fix: remove dirty actions

修复port输入
Merge branch 'main' into 24-high-level-liquidhandler
2025-12-18 13:31:20 +00:00 · 2025-05-28 23:23:57 +08:00 · 2025-05-28 16:09:24 +08:00 · 2025-05-19 17:24:13 +08:00 · 2025-05-16 19:44:53 +08:00 · 2025-05-15 02:47:45 +08:00
640 changed files with 7979 additions and 293083 deletions
--- a/.conda/recipe.yaml
+++ b/.conda/recipe.yaml
@@ -1,92 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.7
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-     - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - zstd
-  - zstandard
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websockets
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "Uni-Lab-OS"
--- a/.conda/scripts/post-link.bat
+++ b/.conda/scripts/post-link.bat
@@ -1,9 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-REM upgrade pip
-"%PREFIX%\python.exe" -m pip install --upgrade pip
-
-REM install extra deps
-"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
-"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
--- a/.conda/scripts/post-link.sh
+++ b/.conda/scripts/post-link.sh
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-set -euxo pipefail
-
-# make sure pip is available
-"$PREFIX/bin/python" -m pip install --upgrade pip
-
-# install extra deps
-"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
-"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -1,376 +0,0 @@
-name: Build Conda-Pack Environment
-
-on:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: '选择要构建的分支'
-        required: true
-        default: 'dev'
-        type: string
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'win-64'
-        type: string
-
-jobs:
-  build-conda-pack:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-            env_file: unilabos-linux-64.yaml
-            script_ext: sh
-          - os: macos-13 # Intel
-            platform: osx-64
-            env_file: unilabos-osx-64.yaml
-            script_ext: sh
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
-            script_ext: sh
-          - os: windows-latest
-            platform: win-64
-            env_file: unilabos-win64.yaml
-            script_ext: bat
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
-
-    steps:
-      - name: Check if platform should be built
-        id: should_build
-        shell: bash
-        run: |
-          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - uses: actions/checkout@v4
-        if: steps.should_build.outputs.should_build == 'true'
-        with:
-          ref: ${{ github.event.inputs.branch }}
-          fetch-depth: 0
-
-      - name: Setup Miniforge (with mamba)
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniforge-version: latest
-          use-mamba: true
-          python-version: '3.11.11'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: flexible
-          activate-environment: unilab
-          auto-activate-base: true
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install conda-pack, unilabos and dependencies (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        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
-
-      - name: Install conda-pack, unilabos and dependencies (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        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
-
-      - 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
-          echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
-          echo Installed ros-humble-unilabos-msgs version: %VERSION%
-
-      - name: Get latest ros-humble-unilabos-msgs version (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        id: msgs_version_unix
-        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')")
-          echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
-          echo "Installed ros-humble-unilabos-msgs version: $VERSION"
-
-      - name: Check for newer ros-humble-unilabos-msgs (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Checking for available ros-humble-unilabos-msgs versions...
-          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
-
-      - name: Check for newer ros-humble-unilabos-msgs (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Checking for available ros-humble-unilabos-msgs versions..."
-          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"
-
-      - 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
-          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
-          pip install .
-          echo Verifying installation...
-          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"
-          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
-          pip install .
-          echo "Verifying installation..."
-          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
-          echo.
-          echo === Installed Packages ===
-          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
-          echo.
-          echo === Python Packages ===
-          pip list | findstr unilabos || pip list
-
-      - name: Display environment info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=== Environment Information ==="
-          conda env list
-          echo ""
-          echo "=== Installed Packages ==="
-          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
-          echo ""
-          echo "=== Python Packages ==="
-          pip list | grep unilabos || pip list
-
-      - name: Verify environment integrity (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Verifying Python version...
-          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
-          echo Checking critical packages...
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo Running comprehensive verification script...
-          python scripts\verify_installation.py || echo Warning: Verification script reported issues
-          echo Environment verification complete!
-
-      - name: Verify environment integrity (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Verifying Python version..."
-          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"
-          echo "Checking critical packages..."
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo "Running comprehensive verification script..."
-          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
-          echo "Environment verification complete!"
-
-      - name: Pack conda environment (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Packing unilab environment with conda-pack...
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo Pack file created:
-          dir unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Pack conda environment (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Packing unilab environment with conda-pack..."
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo "Pack file created:"
-          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Prepare Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Creating distribution package...
-          echo Platform: ${{ matrix.platform }}
-          echo ==========================================
-          mkdir dist-package 2>nul || cd .
-
-          rem Copy packed environment
-          echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
-          copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
-
-          rem Copy installation script
-          echo Adding: install_unilab.bat
-          copy scripts\install_unilab.bat dist-package\
-
-          rem Copy verification script
-          echo Adding: verify_installation.py
-          copy scripts\verify_installation.py dist-package\
-
-          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
-
-          echo.
-          echo Distribution package contents:
-          dir /b dist-package
-          echo.
-
-      - name: Prepare Unix/Linux distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Creating distribution package..."
-          echo "Platform: ${{ matrix.platform }}"
-          echo "=========================================="
-          mkdir -p dist-package
-
-          # Copy packed environment
-          echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
-          cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
-
-          # Copy installation script
-          echo "Adding: install_unilab.sh"
-          cp scripts/install_unilab.sh dist-package/
-          chmod +x dist-package/install_unilab.sh
-
-          # Copy verification script
-          echo "Adding: verify_installation.py"
-          cp scripts/verify_installation.py dist-package/
-
-          # Create README using Python script
-          echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
-
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-
-      - name: Finalize Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Windows distribution package ready
-          echo.
-          echo Package will be uploaded as artifact
-          echo GitHub Actions will automatically create ZIP
-          echo.
-          echo Contents:
-          dir /b dist-package
-          echo.
-          echo Users will download a ZIP containing:
-          echo   - install_unilab.bat
-          echo   - unilab-env-${{ 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-${{ matrix.platform }}.tar.gz"
-          echo "  3. Run: bash install_unilab.sh"
-          echo ""
-
-      - name: Upload distribution package
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
-          path: dist-package/
-          retention-days: 90
-          if-no-files-found: error
-
-      - name: Display package info (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Build Summary
-          echo ==========================================
-          echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.11
-          echo.
-          echo Distribution package contents:
-          dir dist-package
-          echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
-          echo.
-          echo After download, extract the ZIP and run:
-          echo   install_unilab.bat
-          echo ==========================================
-
-      - name: Display package info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Build Summary"
-          echo "=========================================="
-          echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.11"
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-          echo "Package size (tar.gz):"
-          ls -lh unilab-pack-*.tar.gz
-          echo ""
-          echo "Artifact name: unilab-pack-${{ 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 "=========================================="
--- a/.github/workflows/deploy-docs.yml
+++ b/.github/workflows/deploy-docs.yml
@@ -1,98 +0,0 @@
-name: Deploy Docs
-
-on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: '要部署文档的分支'
-        required: false
-        default: 'main'
-        type: string
-      deploy_to_pages:
-        description: '是否部署到 GitHub Pages'
-        required: false
-        default: true
-        type: boolean
-
-# 设置 GITHUB_TOKEN 权限以部署到 GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# 只允许一个并发部署，跳过正在进行和最新排队之间的运行
-# 但是不取消正在进行的运行，因为我们希望允许这些生产部署完成
-concurrency:
-  group: 'pages'
-  cancel-in-progress: false
-
-jobs:
-  # Build documentation
-  build:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.inputs.branch || github.ref }}
-
-      - name: Setup Python environment
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install system dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y pandoc
-
-      - name: Install Python dependencies
-        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
-
-      - name: Setup Pages
-        id: pages
-        uses: actions/configure-pages@v4
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-
-      - name: Build Sphinx documentation
-        run: |
-          cd docs
-          # Clean previous builds
-          rm -rf _build
-          # Build HTML documentation
-          python -m sphinx -b html . _build/html -v
-
-      - name: Check build results
-        run: |
-          echo "Documentation build completed, checking output directory:"
-          ls -la docs/_build/html/
-          echo "Checking for index.html:"
-          test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
-
-      - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v3
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-        with:
-          path: docs/_build/html
-
-  # Deploy to GitHub Pages
-  deploy:
-    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    runs-on: ubuntu-latest
-    needs: build
-    steps:
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4
--- a/.github/workflows/multi-platform-build.yml
+++ b/.github/workflows/multi-platform-build.yml
@@ -1,131 +0,0 @@
-name: Multi-Platform Conda Build
-
-on:
-  push:
-    branches: [main, dev]
-    tags: ['v*']
-  pull_request:
-    branches: [main, dev]
-  workflow_dispatch:
-    inputs:
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'osx-arm64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-            env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
-            platform: osx-64
-            env_file: unilabos-osx-64.yaml
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
-          - os: windows-latest
-            platform: win-64
-            env_file: unilabos-win64.yaml
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        shell: bash -l {0}
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Check if platform should be built
-        id: should_build
-        run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,defaults
-          channel-priority: strict
-          activate-environment: build-env
-          auto-activate-base: false
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install rattler-build and anaconda-client
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda install -c conda-forge rattler-build anaconda-client
-
-      - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
-
-      - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          else
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          fi
-
-      - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
-
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
-
-      - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: conda-package-${{ matrix.platform }}
-          path: conda-packages-temp
-          if-no-files-found: warn
-          retention-days: 30
-
-      - name: Upload to Anaconda.org (unilab organization)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to unilab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -1,124 +0,0 @@
-name: UniLabOS Conda Build
-
-on:
-  push:
-    branches: [main, dev]
-    tags: ['v*']
-  pull_request:
-    branches: [main, dev]
-  workflow_dispatch:
-    inputs:
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'linux-64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-          - os: macos-13 # Intel
-            platform: osx-64
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-          - os: windows-latest
-            platform: win-64
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        shell: bash -l {0}
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Check if platform should be built
-        id: should_build
-        run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: strict
-          activate-environment: build-env
-          auto-activate-base: false
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install rattler-build and anaconda-client
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda install -c conda-forge rattler-build anaconda-client
-
-      - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
-
-      - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
-
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
-
-      - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: conda-package-unilabos-${{ matrix.platform }}
-          path: conda-packages-temp
-          if-no-files-found: warn
-          retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
--- a/.gitignore
+++ b/.gitignore
@@ -1,8 +1,3 @@
-configs/
-temp/
-output/
-unilabos_data/
-pyrightconfig.json
 ## Python

