilabos/registry/devices/bioyond.yaml
+++ b/unilabos/registry/devices/bioyond.yaml
@@ -0,0 +1,252 @@
+workstation.bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  class:
+    action_value_mappings:
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+      required:
+      - config
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml
@@ -0,0 +1,404 @@
+bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  - bioyond_dispensing_station
+  class:
+    action_value_mappings:
+      batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          speed: speed
+          temperature: temperature
+          titration: titration
+        goal_default:
+          delay_time: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          speed: '400'
+          temperature: '40'
+          titration: ''
+        handles:
+          input:
+          - data_key: titration
+            data_source: handle
+            data_type: object
+            handler_key: titration
+            io_type: source
+            label: Titration Data From Calculation Node
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreate9010VialFeedingTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(秒),默认600
+                  type: string
+                hold_m_name:
+                  description: 库位名称,如"C01",必填参数
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 10%物料的液体物料名称,默认为"NMP"
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度,默认400
+                  type: string
+                temperature:
+                  default: '40'
+                  description: 温度(℃),默认40
+                  type: string
+                titration:
+                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
+                    titration_solvent(滴定溶液体积mL)'
+                  type: string
+              required:
+              - titration
+              - hold_m_name
+              title: BatchCreate9010VialFeedingTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: BatchCreate9010VialFeedingTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreate9010VialFeedingTasks
+          type: object
+        type: UniLabJsonCommand
+      batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          liquid_material_name: liquid_material_name
+          solutions: solutions
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: '600'
+          liquid_material_name: NMP
+          solutions: ''
+          speed: '400'
+          temperature: '20'
+        handles:
+          input:
+          - data_key: solutions
+            data_source: handle
+            data_type: array
+            handler_key: solutions
+            io_type: source
+            label: Solution Data From Python
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreateDiamineSolutionTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
+                  type: string
+                solutions:
+                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
+                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
+                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
+                    4.5, "solvent_volume": 18}]'
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
+                  type: string
+              required:
+              - solutions
+              title: BatchCreateDiamineSolutionTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息
+                  type: string
+              required:
+              - return_info
+              title: BatchCreateDiamineSolutionTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreateDiamineSolutionTasks
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: preparation_station.webp
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+      required:
+      - config
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0
--- a/unilabos/registry/devices/dispensing_station_bioyond.yaml
+++ b/unilabos/registry/devices/dispensing_station_bioyond.yaml
--- a/unilabos/registry/devices/laiyu_liquid.yaml
+++ b/unilabos/registry/devices/laiyu_liquid.yaml
@@ -1361,8 +1361,7 @@ laiyu_liquid:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -1492,11 +1491,9 @@ laiyu_liquid:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -3994,8 +3994,7 @@ liquid_handler:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -4151,11 +4150,9 @@ liquid_handler:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -5015,8 +5012,7 @@ liquid_handler.biomek:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -5159,11 +5155,9 @@ liquid_handler.biomek:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -7807,8 +7801,7 @@ liquid_handler.prcxi:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -7937,11 +7930,9 @@ liquid_handler.prcxi:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -708,6 +708,8 @@ class Registry:
                        for status_name, status_type in device_config["class"]["status_types"].items():
                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if action_config["type"] not in action_str_type_mapping:
+                                continue
                            action_config["type"] = action_str_type_mapping[action_config["type"]]
                        # 添加内置的驱动命令动作
                        self._add_builtin_actions(device_config, device_id)
--- a/unilabos/registry/resources/bioyond/bottles.yaml
+++ b/unilabos/registry/resources/bioyond/bottles.yaml
@@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker:
  icon: ''
  init_param_schema: {}
  version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottles
+  - tip_boxes
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Reactor:
+  category:
+  - bottles
+  - reactors
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/deck.yaml
+++ b/unilabos/registry/resources/bioyond/deck.yaml
@@ -22,3 +22,21 @@ BIOYOND_PolymerReactionStation_Deck:
  init_param_schema: {}
  registry_type: resource
  version: 1.0.0
+
+YB_Deck11:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:YB_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerReactionStation Deck
+  handles: []
+  icon: 配液站.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+
+
+
+
--- a/unilabos/registry/resources/organic/container.yaml
+++ b/unilabos/registry/resources/organic/container.yaml
@@ -3,7 +3,7 @@ container:
  - container
  class:
    module: unilabos.resources.container:RegularContainer
-    type: unilabos
+    type: pylabrobot
  description: regular organic container
  handles:
  - data_key: fluid_in
--- a/unilabos/resources/bioyond/bottles.py
+++ b/unilabos/resources/bioyond/bottles.py
@@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
        barcode=barcode,
        model="BIOYOND_PolymerStation_Reagent_Bottle",
    )
+
+
+def BIOYOND_PolymerStation_Reactor(
+    name: str,
+    diameter: float = 30.0,
+    height: float = 80.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建反应器"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reactor",
+    )
+
+
+def BIOYOND_PolymerStation_TipBox(
+    name: str,
+    size_x: float = 127.76,  # 枪头盒宽度
+    size_y: float = 85.48,   # 枪头盒长度
+    size_z: float = 100.0,   # 枪头盒高度
+    barcode: str = None,
+):
+    """创建4×6枪头盒 (24个枪头)
+
+    Args:
+        name: 枪头盒名称
+        size_x: 枪头盒宽度 (mm)
+        size_y: 枪头盒长度 (mm)
+        size_z: 枪头盒高度 (mm)
+        barcode: 条形码
+
+    Returns:
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+    """
+    from pylabrobot.resources import Container, Coordinate
+
+    # 创建枪头盒容器
+    tip_box = Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip_rack",
+        model="BIOYOND_PolymerStation_TipBox_4x6",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = 6  # 6列
+    tip_box.num_items_y = 4  # 4行
+
+    # 创建24个枪头孔位 (4行×6列)
+    # 假设孔位间距为 9mm
+    tip_spacing_x = 9.0  # 列间距
+    tip_spacing_y = 9.0  # 行间距
+    start_x = 14.38  # 第一个孔位的x偏移
+    start_y = 11.24  # 第一个孔位的y偏移
+
+    for row in range(4):  # A, B, C, D
+        for col in range(6):  # 1-6
+            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
+            x = start_x + col * tip_spacing_x
+            y = start_y + row * tip_spacing_y
+
+            # 创建枪头孔位容器
+            tip_spot = Container(
+                name=spot_name,
+                size_x=8.0,  # 单个枪头孔位大小
+                size_y=8.0,
+                size_z=size_z - 10.0,  # 略低于盒子高度
+                category="tip_spot",
+            )
+
+            # 添加到枪头盒
+            tip_box.assign_child_resource(
+                tip_spot,
+                location=Coordinate(x=x, y=y, z=0)
+            )
+
+    return tip_box
--- a/unilabos/resources/bioyond/decks.py
+++ b/unilabos/resources/bioyond/decks.py
@@ -1,11 +1,27 @@
+from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation

-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
+from unilabos.resources.bioyond.warehouses import (
+    bioyond_warehouse_1x4x4,
+    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
+    bioyond_warehouse_1x4x2,
+    bioyond_warehouse_liquid_and_lid_handling,
+    bioyond_warehouse_1x2x2,
+    bioyond_warehouse_1x3x3,
+    bioyond_warehouse_10x1x1,
+    bioyond_warehouse_3x3x1,
+    bioyond_warehouse_3x3x1_2,
+    bioyond_warehouse_5x1x1,
+    bioyond_warehouse_1x8x4,
+    bioyond_warehouse_reagent_storage,
+    bioyond_warehouse_liquid_preparation,
+    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+)


 class BIOYOND_PolymerReactionStation_Deck(Deck):
    def __init__(
-        self, 
+        self,
        name: str = "PolymerReactionStation_Deck",
        size_x: float = 2700.0,
        size_y: float = 1080.0,
@@ -19,15 +35,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):

    def setup(self) -> None:
        # 添加仓库
+        # 说明: 堆栈1物理上分为左右两部分
+        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
+        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
        self.warehouses = {
-            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
-            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
+            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
+            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
+            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
        }
        self.warehouse_locations = {
-            "堆栈1": Coordinate(0.0, 430.0, 0.0),
-            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
+            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
+            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
        }
        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)

@@ -37,7 +60,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):

 class BIOYOND_PolymerPreparationStation_Deck(Deck):
    def __init__(
-        self, 
+        self,
        name: str = "PolymerPreparationStation_Deck",
        size_x: float = 2700.0,
        size_y: float = 1080.0,
@@ -66,3 +89,60 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):

        for warehouse_name, warehouse in self.warehouses.items():
            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+class BIOYOND_YB_Deck(Deck):
+    def __init__(
+        self,
+        name: str = "YB_Deck",
+        size_x: float = 4150,
+        size_y: float = 1400.0,
+        size_z: float = 2670.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "321窗口": bioyond_warehouse_1x2x2("321窗口"),
+            "43窗口": bioyond_warehouse_1x2x2("43窗口"),
+            "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
+            "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
+            "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
+            "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
+
+            "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
+            "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
+            "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
+            "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
+        }
+        # warehouse 的位置
+        self.warehouse_locations = {
+            "321窗口": Coordinate(-150.0, 158.0, 0.0),
+            "43窗口": Coordinate(4160.0, 158.0, 0.0),
+            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
+            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
+            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
+            "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
+
+            "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
+            "母液加样右": Coordinate(2152.0, 333.0, 0.0),
+            "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
+            "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+def YB_Deck(name: str) -> Deck:
+    by=BIOYOND_YB_Deck(name=name)
+    by.setup()
+    return by
+
+
+
+
+
--- a/unilabos/resources/bioyond/warehouses.py
+++ b/unilabos/resources/bioyond/warehouses.py
@@ -2,22 +2,42 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory


 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
    return warehouse_factory(
        name=name,
-        num_items_x=1,
+        num_items_x=4,
        num_items_y=4,
-        num_items_z=4,
+        num_items_z=1,
        dx=10.0,
        dy=10.0,
        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
        category="warehouse",
+        col_offset=0,  # 从01开始: A01, A02, A03, A04
    )


+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,
+        num_items_y=4,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=4,  # 从05开始: A05, A06, A07, A08
+    )
+
+
+
 def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
    """创建BioYond 4x1x2仓库"""
    return warehouse_factory(
@@ -34,7 +54,113 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
        category="warehouse",
        removed_positions=None
    )
+ # 定义benyond的堆栈
+def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=2,
+        num_items_z=2,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=10,
+        num_items_y=1,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=3,
+        num_items_z=3,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=1,
+        num_items_z=3,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )

+def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,
+        num_items_y=3,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=5,
+        num_items_y=1,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,
+        num_items_y=3,
+        num_items_z=1,
+        dx=12.0,
+        dy=12.0,
+        dz=12.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )

 def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
    """创建BioYond开关盖加液模块台面"""
@@ -51,4 +177,72 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
        item_dz=120.0,
        category="warehouse",
        removed_positions=None
+    )
+
+
+def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
+    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=8,  # 8列（01-08）
+        num_items_y=4,  # 4行（A-D）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
    )
--- a/unilabos/resources/container.py
+++ b/unilabos/resources/container.py
@@ -1,67 +1,84 @@
 import json
+from typing import Dict, Any

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

 from unilabos.ros.msgs.message_converter import convert_from_ros_msg


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

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

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

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

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

@@ -499,6 +535,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":

    def resource_ulab_to_plr_inner(resource: dict):
        all_states[resource["name"]] = resource["data"]
+        extra = resource.pop("extra", {})
        d = {
            "name": resource["name"],
            "type": resource["type"],
@@ -539,16 +576,18 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
        replace_info = {
            "plate": "plate",
            "well": "well",
-            "tip_spot": "container",
-            "trash": "container",
+            "tip_spot": "tip_spot",
+            "trash": "trash",
            "deck": "deck",
-            "tip_rack": "container",
+            "tip_rack": "tip_rack",
+            "warehouse": "warehouse",
+            "container": "container",
        }
        if source in replace_info:
            return replace_info[source]
        else:
            print("转换pylabrobot的时候，出现未知类型", source)
-            return "container"
+            return source

    def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
        r = {
@@ -576,13 +615,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
    return r


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

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

    Returns:
@@ -592,85 +631,168 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =

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

-        plr_material: ResourcePLR = initialize_resource(
+        plr_material_result = initialize_resource(
            {"name": material["name"], "class": className}, resource_type=ResourcePLR
        )
+
+        # initialize_resource 可能返回列表或单个对象
+        if isinstance(plr_material_result, list):
+            if len(plr_material_result) == 0:
+                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
+                continue
+            plr_material = plr_material_result[0]
+        else:
+            plr_material = plr_material_result
+
+        # 确保 plr_material 是 ResourcePLR 实例
+        if not isinstance(plr_material, ResourcePLR):
+            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
+            continue
+
        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
+        plr_material.unilabos_uuid = str(uuid.uuid4())

        # 处理子物料（detail）
        if material.get("detail") and len(material["detail"]) > 0:
+            for bottle in reversed(plr_material.children):
+                plr_material.unassign_child_resource(bottle)
            child_ids = []
            for detail in material["detail"]:
                number = (
                    (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
-                    + (detail.get("x", 0) - 1) * plr_material.num_items_x
-                    + (detail.get("y", 0) - 1)
+                    + (detail.get("y", 0) - 1) * plr_material.num_items_y
+                    + (detail.get("x", 0) - 1)
                )
-                bottle = plr_material[number]
-                if detail["name"] in type_mapping:
-                    # plr_material.unassign_child_resource(bottle)
-                    plr_material.sites[number] = None
-                    plr_material[number] = initialize_resource(
-                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
+                typeName = detail.get("typeName", detail.get("name", ""))
+                if typeName in type_mapping:
+                    bottle = plr_material[number] = initialize_resource(
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
                    )
-                else:
                    bottle.tracker.liquids = [
                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                    ]
-                bottle.code = detail.get("code", "")
+                    bottle.code = detail.get("code", "")
        else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-            bottle.tracker.liquids = [
-                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-            ]
+            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
+            if hasattr(plr_material, 'capacity'):
+                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+                bottle.tracker.liquids = [
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                ]

        plr_materials.append(plr_material)