 # Byte-compiled / optimized / DLL files
@@ -11,7 +6,6 @@ __pycache__/
 .vscode
 *.py[cod]
 *$py.class
-service

 # C extensions
 *.so
@@ -237,15 +231,4 @@ CATKIN_IGNORE

 /**/local_config.py

-*.graphml
-unilabos/device_mesh/view_robot.rviz
-
-
-# Certs
-**/.certs
-local_test2.py
-ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
-*.bz2
-test_config.py
-
-
+*.graphml
--- a/15
+++ b/15
@@ -1,15 +0,0 @@
-   156	Xuwznln <18435084+Xuwznln@users.noreply.github.com>
-    39	Junhan Chang <changjh@dp.tech>
-     9	wznln <18435084+Xuwznln@users.noreply.github.com>
-     8	Guangxin Zhang <guangxin.zhang.bio@gmail.com>
-     5	ZiWei <131428629+ZiWei09@users.noreply.github.com>
-     2	Junhan Chang <changjh@pku.edu.cn>
-     2	Xie Qiming <97236197+Andy6M@users.noreply.github.com>
-     1	Harvey Que <103566763+Mile-Away@users.noreply.github.com>
-     1	Junhan Chang <1700011741@pku.edu.cn>
-     1	LccLink <1951855008@qq.com>
-     1	h840473807 <47357934+h840473807@users.noreply.github.com>
-     1	lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
-     1	shiyubo0410 <shiyubo@dp.tech>
-     1	王俊杰 <1800011822@pku.edu.cn>
-     1	王俊杰 <43375851+wjjxxx@users.noreply.github.com>
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -1,5 +1,3 @@
 recursive-include unilabos/registry *.yaml
-recursive-include unilabos/app/web/static *
-recursive-include unilabos/app/web/templates *
-recursive-include unilabos/device_mesh/devices *
-recursive-include unilabos/device_mesh/resources *
+recursive-include unilabos/app/web *.html
+recursive-include unilabos/app/web *.css
--- a/README.md
+++ b/README.md
@@ -4,75 +4,83 @@

 # Uni-Lab-OS

-<!-- Language switcher -->
-
-**English** | [中文](README_zh.md)
-
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
 [![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)

-Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。

-## 🏆 Competition
+## 核心特点

-Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
+- 多设备集成管理
+- 自动化实验流程
+- 云端连接能力
+- 灵活的配置系统
+- 支持多种实验协议

-## Key Features
+## 文档

- Multi-device integration management
- Automated experimental workflows
- Cloud connectivity capabilities
- Flexible configuration system
- Support for multiple experimental protocols
+详细文档可在以下位置找到:

-## Documentation
+- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)

-Detailed documentation can be found at:
+## 快速开始

- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
+1. 配置Conda环境

-## Quick Start
-
-Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:

 ```bash
-# Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+# 创建新环境
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+
+# 现阶段，需要安装 `unilabos_msgs` 包
+# 可以前往 Release 页面下载系统对应的包进行安装
+conda install ros-humble-unilabos-msgs-0.9.0-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```

-## Install Dev Uni-Lab-OS
+2. 安装 Uni-Lab-OS:

 ```bash
-# Clone the repository
+# 克隆仓库
 git clone https://github.com/dptech-corp/Uni-Lab-OS.git
 cd Uni-Lab-OS

-# Install Uni-Lab-OS
+# 安装 Uni-Lab-OS
 pip install .
 ```

-3. Start Uni-Lab System:
+3. 启动 Uni-Lab 系统:

-Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
+请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)

-## Message Format
+## 消息格式

-Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。

-## License
+## 许可证

-This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。

-## Project Statistics
+## 项目统计

-### Stars Trend
+### Stars 趋势

 <a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
 </a>

-## Contact Us
+## 联系我们

- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
--- a/README_zh.md
+++ b/README_zh.md
@@ -1,80 +0,0 @@
-<div align="center">
-  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
-</div>
-
-# Uni-Lab-OS
-
-<!-- Language switcher -->
-
-[English](README.md) | **中文**
-
-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
-
-Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
-
-## 🏆 比赛
-
-欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
-
-## 核心特点
-
- 多设备集成管理
- 自动化实验流程
- 云端连接能力
- 灵活的配置系统
- 支持多种实验协议
-
-## 文档
-
-详细文档可在以下位置找到:
-
- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
-
-## 快速开始
-
-1. 配置 Conda 环境
-
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
-
-```bash
-# 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-```
-
-2. 安装开发版 Uni-Lab-OS:
-
-```bash
-# 克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
-cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-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)
-
-## 消息格式
-
-Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
-
-## 许可证
-
-此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
-
-## 项目统计
-
-### Stars 趋势
-
-<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
-  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
-</a>
-
-## 联系我们
-
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
--- a/docs/boot_examples/liquid_handler.md
+++ b/docs/boot_examples/liquid_handler.md
@@ -13,16 +13,18 @@
 ```json
 {
  "nodes": [
-    {
-      "id": "PLR_STATION",
-      "name": "PLR_LH_TEST",
-      "parent": null,
-      "type": "device",
-      "class": "liquid_handler",
-      "config": {},
-      "data": {},
-      "children": ["deck"]
-    },
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "config": {},
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
    {
      "id": "deck",
      "name": "deck",
@@ -30,12 +32,12 @@
      "class": null,
      "parent": "PLR_STATION",
      "children": [
-        "trash",
-        "trash_core96",
-        "teaching_carrier",
-        "tip_rack",
-        "plate"
-      ]
+                "trash",
+                "trash_core96",
+                "teaching_carrier",
+                "tip_rack",
+                "plate"
+            ]
    }
  ],
  "links": []
@@ -43,7 +45,6 @@
 ```

 配置文件定义了移液站的组成部分，主要包括：
-
 - 移液站本体（LiquidHandler）- 设备类型
 - 移液站携带物料实例（deck）- 物料类型

@@ -54,7 +55,7 @@
 使用以下命令启动移液站设备：

 ```bash
-unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk [通过网页获取的sk值]
+unilab -g test/experiments/plr_test.json --app_bridges ""
 ```

 ### 2. 执行枪头插入操作
@@ -65,50 +66,35 @@ unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk
 ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
 ```

-此命令会通过 ros 通信触发移液站执行枪头插入操作，得到如下的 PyLabRobot 的输出日志。
+此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。

 ```log
 Picking up tips:
-pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter
-  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes
+pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter    
+  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes  
 ```

-也可以登陆网页，给`tip_spots`选择`tip_rack_tipspot_0_0`，`use_channels`为`0`，`offsets`均填写`0`，同样可观察到上面的日志
-
 ## 常见问题

-1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过 PyLabRobot 进行测试
+1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试

 ## 移液站支持的操作

 移液站支持多种操作，以下是当前系统支持的操作列表：

-1. **LiquidHandlerProtocolCreation** - 协议创建
-2. **LiquidHandlerAspirate** - 吸液操作
-3. **LiquidHandlerDispense** - 排液操作
-4. **LiquidHandlerDiscardTips** - 丢弃枪头
-5. **LiquidHandlerDropTips** - 卸下枪头
-6. **LiquidHandlerDropTips96** - 卸下 96 通道枪头
-7. **LiquidHandlerMoveLid** - 移动盖子
-8. **LiquidHandlerMovePlate** - 移动板子
-9. **LiquidHandlerMoveResource** - 移动资源
-10. **LiquidHandlerPickUpTips** - 插入枪头
-11. **LiquidHandlerPickUpTips96** - 插入 96 通道枪头
-12. **LiquidHandlerReturnTips** - 归还枪头
-13. **LiquidHandlerReturnTips96** - 归还 96 通道枪头
-14. **LiquidHandlerSetLiquid** - 设置液体
-15. **LiquidHandlerSetTipRack** - 设置枪头架
-16. **LiquidHandlerStamp** - 打印标记
-17. **LiquidHandlerTransfer** - 液体转移
-18. **LiquidHandlerSetGroup** - 设置分组
-19. **LiquidHandlerTransferBiomek** - Biomek 液体转移
-20. **LiquidHandlerIncubateBiomek** - Biomek 孵育
-21. **LiquidHandlerMoveBiomek** - Biomek 移动
-22. **LiquidHandlerOscillateBiomek** - Biomek 振荡
-23. **LiquidHandlerTransferGroup** - 分组转移
-24. **LiquidHandlerAdd** - 添加操作
-25. **LiquidHandlerMix** - 混合操作
-26. **LiquidHandlerMoveTo** - 移动到指定位置
-27. **LiquidHandlerRemove** - 移除操作
+1. **LiquidHandlerAspirate** - 吸液操作
+2. **LiquidHandlerDispense** - 排液操作
+3. **LiquidHandlerDiscardTips** - 丢弃枪头
+4. **LiquidHandlerDropTips** - 卸下枪头
+5. **LiquidHandlerDropTips96** - 卸下96通道枪头
+6. **LiquidHandlerMoveLid** - 移动盖子
+7. **LiquidHandlerMovePlate** - 移动板子
+8. **LiquidHandlerMoveResource** - 移动资源
+9. **LiquidHandlerPickUpTips** - 插入枪头
+10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
+11. **LiquidHandlerReturnTips** - 归还枪头
+12. **LiquidHandlerReturnTips96** - 归还96通道枪头
+13. **LiquidHandlerStamp** - 打印标记
+14. **LiquidHandlerTransfer** - 液体转移

-这些操作可通过 ROS2 Action 接口进行调用，以实现复杂的移液流程。
+这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。
--- a/docs/concepts/02-topology-and-chemputer-compile.md
+++ b/docs/concepts/02-topology-and-chemputer-compile.md
@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
 对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**

 而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
-于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
+于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：

 ![topology](image/02-topology-and-chemputer-compile/topology.png)

--- a/docs/developer_guide/action_includes.md
+++ b/docs/developer_guide/action_includes.md
@@ -1,64 +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`

@@ -66,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `Evaporate`

@@ -74,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `HeatChill`

@@ -82,7 +44,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `HeatChillStart`

@@ -90,7 +52,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `HeatChillStop`

@@ -98,7 +60,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `PumpTransfer`

@@ -106,7 +68,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `Separate`

@@ -114,7 +76,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```

---
+----

 ### `Stir`

@@ -122,179 +84,20 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :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`

@@ -302,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerDispense`

@@ -310,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerDropTips`

@@ -318,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerDropTips96`

@@ -326,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMoveLid`

@@ -334,7 +137,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMovePlate`

@@ -342,7 +145,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerMoveResource`

@@ -350,7 +153,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerPickUpTips`

@@ -358,7 +161,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerPickUpTips96`

@@ -366,7 +169,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerReturnTips`

@@ -374,7 +177,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerReturnTips96`

@@ -382,7 +185,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerStamp`

@@ -390,7 +193,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```

---
+----

 ### `LiquidHandlerTransfer`

@@ -398,121 +201,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :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 +219,12 @@ 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 +292,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error

 ```

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

 ```yaml
@@ -664,19 +310,17 @@ bool reached_goal # True iff the gripper position has reached the commanded setp

 ```

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

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

---
-
+----
 ### `PointHead`

 ```yaml
@@ -686,13 +330,12 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 float64 pointing_angle_error
+
 ```

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

 ```yaml
@@ -700,16 +343,15 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
+
 ```

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

 ```yaml
@@ -721,10 +363,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
+
 ```

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

 ```yaml
@@ -738,10 +380,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```

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

 ```yaml
@@ -756,10 +398,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```

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

 ```yaml
@@ -774,10 +416,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```

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

 ```yaml
@@ -791,10 +433,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```

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

 ```yaml
@@ -805,10 +447,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
+
 ```

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

 ```yaml
@@ -823,10 +465,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
+
 ```

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

 ```yaml
@@ -838,10 +480,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
+
 ```

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

 ```yaml
@@ -859,10 +501,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
+
 ```

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

 ```yaml
@@ -879,10 +521,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
+
 ```

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

 ```yaml
@@ -898,10 +540,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
+
 ```

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

 ```yaml
@@ -914,10 +556,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
+
 ```

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

 ```yaml
@@ -929,6 +571,7 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
+
 ```

---
+----
--- a/docs/developer_guide/add_action.md
+++ b/docs/developer_guide/add_action.md
@@ -1,142 +1,37 @@
 # 添加新动作指令（Action）

-本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
-
-## 1. 编写新的 Action
-
-### 1.1 创建 Action 文件
-
-在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
+1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：

 ```action
-# 目标（Goal）- 定义动作执行所需的参数
+# 目标（Goal）
 string command
-float64 timeout
 ---
-# 结果（Result）- 定义动作完成后返回的结果
-bool success  # 要求必须包含success，以便回传执行结果
-string return_info  # 要求必须包含return_info，以便回传执行结果
-...  # 其他
+# 结果（Result）
+bool success
 ---
-# 反馈（Feedback）- 定义动作执行过程中的反馈信息
-float64 progress
-string status
+# 反馈（Feedback）
 ```

-### 1.2 更新 CMakeLists.txt
-
-在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
+2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action

 ```cmake
 add_action_files(
  FILES
  MyDeviceCmd.action
-  # 其他已有的 action 文件...
 )
 ```

-## 2. 在线构建和测试
-
-为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
-
-### 2.1 Fork 仓库并创建分支
-
-1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
-
-2. **Clone 你的 fork**：
-
-   ```bash
-   git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
-   cd Uni-Lab-OS
-   ```
-
-3. **创建功能分支**：
-
-   ```bash
-   git checkout -b add-my-device-action
-   ```
-
-4. **提交你的更改**：
-   ```bash
-   git add unilabos_msgs/action/MyDeviceCmd.action
-   git add unilabos_msgs/CMakeLists.txt
-   git commit -m "Add MyDeviceCmd action for device control"
-   git push origin add-my-device-action
-   ```
-
-### 2.2 触发在线构建
-
-1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
-
-2. **手动触发构建**：
-
-   - 点击 "Actions" 标签
-   - 选择 "Multi-Platform Conda Build" 工作流
-   - 点击 "Run workflow" 按钮
-
-3. **监控构建状态**：
-   - 构建过程大约需要 5-10 分钟
-   - 在 Actions 页面可以实时查看构建日志
-   - 构建完成后，可以下载生成的 conda 包进行测试
-
-### 2.3 下载和测试构建包
-
-1. **下载构建产物**：
-
-   - 在构建完成的 Action 页面，找到 "Artifacts" 部分
-   - 下载对应平台的 `conda-package-*` 文件
-
-2. **本地测试安装**：
-
-   ```bash
-   # 解压下载的构建产物
-   unzip conda-package-linux-64.zip  # 或其他平台
-
-   # 安装测试包
-   mamba install ./ros-humble-unilabos-msgs-*.conda
-   ```
-
-3. **验证 Action 是否正确添加**：
-   ```bash
-   # 检查 action 是否可用
-   ros2 interface show unilabos_msgs/action/MyDeviceCmd
-   ```
-
-## 3. 提交 Pull Request
-
-测试成功后，向主仓库提交 Pull Request：
-
-1. **创建 Pull Request**：
-
-   - 在你的 fork 仓库页面，点击 "New Pull Request"
-   - 选择你的功能分支作为源分支
-   - 填写详细的 PR 描述，包括：
-     - 添加的 Action 功能说明
-     - 测试结果
-     - 相关的设备或用例
-
-2. **等待审核和合并**：
-   - 维护者会审核你的代码
-   - CI/CD 系统会自动运行完整的测试套件
-   - 合并后，新的指令集会自动发布到官方 conda 仓库
-
-## 4. 使用新的 Action
-
-如果采用自己构建的action包，可以通过以下命令更新安装：
+3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：