        if deck and hasattr(deck, "warehouses"):
            for loc in material.get("locations", []):
-                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
-                    warehouse = deck.warehouses[loc["whName"]]
-                    idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
-                    )
+                wh_name = loc.get("whName")
+
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
+                if wh_name == "堆栈1":
+                    x_val = loc.get("x", 1)
+                    if 1 <= x_val <= 4:
+                        wh_name = "堆栈1左"
+                    elif 5 <= x_val <= 8:
+                        wh_name = "堆栈1右"
+                    else:
+                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        continue
+
+                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
+                    warehouse = deck.warehouses[wh_name]
+
+                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
+                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
+
+                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
+                    if wh_name == "堆栈1右":
+                        y = y - 4  # 将5-8映射到1-4
+
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
+                    else:
+                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
+                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
+                        row_idx = x - 1  # x表示行: 转为0-based
+                        col_idx = y - 1  # y表示列: 转为0-based
+                        layer_idx = z - 1  # 转为0-based
+                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
+                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
+
                    if 0 <= idx < warehouse.capacity:
                        if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                            warehouse[idx] = plr_material
+                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
+                    else:
+                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")

    return plr_materials


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

@@ -695,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
    elif type(resource_class_config) == str:
        # Allow special resource class names to be used
        if resource_class_config not in lab_registry.resource_type_registry:
+            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
+            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
            return [resource_config]
        # If the resource class is a string, look up the class in the
        # resource_type_registry and import it
@@ -717,6 +841,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
            else:
                r = resource_plr
        elif resource_class_config["type"] == "unilabos":
+            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
            res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
            res_instance.ulr_resource = convert_to_ros_msg(
                Resource, {k: v for k, v in resource_config.items() if k != "class"}
--- a/unilabos/resources/itemized_carrier.py
+++ b/unilabos/resources/itemized_carrier.py
@@ -32,6 +32,7 @@ class Bottle(Well):
        barcode: Optional[str] = "",
        category: str = "container",
        model: Optional[str] = None,
+        **kwargs,
    ):
        super().__init__(
            name=name,
@@ -73,9 +74,11 @@ class ItemizedCarrier(ResourcePLR):
    num_items_x: int = 0,
    num_items_y: int = 0,
    num_items_z: int = 0,
+    layout: str = "x-y",
    sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
    category: Optional[str] = "carrier",
    model: Optional[str] = None,
+    invisible_slots: Optional[str] = None,
  ):
    super().__init__(
      name=name,
@@ -87,6 +90,9 @@ class ItemizedCarrier(ResourcePLR):
    )
    self.num_items = len(sites)
    self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
+    self.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"
+
    if isinstance(sites, dict):
      sites = sites or {}
      self.sites: List[Optional[ResourcePLR]] = list(sites.values())
@@ -149,7 +155,7 @@ class ItemizedCarrier(ResourcePLR):
  def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
    if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
      raise ValueError(f"spot {spot} already has a resource, {resource}")
-    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
+    self.assign_child_resource(resource, location=self.child_locations.get(list(self._ordering.keys())[spot]), spot=spot)

  def unassign_child_resource(self, resource: ResourcePLR):
    found = False
@@ -160,8 +166,92 @@ class ItemizedCarrier(ResourcePLR):
        break
    if not found:
      raise ValueError(f"Resource {resource} is not assigned to this carrier")
-    if hasattr(resource, "unassign"):
-      resource.unassign()
+    super().unassign_child_resource(resource)
+    # if hasattr(resource, "unassign"):
+    #   resource.unassign()
+
+  def get_child_identifier(self, child: ResourcePLR):
+    """Get the identifier information for a given child resource.
+    
+    Args:
+        child: The Resource object to find the identifier for
+        
+    Returns:
+        dict: A dictionary containing:
+            - identifier: The string identifier (e.g. "A1", "B2")
+            - idx: The integer index in the sites list
+            - x: The x index (column index, 0-based)
+            - y: The y index (row index, 0-based)  
+            - z: The z index (layer index, 0-based)
+            
+    Raises:
+        ValueError: If the child resource is not found in this carrier
+    """
+    # Find the child resource in sites
+    for idx, resource in enumerate(self.sites):
+      if resource is child:
+        # Get the identifier from ordering keys
+        identifier = list(self._ordering.keys())[idx]
+        
+        # Parse identifier to get x, y, z indices
+        x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
+        
+        return {
+          "identifier": identifier,
+          "idx": idx,
+          "x": x_idx,
+          "y": y_idx,
+          "z": z_idx
+        }
+    
+    # If not found, raise an error
+    raise ValueError(f"Resource {child} is not assigned to this carrier")
+
+  def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
+    """Parse identifier string to get x, y, z indices.
+    
+    Args:
+        identifier: String identifier like "A1", "B2", etc.
+        idx: Linear index as fallback for calculation
+        
+    Returns:
+        Tuple of (x_idx, y_idx, z_idx)
+    """
+    # If we have explicit dimensions, calculate from idx
+    if self.num_items_x > 0 and self.num_items_y > 0:
+      # Calculate 3D indices from linear index
+      z_idx = idx // (self.num_items_x * self.num_items_y) if self.num_items_z > 0 else 0
+      remaining = idx % (self.num_items_x * self.num_items_y)
+      y_idx = remaining // self.num_items_x
+      x_idx = remaining % self.num_items_x
+      return x_idx, y_idx, z_idx
+    
+    # Fallback: parse from Excel-style identifier
+    if isinstance(identifier, str) and len(identifier) >= 2:
+      # Extract row (letter) and column (number)
+      row_letters = ""
+      col_numbers = ""
+      
+      for char in identifier:
+        if char.isalpha():
+          row_letters += char
+        elif char.isdigit():
+          col_numbers += char
+      
+      if row_letters and col_numbers:
+        # Convert letter(s) to row index (A=0, B=1, etc.)
+        y_idx = 0
+        for char in row_letters:
+          y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
+        
+        # Convert number to column index (1-based to 0-based)
+        x_idx = int(col_numbers) - 1
+        z_idx = 0  # Default layer
+        
+        return x_idx, y_idx, z_idx
+    
+    # If all else fails, assume linear arrangement
+    return idx, 0, 0

  def __getitem__(
    self,
@@ -319,9 +409,10 @@ class ItemizedCarrier(ResourcePLR):
      "num_items_x": self.num_items_x,
      "num_items_y": self.num_items_y,
      "num_items_z": self.num_items_z,
+      "layout": self.layout,
      "sites": [{
        "label": str(identifier),
-        "visible": True if self[identifier] is not None else False,
+        "visible": False if identifier in self.invisible_slots else True,
        "occupied_by": self[identifier].name 
                        if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else 
                        self[identifier] if isinstance(self[identifier], str) else None,
@@ -344,6 +435,8 @@ class BottleCarrier(ItemizedCarrier):
        sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
        category: str = "bottle_carrier",
        model: Optional[str] = None,
+        invisible_slots: List[str] = None,
+        **kwargs,
    ):
        super().__init__(
            name=name,
@@ -353,4 +446,5 @@ class BottleCarrier(ItemizedCarrier):
            sites=sites,
            category=category,
            model=model,
+            invisible_slots=invisible_slots,
        )
--- a/unilabos/resources/warehouse.py
+++ b/unilabos/resources/warehouse.py
@@ -5,10 +5,13 @@ from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_reso
 from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR


+LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+
+
 def warehouse_factory(
    name: str,
-    num_items_x: int = 4,
-    num_items_y: int = 1,
+    num_items_x: int = 1,
+    num_items_y: int = 4,
    num_items_z: int = 4,
    dx: float = 137.0,
    dy: float = 96.0,
@@ -20,6 +23,7 @@ def warehouse_factory(
    empty: bool = False,
    category: str = "warehouse",
    model: Optional[str] = None,
+    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
    # 创建16个板架位 (4层 x 4位置)
    locations = []
@@ -33,14 +37,19 @@ def warehouse_factory(
                locations.append(Coordinate(x, y, z))
    if removed_positions:
        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    sites = create_homogeneous_resources(
+    _sites = create_homogeneous_resources(
        klass=ResourceHolder,
        locations=locations,
        resource_size_x=127.0,
        resource_size_y=86.0,
        name_prefix=name,
    )
-    
+    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
+    # 应用列偏移量，支持A05-D08等命名
+    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
+    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
+    sites = {i: site for i, site in zip(keys, _sites.values())}
+
    return WareHouse(
        name=name,
        size_x=dx + item_dx * num_items_x,
@@ -68,6 +77,7 @@ class WareHouse(ItemizedCarrier):
        num_items_x: int,
        num_items_y: int,
        num_items_z: int,
+        layout: str = "x-y",
        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
        category: str = "warehouse",
        model: Optional[str] = None,
@@ -83,6 +93,7 @@ class WareHouse(ItemizedCarrier):
            num_items_x=num_items_x,
            num_items_y=num_items_y,
            num_items_z=num_items_z,
+            layout=layout,
            sites=sites,
            category=category,
            model=model,
--- a/unilabos/ros/initialize_device.py
+++ b/unilabos/ros/initialize_device.py
@@ -26,6 +26,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
    d = None
    original_device_config = copy.deepcopy(device_config)
    device_class_config = device_config["class"]
+    uid = device_config["uuid"]
    if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
        if len(device_class_config) == 0:
            raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
@@ -50,7 +51,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
        )
        try:
            d = DEVICE(
-                device_id=device_id, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
            )
        except DeviceInitError as ex:
            return d
--- a/unilabos/ros/main_slave_run.py
+++ b/unilabos/ros/main_slave_run.py
@@ -10,7 +10,7 @@ from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
 from unilabos_msgs.srv import SerialCommand  # type: ignore
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer

--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -6,7 +6,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union

 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -49,11 +49,11 @@ from unilabos_msgs.msg import Resource  # type: ignore

 from unilabos.ros.nodes.resource_tracker import (
    DeviceNodeResourceTracker,
-    ResourceTreeSet,
+    ResourceTreeSet, ResourceTreeInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from unilabos.utils.async_util import run_async_func
+from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -132,6 +132,7 @@ class ROSLoggerAdapter:
 def init_wrapper(
    self,
    device_id: str,
+    device_uuid: str,
    driver_class: type[T],
    device_config: Dict[str, Any],
    status_types: Dict[str, Any],
@@ -150,6 +151,7 @@ def init_wrapper(
    if children is None:
        children = []
    kwargs["device_id"] = device_id
+    kwargs["device_uuid"] = device_uuid
    kwargs["driver_class"] = driver_class
    kwargs["device_config"] = device_config
    kwargs["driver_params"] = driver_params
@@ -266,6 +268,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        self,
        driver_instance: T,
        device_id: str,
+        device_uuid: str,
        status_types: Dict[str, Any],
        action_value_mappings: Dict[str, Any],
        hardware_interface: Dict[str, Any],
@@ -278,6 +281,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        Args:
            driver_instance: 设备实例
            device_id: 设备标识符
+            device_uuid: 设备标识符
            status_types: 需要发布的状态和传感器信息
            action_value_mappings: 设备动作
            hardware_interface: 硬件接口配置
@@ -285,7 +289,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        """
        self.driver_instance = driver_instance
        self.device_id = device_id
-        self.uuid = str(uuid.uuid4())
+        self.uuid = device_uuid
        self.publish_high_frequency = False
        self.callback_group = ReentrantCallbackGroup()
        self.resource_tracker = resource_tracker
@@ -334,12 +338,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):

        # 创建资源管理客户端
        self._resource_clients: Dict[str, Client] = {
-            "resource_add": self.create_client(ResourceAdd, "/resources/add"),
-            "resource_get": self.create_client(SerialCommand, "/resources/get"),
-            "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
-            "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
-            "resource_list": self.create_client(ResourceList, "/resources/list"),
-            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"),
+            "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
+            "resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group),
+            "resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group),
+            "resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group),
+            "resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group),
+            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group),
        }

        def re_register_device(req, res):
@@ -551,9 +555,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        rclpy.get_global_executor().add_node(self)
        self.lab_logger().debug(f"ROS节点初始化完成")

+    async def sleep(self, rel_time: float, callback_group=None):
+        if callback_group is None:
+            callback_group = self.callback_group
+        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
+
+    @classmethod
+    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
+        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
+
    async def update_resource(self, resources: List["ResourcePLR"]):
        r = SerialCommand.Request()
        tree_set = ResourceTreeSet.from_plr_resources(resources)
+        for tree in tree_set.trees:
+            root_node = tree.root_node
+            if not root_node.res_content.uuid_parent:
+                logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
+                root_node.res_content.parent_uuid = self.uuid
        r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
        response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
        try:
@@ -564,6 +582,52 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            self.lab_logger().error(traceback.format_exc())
        self.lab_logger().debug(f"资源更新结果: {response}")

+    def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]):
+        parent_uuid = tree.root_node.res_content.parent_uuid
+        if parent_uuid:
+            parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+            if parent_resource is None:
+                self.lab_logger().warning(
+                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                )
+            else:
+                try:
+                    # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                    additional_params = {}
+                    extra = getattr(plr_resource, "unilabos_extra", {})
+                    if len(extra):
+                        self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
+                    if "update_resource_site" in extra:
+                        additional_add_params["site"] = extra["update_resource_site"]
+                    site = additional_add_params.get("site", None)
+                    spec = inspect.signature(parent_resource.assign_child_resource)
+                    if "spot" in spec.parameters:
+                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                        if ordering_dict:
+                            site = list(ordering_dict.keys()).index(site)
+                        additional_params["spot"] = site
+                    old_parent = plr_resource.parent
+                    if old_parent is not None:
+                        # plr并不支持同一个deck的加载和卸载
+                        self.lab_logger().warning(
+                            f"物料{plr_resource}请求从{old_parent}卸载"
+                        )
+                        old_parent.unassign_child_resource(plr_resource)
+                    self.lab_logger().warning(
+                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
+                    )
+                    parent_resource.assign_child_resource(
+                        plr_resource, location=None, **additional_params
+                    )
+                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                    if callable(func):
+                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                        func(old_parent, plr_resource, parent_resource)
+                except Exception as e:
+                    self.lab_logger().warning(
+                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                    )
+
    async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
        """
        处理资源树更新请求
@@ -573,6 +637,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        - update: 更新现有资源
        - remove: 从资源树中移除资源
        """
+        from pylabrobot.resources.resource import Resource as ResourcePLR
        try:
            data = json.loads(req.command)
            results = []
@@ -591,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    ].call_async(
                        SerialCommand.Request(
                            command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
                            )
                        )
                    )  # type: ignore
@@ -603,28 +668,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                        plr_resources = tree_set.to_plr_resources()
                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
                            self.resource_tracker.add_resource(plr_resource)
-                            parent_uuid = tree.root_node.res_content.parent_uuid
-                            if parent_uuid:
-                                parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
-                                if parent_resource is None:
-                                    self.lab_logger().warning(
-                                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
-                                    )
-                                else:
-                                    try:
-                                        # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
-                                        additional_params = {}
-                                        site = additional_add_params.get("site", None)
-                                        spec = inspect.signature(parent_resource.assign_child_resource)
-                                        if "spot" in spec.parameters:
-                                            additional_params["spot"] = site
-                                        parent_resource.assign_child_resource(
-                                            plr_resource, location=None, **additional_params
-                                        )
-                                    except Exception as e:
-                                        self.lab_logger().warning(
-                                            f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
-                                        )
+                            self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
                        func = getattr(self.driver_instance, "resource_tree_add", None)
                        if callable(func):
                            func(plr_resources)
@@ -637,6 +681,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            original_instance: ResourcePLR = self.resource_tracker.figure_resource(
                                {"uuid": tree.root_node.res_content.uuid}, try_mode=False
                            )
+                            original_parent_resource = original_instance.parent
+                            original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                            target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+                            self.lab_logger().info(
+                                f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
+                            )
+                            # todo: 对extra进行update
+                            if getattr(plr_resource, "unilabos_extra", None) is not None:
+                                original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
+                            if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
+                                self.transfer_to_new_resource(original_instance, tree, additional_add_params)
                            original_instance.load_all_state(states)
                            self.lab_logger().info(
                                f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
@@ -648,15 +703,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            results.append({"success": True, "action": "update"})
                    elif action == "remove":
                        # 移除资源
-                        plr_resources: List[ResourcePLR] = [
-                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
-                        ]
+                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
+                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
+                        )
+                        found_plr_resources = []
+                        other_plr_resources = []
+                        for found_resource in found_resources:
+                            for resource in found_resource:
+                                if issubclass(resource.__class__, ResourcePLR):
+                                    found_plr_resources.append(resource)
+                                else:
+                                    other_plr_resources.append(resource)
                        func = getattr(self.driver_instance, "resource_tree_remove", None)
                        if callable(func):
-                            func(plr_resources)
-                        for plr_resource in plr_resources:
-                            plr_resource.parent.unassign_child_resource(plr_resource)
+                            func(found_plr_resources)
+                        for plr_resource in found_plr_resources:
+                            if plr_resource.parent is not None:
+                                plr_resource.parent.unassign_child_resource(plr_resource)
                            self.resource_tracker.remove_resource(plr_resource)
+                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                        for other_plr_resource in other_plr_resources:
+                            self.resource_tracker.remove_resource(other_plr_resource)
+                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
                        results.append({"success": True, "action": "remove"})
                except Exception as e:
                    error_msg = f"Error processing {action} operation: {str(e)}"
@@ -856,7 +924,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            action_type,
            action_name,
            execute_callback=self._create_execute_callback(action_name, action_value_mapping),
-            callback_group=ReentrantCallbackGroup(),
+            callback_group=self.callback_group,
        )

        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
@@ -920,7 +988,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            queried_resources = []
                            for resource_data in resource_inputs:
                                r = SerialCommand.Request()
-                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+                                r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
                                # 发送请求并等待响应
                                response: SerialCommand_Response = await self._resource_clients[
                                    "resource_get"
@@ -936,7 +1004,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):

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

                        except Exception as e:
                            self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
@@ -1323,18 +1394,27 @@ class ROS2DeviceNode:
    它不继承设备类，而是通过代理模式访问设备类的属性和方法。
    """

-    # 类变量，用于循环管理
-    _loop = None
-    _loop_running = False
-    _loop_thread = None
+    @classmethod
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
+        def _handle_future_exception(fut):
+            try:
+                fut.result()
+            except Exception as e:
+                error(f"异步任务 {func.__name__} 报错了")
+                error(traceback.format_exc())
+
+        future = rclpy.get_global_executor().create_task(func(**kwargs))
+        if trace_error:
+            future.add_done_callback(_handle_future_exception)
+        return future

    @classmethod
-    def get_loop(cls):
-        return cls._loop
-
-    @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs):
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
+        future = Future()
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
+        await future
+        timer.cancel()
+        node.destroy_timer(timer)

    @property
    def driver_instance(self):
@@ -1347,6 +1427,7 @@ class ROS2DeviceNode:
    def __init__(
        self,
        device_id: str,
+        device_uuid: str,
        driver_class: Type[T],
        device_config: Dict[str, Any],
        driver_params: Dict[str, Any],
@@ -1362,6 +1443,7 @@ class ROS2DeviceNode:

        Args:
            device_id: 设备标识符
+            device_uuid: 设备uuid
            driver_class: 设备类
            device_config: 原始初始化的json
            driver_params: driver初始化的参数
@@ -1372,11 +1454,6 @@ class ROS2DeviceNode:
            print_publish: 是否打印发布信息
            driver_is_ros:
        """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._loop_thread is None:
-            self._start_loop()

        # 保存设备类是否支持异步上下文
        self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1436,6 +1513,7 @@ class ROS2DeviceNode:
                children=children,
                driver_instance=self._driver_instance,  # type: ignore
                device_id=device_id,
+                device_uuid=device_uuid,
                status_types=status_types,
                action_value_mappings=action_value_mappings,
                hardware_interface=hardware_interface,
@@ -1446,6 +1524,7 @@ class ROS2DeviceNode:
            self._ros_node = BaseROS2DeviceNode(
                driver_instance=self._driver_instance,
                device_id=device_id,
+                device_uuid=device_uuid,
                status_types=status_types,
                action_value_mappings=action_value_mappings,
                hardware_interface=hardware_interface,
@@ -1463,17 +1542,6 @@ class ROS2DeviceNode:
            except Exception as e:
                self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")

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

 class DeviceInfoType(TypedDict):
    id: str
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -19,6 +19,7 @@ from unilabos_msgs.srv import (
    ResourceUpdate,
    ResourceList,
    SerialCommand,
+    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -41,6 +42,7 @@ from unilabos.ros.nodes.resource_tracker import (
    ResourceTreeSet,
    ResourceTreeInstance,
 )
+from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -99,17 +101,6 @@ class HostNode(BaseROS2DeviceNode):
        """
        if self._instance is not None:
            self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
-        # 初始化Node基类，传递空参数覆盖列表
-        BaseROS2DeviceNode.__init__(
-            self,
-            driver_instance=self,
-            device_id=device_id,
-            status_types={},
-            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
-        )

        # 设置单例实例
        self.__class__._instance = self
@@ -127,6 +118,91 @@ class HostNode(BaseROS2DeviceNode):
            bridges = []
        self.bridges = bridges

+        # 创建 host_node 作为一个单独的 ResourceTree
+        host_node_dict = {
+            "id": "host_node",
+            "uuid": str(uuid.uuid4()),
+            "parent_uuid": "",
+            "name": "host_node",
+            "type": "device",
+            "class": "host_node",
+            "config": {},
+            "data": {},
+            "children": [],
+            "description": "",
+            "schema": {},
+            "model": {},
+            "icon": "",
+        }
+
+        # 创建 host_node 的 ResourceTree
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
+        host_node_tree = ResourceTreeInstance(host_node_instance)
+        resources_config.trees.insert(0, host_node_tree)
+        try:
+            for bridge in self.bridges:
+                if hasattr(bridge, "resource_tree_add") and resources_config:
+                    from unilabos.app.web.client import HTTPClient
+
+                    client: HTTPClient = bridge
+                    resource_start_time = time.time()
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
+                    device_uuid = resources_config.root_nodes[0].res_content.uuid
+                    resource_end_time = time.time()
+                    logger.info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
+                    resource_edge_end_time = time.time()
+                    logger.info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    # # 创建反向映射：new_uuid -> old_uuid
+                    # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+                    # for tree in resources_config.trees:
+                    #     node = tree.root_node
+                    #     if node.res_content.type == "device":
+                    #         if node.res_content.id == "host_node":
+                    #             continue
+                    #         # slave节点走c2s更新接口，拿到add自行update uuid
+                    #         device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
+                    #         if old_uuid:
+                    #             # 找到旧UUID，使用UUID查找
+                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
+                    #         else:
+                    #             # 未找到旧UUID，使用name查找
+                    #             resource_instance = device_tracker.figure_resource(
+                    #                 {"name": node.res_content.name}
+                    #             )
+                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                    #     else:
+                    #         try:
+                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                    #                 self.resource_tracker.add_resource(plr_resource)
+                    #         except Exception as ex:
+                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+        except Exception as ex:
+            logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
+        # 初始化Node基类，传递空参数覆盖列表
+        BaseROS2DeviceNode.__init__(
+            self,
+            driver_instance=self,
+            device_id=device_id,
+            device_uuid=host_node_dict["uuid"],
+            status_types={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
+        )
+
        # 创建设备、动作客户端和目标存储
        self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
        self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
@@ -207,84 +283,10 @@ class HostNode(BaseROS2DeviceNode):
            ].items():
                controller_config["update_rate"] = update_rate
                self.initialize_controller(controller_id, controller_config)
-        # 创建 host_node 作为一个单独的 ResourceTree