 ```bash
-mamba remove --force ros-humble-unilabos-msgs
-mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
-mamba install xxx.conda --offline
+cd unilabos_msgs
+colcon build
+source ./install/local_setup.sh
+cd ..
 ```

-## 常见问题
+调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：

-**Q: 构建失败怎么办？**
-A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
-
-**Q: 如何测试特定平台？**
-A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
-
-**Q: 构建包在哪里下载？**
-A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
+```bash
+mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
+```
--- a/docs/developer_guide/add_batteryPLC.md
+++ b/docs/developer_guide/add_batteryPLC.md
@@ -1,147 +0,0 @@
-# 电池装配工站接入（PLC）
-
-本指南将引导你完成电池装配工站（以 PLC 控制为例）的接入流程，包括新建工站文件、编写驱动与寄存器读写、生成注册表、上传及注意事项。
-
-## 1. 新建工站文件
-
-### 1.1 创建工站文件
-
-在 `unilabos/devices/workstation/coin_cell_assembly` 目录下新建工站文件，如 `coin_cell_assembly.py`。工站类需继承 `WorkstationBase`，并在构造函数中初始化通信客户端与寄存器映射。
-
-```python
-from typing import Optional
-# 工站基类
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-# Modbus 通讯与寄存器 CSV 支持
-from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
-
-class CoinCellAssemblyWorkstation(WorkstationBase):
-    def __init__(
-        self,
-        station_resource,
-        address: str = "192.168.1.20",
-        port: str = "502",
-        *args,
-        **kwargs,
-    ):
-        super().__init__(station_resource=station_resource, *args, **kwargs)
-        self.station_resource = station_resource  # 物料台面（Deck）
-        self.success: bool = False
-        self.allow_data_read: bool = False
-        self.csv_export_thread = None
-        self.csv_export_running = False
-        self.csv_export_file: Optional[str] = None
-
-        # 连接 PLC，并注册寄存器节点
-        tcp = TCPClient(addr=address, port=port)
-        tcp.client.connect()
-        self.nodes = BaseClient.load_csv(".../PLC_register.csv")
-        self.client = tcp.register_node_list(self.nodes)
-```
-
-
-
-## 2. 编写驱动与寄存器读写
-
-### 2.1 寄存器示例
-
- `COIL_SYS_START_CMD`（BOOL，地址 8010）：启动命令（脉冲式）
- `COIL_SYS_START_STATUS`（BOOL，地址 8210）：启动状态
- `REG_DATA_OPEN_CIRCUIT_VOLTAGE`（FLOAT32，地址 10002）：开路电压
- `REG_DATA_ASSEMBLY_PRESSURE`（INT16，地址 10014）：压制扣电压力
-
-### 2.2 最小驱动示例
-
-```python
-from unilabos.device_comms.modbus_plc.modbus import WorderOrder
-
-def start_and_read_metrics(self):
-    # 1) 下发启动（置 True 再复位 False）
-    self.client.use_node('COIL_SYS_START_CMD').write(True)
-    self.client.use_node('COIL_SYS_START_CMD').write(False)
-
-    # 2) 等待进入启动状态
-    while True:
-        status, _ = self.client.use_node('COIL_SYS_START_STATUS').read(1)
-        if bool(status[0]):
-            break
-
-    # 3) 读取关键数据（FLOAT32 需读 2 个寄存器并指定字节序）
-    voltage, _ = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(
-        2, word_order=WorderOrder.LITTLE
-    )
-    pressure, _ = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
-
-    return {
-        'open_circuit_voltage': voltage,
-        'assembly_pressure': pressure,
-    }
-```
-
-> 提示：若需参数下发，可在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争。
-
-## 3. 本地生成注册表并校验
-
-完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
-
-
-### 3.1 新增工站设备（或资源）首次生成注册表
-首先通过以下命令启动unilab。进入unilab系统状态检查页面
-
-```bash
-python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
-```
-
-点击注册表编辑，进入注册表编辑页面
-![Layers](image_add_batteryPLC/unilab_sys_status.png)
-
-按照图示步骤填写自动生成注册表信息：
-![Layers](image_add_batteryPLC/unilab_registry_process.png)
-
-步骤说明：
-1. 选择新增的工站`coin_cell_assembly.py`文件
-2. 点击分析按钮，分析`coin_cell_assembly.py`文件
-3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
-4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
-5. 此处填写新定义工站的类的名字（名称可以自拟）
-6. 填写新的工站注册表备注信息
-7. 生成注册表
-
-以上操作步骤完成，则会生成的新的注册表ymal文件，如下图：
-![Layers](image_add_batteryPLC/unilab_new_yaml.png)
-
-
-
-
-
-
-### 3.2 添加新生成注册表
-在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。   
-
-在终端输入以下命令进行注册表补全操作。
-```bash
-python unilabos\app\register.py --complete_registry
-```
-
-
-### 3.3 启动并上传注册表
-
-新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
-
-```bash
-python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
-```
-
-## 4. 注意事项
-
- 在新生成的 YAML 中，确认 `module` 指向新工站类，本例中需检查`coincellassemblyworkstation_device.yaml`文件中是否指向了`coin_cell_assembly.py`文件中定义的`CoinCellAssemblyWorkstation`类文件：
-
-```
-module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
-```
-
- 首次新增设备（或资源）需要在网页端新增注册表信息，`--complete_registry`补全注册表，`--upload_registry`上传注册表信息。
-
- 如果不是新增设备（或资源），仅对工站驱动的.py文件进行了修改，则不需要在网页端新增注册表信息。只需要运行补全注册表信息之后，上传注册表即可。
-
-
--- a/docs/developer_guide/add_device.md
+++ b/docs/developer_guide/add_device.md
@@ -13,36 +13,36 @@ class MockGripper:
        self._velocity: float = 2.0
        self._torque: float = 0.0
        self._status = "Idle"
-
+    
    @property
    def position(self) -> float:
        return self._position
-
+    
    @property
    def velocity(self) -> float:
        return self._velocity
-
+    
    @property
    def torque(self) -> float:
        return self._torque
-
+    
    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
    @property
    def status(self) -> str:
        return self._status
-
+    
    # 会被自动识别的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
    @status.setter
    def status(self, target):
        self._status = target
-
+    
    # 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
    def push_to(self, position: float, torque: float, velocity: float = 0.0):
        self._status = "Running"
        current_pos = self.position
        if velocity == 0.0:
            velocity = self.velocity
-
+        
        move_time = abs(position - current_pos) / velocity
        for i in range(20):
            self._position = current_pos + (position - current_pos) / 20 * (i+1)
@@ -68,7 +68,7 @@ public class MockGripper
    public double velocity { get; private set; } = 2.0;
    public double torque { get; private set; } = 0.0;
    public string status { get; private set; } = "Idle";
-
+    
    // 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
    public async Task PushToAsync(double Position, double Torque, double Velocity = 0.0)
    {
@@ -94,61 +94,107 @@ public class MockGripper

 C# 驱动设备在完成注册表后，需要调用 Uni-Lab C# 编译后才能使用，但只需一次。

-## 快速开始：使用注册表编辑器（推荐）
+## 注册表文件位置

-推荐使用 Uni-Lab-OS 自带的可视化编辑器，它能自动分析您的设备驱动并生成大部分配置：
+Uni-Lab 启动时会自动读取默认注册表路径 `unilabos/registry/devices` 下的所有注册设备。您也可以任意维护自己的注册表路径，只需要在 Uni-Lab 启动时使用 `--registry` 参数将路径添加即可。

-1. 启动 Uni-Lab-OS
-2. 在浏览器中打开"注册表编辑器"页面
-3. 选择您的 Python 设备驱动文件
-4. 点击"分析文件"，让系统读取类信息
-5. 填写基本信息（设备描述、图标等）
-6. 点击"生成注册表"，复制生成的内容
-7. 保存到 `devices/` 目录下
+在 `<path-to-registry>/devices` 中新建一个 yaml 文件，即可开始撰写。您可以将多个设备写到同一个 yaml 文件中。

---
+## 注册表的结构

-## 手动编写注册表（简化版）
+1. 顶层名称：每个设备的注册表以设备名称开头，例如 `new_device`, `gripper.mock`。
+1. `class` 字段：定义设备的模块路径和驱动程序语言。
+1. `status_types` 字段：定义设备定时对 Uni-Lab 实验室内发送的属性名及其类型。
+1. `action_value_mappings` 字段：定义设备支持的动作及其目标、反馈和结果。
+1. `schema` 字段：定义设备定时对 Uni-Lab 云端监控发送的属性名及其类型、描述（非必须）

-如果需要手动编写，只需要提供两个必需字段，系统会自动补全其余内容：
+## 创建新的注册表教程

-### 最小配置示例
+1. 创建文件
+   在 devices 文件夹中创建一个新的 YAML 文件，例如 `new_device.yaml`。
+2. 定义设备名称
+   在文件中定义设备的顶层名称，例如：`new_device` 或 `gripper.mock`
+3. 定义设备的类信息
+   添加设备的模块路径和类型：

 ```yaml
-my_device: # 设备唯一标识符
-  class:
-    module: unilabos.devices.your_module.my_device:MyDevice # Python 类路径
-    type: python # 驱动类型
+gripper.mock:
+  class:   # 定义设备的类信息
+    module: unilabos.devices.gripper.mock:MockGripper
+    type: python  # 指定驱动语言为 Python
+    status_types:
+      position: Float64
+      torque: Float64
+      status: String
 ```

-### 注册表文件位置
-
- 默认路径：`unilabos/registry/devices`
- 自定义路径：启动时使用 `--registry` 参数指定
- 可将多个设备写在同一个 yaml 文件中
-
-### 系统自动生成的内容
-
-系统会自动分析您的 Python 驱动类并生成：
-
- `status_types`：从 `get_*` 方法自动识别状态属性
- `action_value_mappings`：从类方法自动生成动作映射
- `init_param_schema`：从 `__init__` 方法分析初始化参数
- `schema`：前端显示用的属性类型定义
-
-### 完整结构概览
+4. 定义设备的定时发布属性。注意，对于 Python Class 来说，PROP 是 class 的 `property`，或满足能被 `getattr(cls, PROP)` 或 `cls.get_PROP` 读取到的属性值的对象。

 ```yaml
-my_device:
-  class:
-    module: unilabos.devices.your_module.my_device:MyDevice
-    type: python
-    status_types: {} # 自动生成
-    action_value_mappings: {} # 自动生成
-  description: '' # 可选：设备描述
-  icon: '' # 可选：设备图标
-  init_param_schema: {} # 自动生成
-  schema: {} # 自动生成
+    status_types:
+      PROP: TYPE
+```
+5. 定义设备支持的动作
+   添加设备支持的动作及其目标、反馈和结果：
+
+```yaml
+    action_value_mappings:
+      set_speed:
+        type: SendCmd
+        goal:
+          command: speed
+        feedback: {}
+        result:
+          success: success
 ```

-详细的注册表编写指南和高级配置，请参考{doc}`yaml 注册表编写指南 <add_yaml>`。
+在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来将驱动内的动作函数，映射到 Uni-Lab 标准动作（actions）及其目标参数值（goal）、反馈值（feedback）和结果值（result）的映射规则。若在 Uni-Lab 指令集内找不到符合心意的，请【创建新指令】。
+
+```yaml
+  action_value_mappings:
+    <action_name>:                      # <action_name>：动作的名称
+                                        # start：启动设备或某个功能。
+                                        # stop：停止设备或某个功能。
+                                        # set_speed：设置设备的速度。
+                                        # set_temperature：设置设备的温度。
+                                        # move_to_position：移动设备到指定位置。
+                                        # stir：执行搅拌操作。
+                                        # heatchill：执行加热或冷却操作。
+                                        # send_nav_task：发送导航任务（例如机器人导航）。
+                                        # set_timer：设置设备的计时器。
+                                        # valve_open_cmd：打开阀门。
+                                        # valve_close_cmd：关闭阀门。
+                                        # execute_command_from_outer：执行外部命令。
+                                        # push_to：控制设备推送到某个位置（例如机械爪）。
+                                        # move_through_points：导航设备通过多个点。
+
+      type: <ActionType>                # 动作的类型，表示动作的功能
+                                        # 根据动作的功能选择合适的类型，请查阅 Uni-Lab 已支持的指令集。
+
+      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
+        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
+
+      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
+        <feedback_key>: <mapped_value>
+      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
+        <result_key>: <mapped_value>
+```
+
+6. 定义设备的网页展示属性类型，这部分会被用于在 Uni-Lab 网页端渲染成状态监控
+   添加设备的属性模式，包括属性类型和描述：
+
+```yaml
+schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      speed:
+        type: number
+        description: The speed of the device
+    required:
+      - status
+      - speed
+    additionalProperties: false
+```
--- a/docs/developer_guide/add_yaml.md
+++ b/docs/developer_guide/add_yaml.md
@@ -1,610 +1,95 @@
-# yaml 注册表编写指南
+# yaml注册表编写指南

-## 快速开始：使用注册表编辑器
+`注册表的结构`

-推荐使用 UniLabOS 自带的可视化编辑器，它能帮你自动生成大部分配置，省去手写的麻烦。
+1. 顶层名称：每个设备的注册表以设备名称开头，例如 new_device。
+2. class 字段：定义设备的模块路径和类型。
+3. schema 字段：定义设备的属性模式，包括属性类型、描述和必需字段。
+4. action_value_mappings 字段：定义设备支持的动作及其目标、反馈和结果。

-### 怎么用编辑器
+`创建新的注册表教程`
+1. 创建文件
+    在 devices 文件夹中创建一个新的 YAML 文件，例如 new_device.yaml。

-1. 启动 UniLabOS
-2. 在浏览器中打开"注册表编辑器"页面
-3. 选择你的 Python 设备驱动文件
-4. 点击"分析文件"，让系统读取你的类信息
-5. 填写一些基本信息（设备描述、图标啥的）
-6. 点击"生成注册表"，复制生成的内容
-7. 把内容保存到 `devices/` 目录下
+2. 定义设备名称
+    在文件中定义设备的顶层名称，例如：new_device

-我们为你准备了一个测试驱动，用于在界面上尝试注册表生成，参见目录：test\registry\example_devices.py
-
---
-
-## 手动编写指南
-
-如果你想自己写 yaml 文件，或者想深入了解结构，查阅下方说明。
-
-## 注册表的基本结构
-
-yaml 注册表就是设备的配置文件，里面定义了设备怎么用、有什么功能。好消息是系统会自动帮你填大部分内容，你只需要写两个必需的东西：设备名和 class 信息。
-
-### 各字段用途
-
-| 字段名            | 类型   | 需要手写 | 说明                                |
-| ----------------- | ------ | -------- | ----------------------------------- |
-| 设备标识符        | string | 是       | 设备的唯一名字，比如 `mock_chiller` |
-| class             | object | 部分     | 设备的核心信息，必须写              |
-| description       | string | 否       | 设备描述，系统默认给空字符串        |
-| handles           | array  | 否       | 连接关系，默认是空的                |
-| icon              | string | 否       | 图标路径，默认为空                  |
-| init_param_schema | object | 否       | 初始化参数，系统自动分析生成        |
-| version           | string | 否       | 版本号，默认 "1.0.0"                |
-| category          | array  | 否       | 设备分类，默认用文件名              |
-| config_info       | array  | 否       | 嵌套配置，默认为空                  |
-| file_path         | string | 否       | 文件路径，系统自动设置              |
-| registry_type     | string | 否       | 注册表类型，自动设为 "device"       |
-
-### class 字段里有啥
-
-class 是核心部分，包含这些内容：
-
-| 字段名                | 类型   | 需要手写 | 说明                               |
-| --------------------- | ------ | -------- | ---------------------------------- |
-| module                | string | 是       | Python 类的路径，必须写            |
-| type                  | string | 是       | 驱动类型，一般写 "python"          |
-| status_types          | object | 否       | 状态类型，系统自动分析生成         |
-| action_value_mappings | object | 部分     | 动作配置，系统会自动生成一些基础的 |
-
-## 怎么创建新的注册表
-
-### 创建文件
-
-在 devices 文件夹里新建一个 yaml 文件，比如 `new_device.yaml`。
-
-### 完整结构是什么样的
-
-```yaml
-new_device: # 设备名，要唯一
-  class: # 核心配置
-    action_value_mappings: # 动作配置（后面会详细说）
-      action_name:
-        # 具体的动作设置
-    module: unilabos.devices.your_module.new_device:NewDeviceClass # 你的 Python 类
-    status_types: # 状态类型（系统会自动生成）
-      status: str
-      temperature: float
-      # 其他状态
-    type: python # 驱动类型，一般就是 python
-
-  description: New Device Description # 设备描述
-  handles: [] # 连接关系，通常是空的
-  icon: '' # 图标路径
-  init_param_schema: # 初始化参数（系统会自动生成）
-    config: # 初始化时需要的参数
-      properties:
-        port:
-          default: DEFAULT_PORT
-          type: string
-      required: []
-      type: object
-    data: # 前端显示用的数据类型
-      properties:
-        status:
-          type: string
-        temperature:
-          type: number
-      required:
-        - status
-      type: object
-
-  version: 0.0.1 # 版本号
-  category:
-    - device_category # 设备类别
-  config_info: [] # 嵌套配置，通常为空
-```
-
-## action_value_mappings 怎么写
-
-这个部分定义设备能做哪些动作。好消息是系统会自动生成大部分动作，你通常只需要添加一些特殊的自定义动作。
-
-### 系统自动生成哪些动作
-
-系统会帮你生成这些：
-
-1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
-2. 通用的驱动动作：
-   - `_execute_driver_command`：同步执行驱动命令（仅本地可用）
-   - `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
-
-### 如果要手动定义动作
-
-如果你需要自定义一些特殊动作，需要这些字段：
-
-| 字段名           | 需要手写 | 说明                             |
-| ---------------- | -------- | -------------------------------- |
-| type             | 是       | 动作类型，必须指定               |
-| goal             | 是       | 输入参数怎么映射                 |
-| feedback         | 否       | 实时反馈，通常为空               |
-| result           | 是       | 结果怎么返回                     |
-| goal_default     | 部分     | 参数默认值，ROS 动作会自动生成   |
-| schema           | 部分     | 前端表单配置，ROS 动作会自动生成 |
-| handles          | 否       | 连接关系，默认为空               |
-| placeholder_keys | 否       | 特殊输入字段配置                 |
-
-### 动作类型有哪些
-
-| 类型                   | 什么时候用           | 系统会自动生成什么     |
-| ---------------------- | -------------------- | ---------------------- |
-| UniLabJsonCommand      | 自定义同步 JSON 命令 | 啥都不生成             |
-| UniLabJsonCommandAsync | 自定义异步 JSON 命令 | 啥都不生成             |
-| ROS 动作类型           | 标准 ROS 动作        | goal_default 和 schema |
-
-常用的 ROS 动作类型：
-
- `SendCmd`：发送简单命令
- `NavigateThroughPoses`：导航动作
- `SingleJointPosition`：单关节位置控制
- `Stir`：搅拌动作
- `HeatChill`、`HeatChillStart`：加热冷却动作
-
-### 复杂一点的例子
-
-```yaml
-heat_chill_start:
-  type: HeatChillStart
-  goal:
-    purpose: purpose
-    temp: temp
-  goal_default: # ROS动作会自动生成，你也可以手动覆盖
-    purpose: ''
-    temp: 0.0
-  handles:
-    output:
-      - handler_key: labware
-        label: Labware
-        data_type: resource
-        data_source: handle
-        data_key: liquid
-  placeholder_keys:
-    purpose: unilabos_resources
-  result:
-    status: status
-    success: success
-  # schema 系统会自动生成，不用写
-```
-
-### 动作名字怎么起
-
-根据设备用途来起名字：
-
- 启动停止类：`start`、`stop`、`pause`、`resume`
- 设置参数类：`set_speed`、`set_temperature`、`set_timer`
- 移动控制类：`move_to_position`、`move_through_points`
- 功能操作类：`stir`、`heat_chill_start`、`heat_chill_stop`
- 开关控制类：`valve_open_cmd`、`valve_close_cmd`、`push_to`
- 命令执行类：`send_nav_task`、`execute_command_from_outer`
-
-### 常用的动作类型
-
- `UniLabJsonCommand`：自定义 JSON 命令（不走 ROS）
- `UniLabJsonCommandAsync`：异步 JSON 命令（不走 ROS）
- `SendCmd`：发送简单命令
- `NavigateThroughPoses`：导航相关
- `SingleJointPosition`：单关节控制
- `Stir`：搅拌
- `HeatChill`、`HeatChillStart`：加热冷却
- 其他的 ROS 动作类型：看具体的 ROS 服务
-
-### 示例：完整的动作配置
-
-```yaml
-heat_chill_start:
-  type: HeatChillStart
-  goal:
-    purpose: purpose
-    temp: temp
-  goal_default:
-    purpose: ''
-    temp: 0.0
-  handles:
-    output:
-      - handler_key: labware
-        label: Labware
-        data_type: resource
-        data_source: handle
-        data_key: liquid
-  placeholder_keys:
-    purpose: unilabos_resources
-  result:
-    status: status
-    success: success
-  schema:
-    description: '启动加热冷却功能'
-    properties:
-      goal:
-        properties:
-          purpose:
-            type: string
-            description: '用途说明'
-          temp:
-            type: number
-            description: '目标温度'
-        required:
-          - purpose
-          - temp
-        title: HeatChillStart_Goal
-        type: object
-    required:
-      - goal
-    title: HeatChillStart
-    type: object
-  feedback: {}
-```
-
-## 系统自动生成的字段
-
-### status_types
-
-系统会扫描你的 Python 类，从状态方法自动生成这部分：
-
-```yaml
-status_types:
-  current_temperature: float # 从 get_current_temperature() 方法来的
-  is_heating: bool # 从 get_is_heating() 方法来的
-  status: str # 从 get_status() 方法来的
-```
-
-注意几点：
-
- 系统会找所有 `get_` 开头的方法
- 类型会自动转成 ROS 类型（比如 `str` 变成 `String`）
- 如果类型是 `Any`、`None` 或者不知道的，就默认用 `String`
-
-### init_param_schema
-
-这个完全是系统自动生成的，你不用管：
-
-```yaml
-init_param_schema:
-  config: # 从你类的 __init__ 方法分析出来的
-    properties:
-      port:
-        type: string
-        default: '/dev/ttyUSB0'
-      baudrate:
-        type: integer
-        default: 9600
-    required: []
-    type: object
-
-  data: # 根据 status_types 生成的前端用的类型
-    properties:
-      current_temperature:
-        type: number
-      is_heating:
-        type: boolean
-      status:
-        type: string
-    required:
-      - status
-    type: object
-```
-
-生成规则很简单：
-
- `config` 部分：看你类的 `__init__` 方法有什么参数，类型和默认值是啥
- `data` 部分：根据 `status_types` 生成前端显示用的类型定义
-
-### 其他自动填充的字段
-
-```yaml
-version: '1.0.0' # 默认版本
-category: ['文件名'] # 用你的 yaml 文件名当类别
-description: '' # 默认为空，你可以手动改
-icon: '' # 默认为空，你可以加图标
-handles: [] # 默认空数组
-config_info: [] # 默认空数组
-file_path: '/path/to/file' # 系统自动填文件路径
-registry_type: 'device' # 自动设为设备类型
-```
-
-### handles 字段
-
-这个是定义设备连接关系的，类似动作里的 handles 一样：
-
-```yaml
-handles: # 大多数时候都是空的，除非设备本身需要连接啥
-  - handler_key: device_output
-    label: Device Output
-    data_type: resource
-    data_source: value
-    data_key: default_value
-```
-
-### 其他可以配置的字段
-
-```yaml
-description: '设备的详细描述' # 写清楚设备是干啥的
-
-icon: 'device_icon.webp' # 设备图标，文件名（会上传到OSS）
-
-version: '0.0.1' # 版本号
-
-category: # 设备分类，前端会用这个分组
-  - 'heating'
-  - 'cooling'
-  - 'temperature_control'
-
-config_info: # 嵌套配置，如果设备包含子设备
-  - children:
-      - opentrons_24_tuberack_nest_1point5ml_snapcap_A1
-      - other_nested_component
-```
-
-## 完整的例子
-
-这里是一个比较完整的设备配置示例：
-
-```yaml
-my_temperature_controller:
-  class:
-    action_value_mappings:
-      heat_start:
-        type: HeatChillStart
-        goal:
-          target_temp: temp
-          vessel: vessel
-        goal_default:
-          target_temp: 25.0
-          vessel: ''
-        handles:
-          output:
-            - handler_key: heated_sample
-              label: Heated Sample
-              data_type: resource
-              data_source: handle
-              data_key: sample
-        placeholder_keys:
-          vessel: unilabos_resources
-        result:
-          status: status
-          success: success
-        schema:
-          description: '启动加热功能'
-          properties:
-            goal:
-              properties:
-                target_temp:
-                  type: number
-                  description: '目标温度'
-                vessel:
-                  type: string
-                  description: '容器标识'
-              required:
-                - target_temp
-                - vessel
-              title: HeatStart_Goal
-              type: object
-          required:
-            - goal
-          title: HeatStart
-          type: object
-        feedback: {}
-
-      stop:
-        type: UniLabJsonCommand
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          status: status
-        schema:
-          description: '停止设备'
-          properties:
-            goal:
-              type: object
-              title: Stop_Goal
-          title: Stop
-          type: object
-        feedback: {}
-
-    module: unilabos.devices.temperature.my_controller:MyTemperatureController
-    status_types:
-      current_temperature: float
-      target_temperature: float
-      is_heating: bool
-      is_cooling: bool
-      status: str
-      vessel: str
-    type: python
-
-  description: '我的温度控制器设备'
-  handles: []
-  icon: 'temperature_controller.webp'
-  init_param_schema:
-    config:
-      properties:
-        port:
-          default: '/dev/ttyUSB0'
-          type: string
-        baudrate:
-          default: 9600
-          type: number
-      required: []
-      type: object
-    data:
-      properties:
-        current_temperature:
-          type: number
-        target_temperature:
-          type: number
-        is_heating:
-          type: boolean
-        is_cooling:
-          type: boolean
-        status:
-          type: string
-        vessel:
-          type: string
-      required:
-        - current_temperature
-        - target_temperature
-        - status
-      type: object
-
-  version: '1.0.0'
-  category:
-    - 'temperature_control'
-    - 'heating'
-  config_info: []
-```
-
-## 怎么部署和使用
-
-### 方法一：用编辑器（推荐）
-
-1. 先写好你的 Python 驱动类
-2. 用注册表编辑器自动生成 yaml 配置
-3. 把生成的文件保存到 `devices/` 目录
-4. 重启 UniLabOS 就能用了
-
-### 方法二：手动写（简化版）
-
-1. 创建最简配置：
-
-```yaml
-# devices/my_device.yaml
-my_device:
-  class:
-    module: unilabos.devices.my_module.my_device:MyDevice
-    type: python
-```
-
-2. 启动系统时用 `complete_registry=True` 参数，让系统自动补全
-
-3. 检查一下生成的配置是不是你想要的
-
-### Python 驱动类要怎么写
-
-你的设备类要符合这些要求：
+3. 定义设备的类信息
+    添加设备的模块路径和类型：