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

        # 添加ping-pong相关属性
@@ -493,7 +495,7 @@ class HostNode(BaseROS2DeviceNode):
        if len(init_new_res) > 1:  # 一个物料，多个子节点
            init_new_res = [init_new_res]
        resources: List[Resource] | List[List[Resource]] = init_new_res  # initialize_resource已经返回list[dict]
-        device_ids = [device_id]
+        device_ids = [device_id.split("/")[-1]]
        bind_parent_id = [res_creation_input["parent"]]
        bind_location = [bind_locations]
        other_calling_param = [
@@ -617,7 +619,7 @@ class HostNode(BaseROS2DeviceNode):
                                topic,
                                lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
                                1,
-                                callback_group=ReentrantCallbackGroup(),
+                                callback_group=self.callback_group,
                            )
                            # 标记为已订阅
                            self._subscribed_topics.add(topic)
@@ -828,41 +830,41 @@ class HostNode(BaseROS2DeviceNode):
    def _init_host_service(self):
        self._resource_services: Dict[str, Service] = {
            "resource_add": self.create_service(
-                ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
+                ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=self.callback_group
            ),
            "resource_get": self.create_service(
-                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
+                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group
            ),
            "resource_delete": self.create_service(
                ResourceDelete,
                "/resources/delete",
                self._resource_delete_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
            ),
            "resource_update": self.create_service(
                ResourceUpdate,
                "/resources/update",
                self._resource_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
            ),
            "resource_list": self.create_service(
-                ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
+                ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group
            ),
            "node_info_update": self.create_service(
                SerialCommand,
                "/node_info_update",
                self._node_info_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
            ),
            "c2s_update_resource_tree": self.create_service(
                SerialCommand,
                "/c2s_update_resource_tree",
                self._resource_tree_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
            ),
        }

-    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
        resource_tree_set = ResourceTreeSet.load(data["data"])
        mount_uuid = data["mount_uuid"]
        first_add = data["first_add"]
@@ -903,7 +905,7 @@ class HostNode(BaseROS2DeviceNode):
        response.response = json.dumps(uuid_mapping) if success else "FAILED"
        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")

-    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
        uuid_list: List[str] = data["data"]
        with_children: bool = data["with_children"]
        from unilabos.app.web.client import http_client
@@ -911,7 +913,7 @@ class HostNode(BaseROS2DeviceNode):
        resource_response = http_client.resource_tree_get(uuid_list, with_children)
        response.response = json.dumps(resource_response)

-    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+    async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
        """
        子节点通知Host物料树删除
        """
@@ -919,7 +921,7 @@ class HostNode(BaseROS2DeviceNode):
        response.response = "OK"
        self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")

-    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+    async def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
        """
        子节点通知Host物料树更新
        """
@@ -932,20 +934,29 @@ class HostNode(BaseROS2DeviceNode):

        from unilabos.app.web.client import http_client

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

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

@@ -958,13 +969,13 @@ class HostNode(BaseROS2DeviceNode):
            action = data["action"]
            data = data["data"]
            if action == "add":
-                self._resource_tree_action_add_callback(data, response)
+                await self._resource_tree_action_add_callback(data, response)
            elif action == "get":
-                self._resource_tree_action_get_callback(data, response)
+                await self._resource_tree_action_get_callback(data, response)
            elif action == "update":
-                self._resource_tree_action_update_callback(data, response)
+                await self._resource_tree_action_update_callback(data, response)
            elif action == "remove":
-                self._resource_tree_action_remove_callback(data, response)
+                await self._resource_tree_action_remove_callback(data, response)
            else:
                self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
                response.response = "ERROR"
@@ -1060,7 +1071,12 @@ class HostNode(BaseROS2DeviceNode):
        """
        try:
            data = json.loads(request.command)
-            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            if "uuid" in data and data["uuid"] is not None:
+                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+            elif "id" in data and data["id"].startswith("/"):
+                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            else:
+                raise ValueError("没有使用正确的物料 id 或 uuid")
            response.response = json.dumps(http_req["data"])
            return response
        except Exception as e:
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -6,13 +6,14 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING

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

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

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

 if TYPE_CHECKING:
    from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -50,6 +51,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
        *,
        driver_instance: "WorkstationBase",
        device_id: str,
+        device_uuid: str,
        status_types: Dict[str, Any],
        action_value_mappings: Dict[str, Any],
        hardware_interface: Dict[str, Any],
@@ -64,6 +66,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
        super().__init__(
            driver_instance=driver_instance,
            device_id=device_id,
+            device_uuid=device_uuid,
            status_types=status_types,
            action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
            hardware_interface=hardware_interface,
@@ -191,7 +194,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
            action_type,
            action_name,
            execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
-            callback_group=ReentrantCallbackGroup(),
+            callback_group=self.callback_group,
        )
        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
        return
@@ -222,16 +225,29 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                # 向Host查询物料当前状态
                for k, v in goal.get_fields_and_field_types().items():
                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceGet.Request()
-                        resource_id = (
-                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                        )
-                        r.id = resource_id
-                        r.with_children = True
-                        response = await self._resource_clients["resource_get"].call_async(r)
-                        protocol_kwargs[k] = list_to_nested_dict(
-                            [convert_from_ros_msg(rs) for rs in response.resources]
-                        )
+                        self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
+
+                        try:
+                            # 统一处理单个或多个资源
+                            resource_id = (
+                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                            )
+                            resource_uuid = protocol_kwargs[k].get("uuid", None)
+                            r = SerialCommand_Request()
+                            r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
+                            # 发送请求并等待响应
+                            response: SerialCommand_Response = await self._resource_clients[
+                                "resource_get"
+                            ].call_async(
+                                r
+                            )  # type: ignore
+                            raw_data = json.loads(response.response)
+                            tree_set = ResourceTreeSet.from_raw_list(raw_data)
+                            target = tree_set.dump()
+                            protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
+                        except Exception as ex:
+                            self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
+                            raise

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

--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -1,3 +1,4 @@
+import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
@@ -31,7 +32,7 @@ class ResourceDictPositionObject(BaseModel):
 class ResourceDictPosition(BaseModel):
    size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
    scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
-    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
+    layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
    position: ResourceDictPositionObject = Field(
        description="Resource position", default_factory=ResourceDictPositionObject
    )
@@ -41,6 +42,9 @@ class ResourceDictPosition(BaseModel):
    rotation: ResourceDictPositionObject = Field(
        description="Resource rotation", default_factory=ResourceDictPositionObject
    )
+    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
+        description="Cross section type", default="rectangle"
+    )