 ```python
-from unilabos.common.device_base import DeviceBase
+new_device:  # 定义一个名为 linear_motion.grbl 的设备

-class MyDevice(DeviceBase):
-    def __init__(self, config):
-        """初始化，参数会自动分析到 init_param_schema.config"""
-        super().__init__(config)
-        self.port = config.get('port', '/dev/ttyUSB0')

-    # 状态方法（会自动生成到 status_types）
-    def get_status(self):
-        """返回设备状态"""
-        return "idle"
+class:  # 定义设备的类信息
+    module: unilabos.devices_names.new_device:NewDeviceClass  # 指定模块路径和类名
+    type: python  # 指定类型为 Python 类
+    status_types:
+```
+4. 定义设备支持的动作
+    添加设备支持的动作及其目标、反馈和结果：
+```python
+  action_value_mappings:
+    set_speed:
+      type: SendCmd
+      goal:
+        command: speed
+      feedback: {}
+      result:
+        success: success
+```
+`如何编写action_valve_mappings`
+1. 在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来定义设备支持的动作（actions）及其目标值（goal）、反馈值（feedback）和结果值（result）的映射规则。以下是规则和编写方法：
+```python
+  action_value_mappings:
+    <action_name>:                      # <action_name>：动作的名称
+                                        # start：启动设备或某个功能。
+                                        # stop：停止设备或某个功能。
+                                        # set_speed：设置设备的速度。
+                                        # set_temperature：设置设备的温度。
+                                        # move_to_position：移动设备到指定位置。
+                                        # stir：执行搅拌操作。
+                                        # heatchill：执行加热或冷却操作。
+                                        # send_nav_task：发送导航任务（例如机器人导航）。
+                                        # set_timer：设置设备的计时器。
+                                        # valve_open_cmd：打开阀门。
+                                        # valve_close_cmd：关闭阀门。
+                                        # execute_command_from_outer：执行外部命令。
+                                        # push_to：控制设备推送到某个位置（例如机械爪）。
+                                        # move_through_points：导航设备通过多个点。

-    def get_temperature(self):
-        """返回当前温度"""
-        return 25.0
+      type: <ActionType>                # 动作的类型，表示动作的功能
+                                        # 根据动作的功能选择合适的类型：
+                                        # SendCmd：发送简单命令。
+                                        # NavigateThroughPoses：导航动作。
+                                        # SingleJointPosition：设置单一关节的位置。
+                                        # Stir：搅拌动作。
+                                        # HeatChill：加热或冷却动作。

-    # 动作方法（会自动生成 auto- 开头的动作）
-    async def start_heating(self, temperature: float):
-        """开始加热到指定温度"""
-        pass
+      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
+        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。

-    def stop(self):
-        """停止操作"""
-        pass
+      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
+        <feedback_key>: <mapped_value>
+      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
+        <result_key>: <mapped_value>
 ```

-### 系统集成
-
-1. 把 yaml 文件放到 `devices/` 目录下
-2. 系统启动时会自动扫描并加载设备
-3. 系统会自动补全所有缺失的字段
-4. 设备马上就能在前端界面中使用
-
-### 高级配置
-
-如果需要特殊设置，可以手动加：
-
-```yaml
-my_device:
-  class:
-    module: unilabos.devices.my_module.my_device:MyDevice
-    type: python
-    action_value_mappings:
-      # 自定义动作
-      special_command:
-        type: UniLabJsonCommand
-        goal: {}
-        result: {}
-
-  # 可选的自定义配置
-  description: '我的特殊设备'
-  icon: 'my_device.webp'
-  category: ['temperature', 'heating']
+6. 定义设备的属性模式
+    添加设备的属性模式，包括属性类型和描述：
+```python
+schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      speed:
+        type: number
+        description: The speed of the device
+    required:
+      - status
+      - speed
+    additionalProperties: false
 ```
-
-## 常见问题怎么排查
-
-### 设备加载不了
-
-1. 检查模块路径：确认 `class.module` 路径写对了
-2. 确认类能导入：看看你的 Python 驱动类能不能正常导入
-3. 检查语法：用 yaml 验证器看看文件格式对不对
-4. 查看日志：看 UniLabOS 启动时有没有报错信息
-
-### 自动生成失败了
-
-1. 类分析出问题：确认你的类继承了正确的基类
-2. 方法类型不明确：确保状态方法的返回类型写清楚了
-3. 导入有问题：检查类能不能被动态导入
-4. 没开完整注册：确认启用了 `complete_registry=True`
-
-### 前端显示有问题
-
-1. 重新生成：删掉旧的 yaml 文件，用编辑器重新生成
-2. 清除缓存：清除浏览器缓存，重新加载页面
-3. 检查字段：确认必需的字段（比如 `schema`）都有
-4. 验证数据：检查 `goal_default` 和 `schema` 的数据类型是不是一致
-
-### 动作执行出错
-
-1. 方法名不对：确认动作方法名符合规范（比如 `execute_<action_name>`）
-2. 参数映射错误：检查 `goal` 字段的参数映射是否正确
-3. 返回格式不对：确认方法返回值格式符合 `result` 映射
-4. 没异常处理：在驱动类里加上异常处理
-
-## 最佳实践
-
-### 开发流程
-
-1. **优先使用编辑器**：除非有特殊需求，否则优先使用注册表编辑器
-2. **最小化配置**：手动配置时只定义必要字段，让系统自动生成其他内容
-3. **增量开发**：先创建基本配置，后续根据需要添加特殊动作
-
-### 代码规范
-
-1. **方法命名**：状态方法使用 `get_` 前缀，动作方法使用动词开头
-2. **类型注解**：为方法参数和返回值添加类型注解
-3. **文档字符串**：为类和方法添加详细的文档字符串
-4. **异常处理**：实现完善的错误处理和日志记录
-
-### 配置管理
-
-1. **版本控制**：所有 yaml 文件纳入版本控制
-2. **命名一致性**：设备 ID、文件名、类名保持一致的命名风格
-3. **定期更新**：定期运行完整注册以更新自动生成的字段
-4. **备份配置**：在修改前备份重要的手动配置
-
-### 测试验证
-
-1. **本地测试**：在本地环境充分测试后再部署
-2. **渐进部署**：先部署到测试环境，验证无误后再上生产环境
-3. **监控日志**：密切监控设备加载和运行日志
-4. **回滚准备**：准备快速回滚机制，以应对紧急情况
-
-### 性能优化
-
-1. **按需加载**：只加载实际使用的设备类型
-2. **缓存利用**：充分利用系统的注册表缓存机制
-3. **资源管理**：合理管理设备连接和资源占用
-4. **监控指标**：设置关键性能指标的监控和告警
+# 写完yaml注册表后需要添加到哪些其他文件？
--- a/docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
+++ b/docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
--- a/docs/developer_guide/image_add_batteryPLC/unilab_registry_process.png
+++ b/docs/developer_guide/image_add_batteryPLC/unilab_registry_process.png
--- a/docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
+++ b/docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
--- a/docs/developer_guide/materials_tutorial.md
+++ b/docs/developer_guide/materials_tutorial.md
@@ -1,409 +0,0 @@
-# 物料教程（Resource）
-
-本教程面向 Uni-Lab-OS 的开发者，讲解“物料”的核心概念、3种物料格式（UniLab、PyLabRobot、奔耀Bioyond）及其相互转换方法，并说明4种 children 结构表现形式及使用场景。
-
---
-
-## 1. 物料是什么
-
- **物料（Resource）**：指实验工作站中的实体对象，包括设备（device）、操作甲板 （deck）、试剂、实验耗材，也包括设备上承载的具体物料或者包含的容器（如container/plate/well/瓶/孔/片等）。
- **物料基本信息**（以 UniLab list格式为例）：
-
-```jsonc
-{
-    "id": "plate", // 某一类物料的唯一名称
-    "name": "50ml瓶装试剂托盘", // 在云端显示的名称
-    "sample_id": null, // 同类物料的不同样品
-    "children": [
-        "50ml试剂瓶"   // 表示托盘上有一个 50ml 试剂瓶
-    ],
-    "parent": "deck", // 此物料放置在 deck 上
-    "type": "plate", // 物料类型
-    "class": "plate", // 物料对应的注册/类名
-    "position": {
-        "x": 0, // 初始放置位置
-        "y": 0,
-        "z": 0
-    },
-    "config": { // 固有配置（尺寸、旋转等）
-        "size_x": 400.0,
-        "size_y": 400.0,
-        "size_z": 400.0,
-        "rotation": {
-            "x": 0,
-            "y": 0,
-            "z": 0,
-            "type": "Rotation"
-        }
-    },
-    "data": { 
-        "bottle_number": 1 // 动态数据（可变化）
-    }
-}
-```
-
-## 2. 3种物料格式概览(UniLab、PyLabRobot、奔耀Bioyond)
-
-### 2.1 UniLab 物料格式（云端/项目内通用）
-
- 结构特征：顶层通常是 `nodes` 列表；每个节点是扁平字典，`children` 是子节点 `id` 列表；`parent` 为父节点 `id` 或 `null`。
- 用途：
-  - 云端数据存储、前端可视化、与图结构算法互操作
-  - 在上传/下载/部署配置时作为标准交换格式
-
-示例片段（UniLab 物料格式）：
-
-```jsonc
-{
-  "nodes": [
-  
-    {
-      "id": "a",
-      "name": "name_a",
-      "sample_id": 1, 
-      "type": "deck",
-      "class": "deck",
-      "parent": null,
-      "children": ["b1"],
-      "position": {"x": 0, "y": 0, "z": 0},
-      "config": {},
-      "data": {}
-    },
-    {
-      
-      "id": "b1",
-      "name": "name_b1",
-      "sample_id": 1, 
-      "type": "plate",
-      "class": "plate",
-      "parent": "a1",
-      "children": [],
-      "position": {"x": 0, "y": 0, "z": 0},
-      "config": {},
-      "data": {}
-    }
-  ]
-}
-```
-
-### 2.2 PyLabRobot（PLR）物料格式（实验流程运行时）
-
- 结构特征：严格的层级树，`children` 为“子资源字典列表”（每个子节点本身是完整对象）。
- 用途：
-  - 实验流程执行与调度，PLR 运行时期望的资源对象格式
-  - 通过 `Resource.deserialize/serialize`、`load_all_state/serialize_all_state` 与对象交互
-
-示例片段（PRL 物料格式）：：
-
-```json
-{
-  "name": "deck",
-  "type": "Deck",
-  "category": "deck",
-  "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
-  "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-  "parent_name": null,
-  "children": [
-    {
-      "name": "plate_1",
-      "type": "Plate",
-      "category": "plate_96",
-      "location": {"x": 100, "y": 0, "z": 0, "type": "Coordinate"},
-      "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-      "parent_name": "deck",
-      "children": [
-        {
-          "name": "A1",
-          "type": "Well",
-          "category": "well",
-          "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
-          "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-          "parent_name": "plate_1",
-          "children": []
-        }
-      ]
-    }
-  ]
-}
-```
-
-
-### 2.3 奔耀 Bioyond 物料格式（第三方来源）
-一般是厂商自己定义的json格式和字段，信息需要提取和对应。以下为示例说明。
-
- 结构特征：顶层 `data` 列表，每项包含 `typeName`、`code`、`barCode`、`name`、`quantity`、`unit`、`locations`（仓位 `whName`、`x/y/z`）、`detail`（细粒度内容，如瓶内液体或孔位物料）。
- 用途：
-  - 第三方 WMS/设备的物料清单输入
-  - 需要自定义映射表将 `typeName` → PLR 类名，对 `locations`/`detail` 进行落位/赋值
-
-示例片段（奔耀Bioyond 物料格式）：
-
-
-```json
-{
-  "data": [
-    {
-      "id": "3a1b5c10-d4f3-01ac-1e64-5b4be2add4b1",
-      "typeName": "液",
-      "code": "0006-00014",
-      "barCode": "",
-      "name": "EMC",
-      "quantity": 50,
-      "lockQuantity": 2.057,
-      "unit": "瓶",
-      "status": 1,
-      "isUse": false,
-      "locations": [
-        {
-          "id": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
-          "whid": "3a19da43-57b4-a2a8-3f52-91dbbeb836db",
-          "whName": "配液站内试剂仓库",
-          "code": "0003-0003",
-          "x": 1,
-          "y": 3,
-          "z": 1,
-          "quantity": 0
-        }
-      ],
-      "detail": [
-        {
-          "code": "0006-00014-01",
-          "name": "EMC-瓶-1",
-          "x": 1,
-          "y": 3,
-          "z": 1,
-          "quantity": 500.0
-        }
-      ]
-    }
-  ],
-  "code": 1,
-  "message": "",
-  "timestamp": 0
-}
-```
-### 2.4 3种物料格式关键字段对应(UniLab、PyLabRobot、奔耀Bioyond)
-
-| 含义 | UniLab | PyLabRobot (PLR) | 奔耀 Bioyond |
-| - | - | - | - |