 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -49,7 +53,9 @@ class ResourceDict(BaseModel):
    uuid: str = Field(description="Resource UUID")
    name: str = Field(description="Resource name")
    description: str = Field(description="Resource description", default="")
-    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
+    resource_schema: Dict[str, Any] = Field(
+        description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema"
+    )
    model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
    icon: str = Field(description="Resource icon", default="")
    parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None)  # 先设定parent_uuid
@@ -57,8 +63,10 @@ class ResourceDict(BaseModel):
    type: Literal["device"] | str = Field(description="Resource type")
    klass: str = Field(alias="class", description="Resource class name")
    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
+    pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
    config: Dict[str, Any] = Field(description="Resource configuration")
    data: Dict[str, Any] = Field(description="Resource data")
+    extra: Dict[str, Any] = Field(description="Extra data")

    @field_serializer("parent_uuid")
    def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
@@ -135,12 +143,16 @@ class ResourceDictInstance(object):
            content["config"] = {}
        if not content.get("data"):
            content["data"] = {}
+        if not content.get("extra"):  # MagicCode
+            content["extra"] = {}
+        if "pose" not in content:
+            content["pose"] = content.get("position", {})
        return ResourceDictInstance(ResourceDict.model_validate(content))

    def get_nested_dict(self) -> Dict[str, Any]:
        """获取资源实例的嵌套字典表示"""
        res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
        res_dict["parent"] = self.res_content.parent_instance_name
        res_dict["position"] = self.res_content.position.position.model_dump()
        return res_dict
@@ -213,7 +225,7 @@ class ResourceTreeInstance(object):
            if node.res_content.uuid:
                known_uuids.add(node.res_content.uuid)
            else:
-                print(f"警告: 资源 {node.res_content.id} 没有uuid")
+                logger.warning(f"警告: 资源 {node.res_content.id} 没有uuid")

            # 验证并递归处理子节点
            for child in node.children:
@@ -289,8 +301,6 @@ class ResourceTreeSet(object):
        elif isinstance(resource_list[0], ResourceTreeInstance):
            # 已经是ResourceTree列表
            self.trees = cast(List[ResourceTreeInstance], resource_list)
-        elif isinstance(resource_list[0], list):
-            pass
        else:
            raise TypeError(
                f"不支持的类型: {type(resource_list[0])}。"
@@ -307,27 +317,52 @@ class ResourceTreeSet(object):
            replace_info = {
                "plate": "plate",
                "well": "well",
-                "tip_spot": "container",
-                "trash": "container",
                "deck": "deck",
-                "tip_rack": "container",
+                "tip_rack": "tip_rack",
+                "tip_spot": "tip_spot",
+                "tube": "tube",
+                "bottle_carrier": "bottle_carrier",
            }
            if source in replace_info:
                return replace_info[source]
            else:
                print("转换pylabrobot的时候，出现未知类型", source)
-                return "container"
+                return source

-        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
-            """递归构建uuid映射字典"""
-            uuid_list.append(getattr(res, "unilabos_uuid", ""))
+        def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
+            """递归构建uuid和extra映射字典，返回(current_uuid, parent_uuid, extra)元组列表"""
+            uid = getattr(res, "unilabos_uuid", "")
+            if not uid:
+                uid = str(uuid.uuid4())
+                res.unilabos_uuid = uid
+                logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
+
+            # 获取unilabos_extra，默认为空字典
+            extra = getattr(res, "unilabos_extra", {})
+
+            uuid_list.append((uid, parent_uuid, extra))
            for child in res.children:
-                build_uuid_mapping(child, uuid_list)
+                build_uuid_mapping(child, uuid_list, uid)

        def resource_plr_inner(
            d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
        ) -> ResourceDictInstance:
-            current_uuid = uuids.pop(0)
+            current_uuid, parent_uuid, extra = uuids.pop(0)
+
+            raw_pos = (
+                {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                if d["location"]
+                else {"x": 0, "y": 0, "z": 0}
+            )
+            pos = {
+                "size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
+                "scale": {"x": 1.0, "y": 1.0, "z": 1.0},
+                "layout": d.get("layout", "x-y"),
+                "position": raw_pos,
+                "position3d": raw_pos,
+                "rotation": d["rotation"],
+                "cross_section_type": d.get("cross_section_type", "rectangle"),
+            }

            # 先构建当前节点的字典（不包含children）
            r_dict = {
@@ -335,15 +370,30 @@ class ResourceTreeSet(object):
                "uuid": current_uuid,
                "name": d["name"],
                "parent": parent_resource,  # 直接传入 ResourceDict 对象
+                "parent_uuid": parent_uuid,  # 使用 parent_uuid 而不是 parent 对象
                "type": replace_plr_type(d.get("category", "")),
                "class": d.get("class", ""),
-                "position": (
-                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
-                    if d["location"]
-                    else {"x": 0, "y": 0, "z": 0}
-                ),
-                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
+                "position": pos,
+                "pose": pos,
+                "config": {
+                    k: v
+                    for k, v in d.items()
+                    if k
+                    not in [
+                        "name",
+                        "children",
+                        "parent_name",
+                        "location",
+                        "rotation",
+                        "size_x",
+                        "size_y",
+                        "size_z",
+                        "cross_section_type",
+                        "bottom_type",
+                    ]
+                },
                "data": states[d["name"]],
+                "extra": extra,
            }

            # 先转换为 ResourceDictInstance，获取其中的 ResourceDict
@@ -361,7 +411,7 @@ class ResourceTreeSet(object):
        for resource in resources:
            # 构建uuid列表
            uuid_list = []
-            build_uuid_mapping(resource, uuid_list)
+            build_uuid_mapping(resource, uuid_list, getattr(resource.parent, "unilabos_uuid", None))

            serialized_data = resource.serialize()
            all_states = resource.serialize_all_state()
@@ -384,25 +434,27 @@ class ResourceTreeSet(object):
        import inspect

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

-        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
-            """一次遍历收集 name_to_uuid 和 all_states"""
+        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
+            """一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
            name_to_uuid[node.res_content.name] = node.res_content.uuid
            all_states[node.res_content.name] = node.res_content.data
+            name_to_extra[node.res_content.name] = node.res_content.extra
            for child in node.children:
-                collect_node_data(child, name_to_uuid, all_states)
+                collect_node_data(child, name_to_uuid, all_states, name_to_extra)

        def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
            """转换节点为 PLR 字典格式"""
            res = node.res_content
-            plr_type = TYPE_MAP.get(res.type, "tip_spot")
+            plr_type = TYPE_MAP.get(res.type, res.type)
            if res.type not in TYPE_MAP:
-                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
+                logger.warning(f"未知类型 {res.type}")

            d = {
+                **res.config,
                "name": res.name,
-                "type": plr_type,
+                "type": res.config.get("type", plr_type),
                "size_x": res.config.get("size_x", 0),
                "size_y": res.config.get("size_y", 0),
                "size_z": res.config.get("size_z", 0),
@@ -413,36 +465,38 @@ class ResourceTreeSet(object):
                    "type": "Coordinate",
                },
                "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-                "category": plr_type,
+                "category": res.config.get("category", plr_type),
                "children": [node_to_plr_dict(child, has_model) for child in node.children],
                "parent_name": res.parent_instance_name,
-                **res.config,
            }
            if has_model:
                d["model"] = res.config.get("model", None)
            return d

        plr_resources = []
-        trees = []
        tracker = DeviceNodeResourceTracker()

        for tree in self.trees:
            name_to_uuid: Dict[str, str] = {}
            all_states: Dict[str, Any] = {}
-            collect_node_data(tree.root_node, name_to_uuid, all_states)
+            name_to_extra: Dict[str, dict] = {}
+            collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
            has_model = tree.root_node.res_content.type != "deck"
            plr_dict = node_to_plr_dict(tree.root_node, has_model)
            try:
                sub_cls = find_subclass(plr_dict["type"], PLRResource)
                if sub_cls is None:
-                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
+                    raise ValueError(
+                        f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
+                    )
                spec = inspect.signature(sub_cls)
                if "category" not in spec.parameters:
                    plr_dict.pop("category", None)
                plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                plr_resource.load_all_state(all_states)
-                # 使用 DeviceNodeResourceTracker 设置 UUID
+                # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                tracker.loop_set_uuid(plr_resource, name_to_uuid)
+                tracker.loop_set_extra(plr_resource, name_to_extra)
                plr_resources.append(plr_resource)

            except Exception as e:
@@ -715,16 +769,9 @@ class ResourceTreeSet(object):
        Returns:
            ResourceTreeSet: 反序列化后的资源树集合
        """
-        # 将每个字典转换为 ResourceInstanceDict
-        # FIXME: 需要重新确定parent关系
        nested_lists = []
        for tree_data in data:
-            flatten_instances = [
-                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
-            ]
-            nested_lists.append(flatten_instances)
-
-        # 使用现有的构造函数创建 ResourceTreeSet
+            nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
        return cls(nested_lists)


@@ -777,7 +824,8 @@ class DeviceNodeResourceTracker(object):
        else:
            return getattr(resource, uuid_attr, None)

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

@@ -790,6 +838,26 @@ class DeviceNodeResourceTracker(object):
        else:
            setattr(resource, "unilabos_uuid", new_uuid)

+    @staticmethod
+    def set_resource_extra(resource, extra: dict):
+        """
+        设置资源的 extra，统一处理 dict 和 instance 两种类型
+
+        Args:
+            resource: 资源对象（dict或实例）
+            extra: extra字典值
+        """
+        if isinstance(resource, dict):
+            # ⭐ 修复：合并extra而不是覆盖
+            current_extra = resource.get("extra", {})
+            current_extra.update(extra)
+            resource["extra"] = current_extra
+        else:
+            # ⭐ 修复：合并unilabos_extra而不是覆盖
+            current_extra = getattr(resource, "unilabos_extra", {})
+            current_extra.update(extra)
+            setattr(resource, "unilabos_extra", current_extra)
+
    def _traverse_and_process(self, resource, process_func) -> int:
        """
        递归遍历资源树，对每个节点执行处理函数
@@ -830,7 +898,7 @@ class DeviceNodeResourceTracker(object):
            resource_name = self._get_resource_attr(res, "name")
            if resource_name and resource_name in name_to_uuid_map:
                new_uuid = name_to_uuid_map[resource_name]
-                self._set_resource_uuid(res, new_uuid)
+                self.set_resource_uuid(res, new_uuid)
                self.uuid_to_resources[new_uuid] = res
                logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
                return 1
@@ -838,11 +906,34 @@ class DeviceNodeResourceTracker(object):

        return self._traverse_and_process(resource, process)

+    def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
+        """
+        递归遍历资源树，根据 name 设置所有节点的 extra
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            name_to_extra_map: name到extra的映射字典，{name: extra}
+
+        Returns:
+            更新的资源数量
+        """
+
+        def process(res):
+            resource_name = self._get_resource_attr(res, "name")
+            if resource_name and resource_name in name_to_extra_map:
+                extra = name_to_extra_map[resource_name]
+                self.set_resource_extra(res, extra)
+                logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
+                return 1
+            return 0
+
+        return self._traverse_and_process(resource, process)
+
    def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int:
        """
        递归遍历资源树，更新所有节点的uuid

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

@@ -852,17 +943,18 @@ class DeviceNodeResourceTracker(object):

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

        return self._traverse_and_process(resource, process)

@@ -877,8 +969,11 @@ class DeviceNodeResourceTracker(object):
        def process(res):
            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
            if current_uuid:
+                old = self.uuid_to_resources.get(current_uuid)
                self.uuid_to_resources[current_uuid] = res
-                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res}")
+                logger.debug(
+                    f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
+                )
            return 0

        self._traverse_and_process(resource, process)
@@ -913,9 +1008,23 @@ class DeviceNodeResourceTracker(object):
        Args:
            resource: 资源对象（可以是dict或实例）
        """
+        root_uuids = {}
        for r in self.resources:
+            res_uuid = r.get("uuid") if isinstance(r, dict) else getattr(r, "unilabos_uuid", None)
+            if res_uuid:
+                root_uuids[res_uuid] = r
            if id(r) == id(resource):
                return
+
+        # 这里只做uuid的根节点比较
+        if isinstance(resource, dict):
+            res_uuid = resource.get("uuid")
+        else:
+            res_uuid = getattr(resource, "unilabos_uuid", None)
+        if res_uuid in root_uuids:
+            old_res = root_uuids[res_uuid]
+            # self.remove_resource(old_res)
+            logger.warning(f"资源{resource}已存在，旧资源: {old_res}")
        self.resources.append(resource)
        # 递归收集uuid映射
        self._collect_uuid_mapping(resource)
@@ -1046,13 +1155,19 @@ class DeviceNodeResourceTracker(object):
    ) -> List[Tuple[Any, Any]]:
        res_list = []
        # print(resource, target_resource_cls_type, identifier_key, compare_value)
-        children = getattr(resource, "children", [])
+        children = []
+        if not isinstance(resource, dict):
+            children = getattr(resource, "children", [])
+        else:
+            children = resource.get("children")
+            if children is not None:
+                children = list(children.values()) if isinstance(children, dict) else children
        for child in children:
            res_list.extend(
                self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
            )
        if issubclass(type(resource), target_resource_cls_type):
-            if target_resource_cls_type == dict:
+            if type(resource) == dict:
                # 对于字典类型，直接检查 identifier_key
                if identifier_key in resource:
                    if resource[identifier_key] == compare_value:
--- a/unilabos/ros/utils/driver_creator.py
+++ b/unilabos/ros/utils/driver_creator.py
@@ -336,6 +336,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
        try:
            # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
            data["children"] = self.children
+            for material_id, child in self.children.items():
+                if child["type"] != "device":
+                    self.resource_tracker.add_resource(self.children[material_id])
            deck_dict = data.get("deck")
            if deck_dict:
                from pylabrobot.resources import Deck, Resource
--- a/unilabos/utils/async_util.py
+++ b/unilabos/utils/async_util.py
@@ -1,22 +0,0 @@
-import asyncio
-import traceback
-from asyncio import get_event_loop
-
-from unilabos.utils.log import error
-
-
-def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
-    if loop is None:
-        loop = get_event_loop()
-
-    def _handle_future_exception(fut):
-        try:
-            fut.result()
-        except Exception as e:
-            error(f"异步任务 {func.__name__} 报错了")
-            error(traceback.format_exc())
-
-    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
-    if trace_error:
-        future.add_done_callback(_handle_future_exception)
-    return future