-| 节点唯一名 | `id`  | `name` | `name` |
-| 父节点引用 | `parent` | `parent_name` | `locations` 坐标（无直接父名，需映射坐标下的物料） |
-| 子节点集合 | `children`（id 列表或对象列表，视结构而定） | `children`（对象列表） | `detail`（明细，非严格树结构，需要自定义映射） |
-| 类型（抽象类别） | `type`（device/container/plate/deck/…） | `category`（plate/well/…），以及类名 `type` | `typeName`（厂商自定义，如“液”、“加样头(大)”） |
-| 运行/业务数据 | `data` | 通过 `serialize_all_state()`/`load_all_state()` 管理的状态 | `quantity`、`lockQuantity` 等业务数值 |
-| 固有配置 | `config`（size_x/size_y/size_z/model/ordering…） | 资源字典中的同名键（反序列化时按构造签名取用） | 厂商自定义字段（需映射入 PLR/UniLab 的 `config` 或 `data`） |
-| 空间位置 | `position`（x/y/z） | `location`（Coordinate） + `rotation`（Rotation） | `locations`（whName、x/y/z），不含旋转 |
-| 条码/标识 | `config.barcode`（可选） | 常放在配置键中（如 `barcode`） | `barCode` |
-| 数量单位 | 无固定键，通常在 `data` | 无固定键，通常在配置或状态中 | `unit` |
-| 物料编码 | 通常在 `config` 或 `data` 自定义 | 通常在配置中自定义 | `code` |
-
-说明：
- Bioyond 不提供显式的树形父子关系，通常通过 `locations` 将物料落位到某仓位/坐标。用 `detail` 表示子级明细。
-
---
-
-## 3. children 的四种结构表示
-
- **list（扁平列表）**：每个节点是扁平字典，`children` 为子节点 `id` 数组。示例：UniLab `nodes` 中的单个节点。
-
-```json
-{
-  "nodes": [
-    { "id": "root", "parent": null, "children": ["child1"] },
-    { "id": "child1", "parent": "root", "children": [] }
-  ]
-}
-```
- **dict（嵌套字典）**：节点的 `children` 是 `{ child_id: child_node_dict }` 字典。
-
-```json
-{
-  "id": "root",
-  "parent": null,
-  "children": {
-    "child1": { "id": "child1", "parent": "root", "children": {} }
-  }
-}
-```
- **tree（树形列表）**：顶层是 `[root_node, ...]`，每个 `node.children` 是“子节点对象列表”（而非 id 列表）。
-
-```json
-[
-  {
-    "id": "root",
-    "parent": null,
-    "children": [
-      { "id": "child1", "parent": "root", "children": [] }
-    ]
-  }
-]
-```
- **nestdict（顶层嵌套字典）**：顶层是 `{root_id: root_node, ...}`，或者根节点自身带 `children: {id: node}` 形态。
-
-```json
-{
-  "root": {
-    "id": "root",
-    "parent": null,
-    "children": {
-      "child1": { "id": "child1", "parent": "root", "children": {} }
-    }
-  }
-}
-```
-
-这些结构之间可使用 `graphio.py` 中的工具函数互转（见下一节）。
-
---
-
-## 4. 转换函数及调用
-
-核心代码文件：`unilabos/resources/graphio.py`
-
-### 4.1 结构互转（list/dict/tree/nestdict）
-
-代码引用：
-
-```217:239:unilabos/resources/graphio.py
-def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
-    # ... 由扁平 dict（id->node）生成树（children 为对象列表）
-```
-
-```241:267:unilabos/resources/graphio.py
-def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
-    # ... 由扁平 dict 生成嵌套字典（children 为 {id:node}）
-```
-
-```270:273:unilabos/resources/graphio.py
-def list_to_nested_dict(nodes: list[dict]) -> dict:
-    # ... 由扁平列表（children 为 id 列表）转嵌套字典
-```
-
-```275:286:unilabos/resources/graphio.py
-def tree_to_list(tree: list[dict]) -> list[dict]:
-    # ... 由树形列表转回扁平列表（children 还原为 id 列表）
-```
-
-```289:337:unilabos/resources/graphio.py
-def nested_dict_to_list(nested_dict: dict) -> list[dict]:
-    # ... 由嵌套字典转回扁平列表
-```
-
-常见路径：
-
- UniLab 扁平列表 → 树：`dict_to_tree({r["id"]: r for r in resources})`
- 树 → UniLab 扁平列表：`tree_to_list(resources_tree)`
- 扁平列表 ↔ 嵌套字典：`list_to_nested_dict` / `nested_dict_to_list`
-
-### 4.2 UniLab ↔ PyLabRobot（PLR）
-
-高层封装：
-
-```339:368:unilabos/resources/graphio.py
-def convert_resources_to_type(resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False):
-    # UniLab -> (NestedDict or PLR)
-```
-
-```371:395:unilabos/resources/graphio.py
-def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False):
-    # (NestedDict or PLR) -> UniLab 扁平列表
-```
-
-底层转换：
-
-```398:441:unilabos/resources/graphio.py
-def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
-    # UniLab 单节点(树根) -> PLR Resource 对象
-```
-
-```443:481:unilabos/resources/graphio.py
-def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
-    # PLR Resource -> UniLab 单节点(dict)
-```
-
-示例：
-
-```python
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
-from pylabrobot.resources.resource import Resource as ResourcePLR
-
-# UniLab 扁平列表 -> PLR 根资源对象
-plr_root = convert_resources_to_type(resources_list=ulab_list, resource_type=ResourcePLR)
-
-# PLR 资源对象 -> UniLab 扁平列表（用于保存/上传）
-ulab_flat = convert_resources_from_type(resources_list=plr_root, resource_type=ResourcePLR)
-```
-
-可选项：
-
- `plr_model=True`：保留 `model` 字段（默认会移除）。
- `with_children=False`：`resource_plr_to_ulab` 仅转换当前节点。
-
-### 4.3 奔耀（Bioyond）→ PLR（及进一步到 UniLab）
-
-转换入口：
-
-```483:527:unilabos/resources/graphio.py
-def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
-    # Bioyond 列表 -> PLR 资源列表，并可根据 deck.warehouses 将资源落位
-```
-
-使用示例：
-
-```python
-import json
-from unilabos.resources.graphio import resource_bioyond_to_plr, convert_resources_from_type
-from pylabrobot.resources.resource import Resource as ResourcePLR
-
-resp = json.load(open("unilabos/devices/workstation/bioyond_cell/bioyond_test_yibin.json", encoding="utf-8"))
-materials = resp["data"]
-
-# 将第三方类型name映射到 PLR 资源类名（需根据现场定义）
-type_mapping = {
-    "液": "RegularContainer",
-    "加样头(大)": "RegularContainer"
-}
-
-plr_list = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=None)
-
-# 如需上传云端（UniLab 扁平格式）：
-ulab_flat = convert_resources_from_type(plr_list, [ResourcePLR])
-```
-
-说明：
-
- `type_mapping` 必须由开发者根据设备/物料种类人工维护。
- 如传入 `deck`，且 `deck.warehouses` 命名与 `whName` 对应，可将物料安放到仓库坐标（x/y/z）。
-
---
-
-## 5. 何时使用哪种格式
-
- **云端/持久化**：使用 UniLab 物料格式（扁平 `nodes` 列表，children 为 id 列表）。便于版本化、可视化与网络传输。
- **实验工作流执行**：使用 PyLabRobot（PLR）格式。PLR 运行时依赖严格的树形资源结构与对象 API。
- **第三方设备/系统（Bioyond）输入**：保持来源格式不变，使用 `resource_bioyond_to_plr` + 人工 `type_mapping` 将其转换为 PLR（必要时再转 UniLab）。
-
---
-
-## 6. 常见问题与注意事项
-
- **children 形态不一致**：不同函数期望不同 children 形态，注意在进入转换前先用“结构互转”工具函数标准化形态。
- **devices_only**：`dict_to_tree/dict_to_nested_dict` 支持仅保留 `type == device` 的节点。
- **模型/类型字段**：PLR 对象序列化参数有所差异，`resource_ulab_to_plr` 内部会根据构造签名移除不兼容字段（如 `category`）。
- **驱动初始化**：`initialize_resource(s)` 支持从注册表/类路径创建 PLR/UniLab 资源或列表。
-
-参考代码：
-
-```530:577:unilabos/resources/graphio.py
-def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
-    # 从注册类/模块反射创建资源，或将 UniLab 字典包装为列表
-```
-
-```580:597:unilabos/resources/graphio.py
-def initialize_resources(resources_config) -> list[dict]:
-    # 批量初始化
-```
-
-
-
-
--- a/docs/developer_guide/workstation_architecture.md
+++ b/docs/developer_guide/workstation_architecture.md
@@ -1,378 +0,0 @@
-# 工作站基础架构设计文档
-
-## 1. 整体架构图
-
-```mermaid
-graph TB
-    subgraph "工作站基础架构"
-        WB[WorkstationBase]
-        WB --> |继承| RPN[ROS2WorkstationNode]
-        WB --> |组合| WCB[WorkstationCommunicationBase]
-        WB --> |组合| MMB[MaterialManagementBase]
-        WB --> |组合| WHS[WorkstationHTTPService]
-    end
-    
-    subgraph "通信层实现"
-        WCB --> |实现| PLC[PLCCommunication]
-        WCB --> |实现| SER[SerialCommunication]
-        WCB --> |实现| ETH[EthernetCommunication]
-    end
-    
-    subgraph "物料管理实现"
-        MMB --> |实现| PLR[PyLabRobotMaterialManager]
-        MMB --> |实现| BIO[BioyondMaterialManager]
-        MMB --> |实现| SIM[SimpleMaterialManager]
-    end
-    
-    subgraph "HTTP服务"
-        WHS --> |处理| LIMS[LIMS协议报送]
-        WHS --> |处理| MAT[物料变更报送]
-        WHS --> |处理| ERR[错误处理报送]
-    end
-    
-    subgraph "具体工作站实现"
-        WB --> |继承| WS1[PLCWorkstation]
-        WB --> |继承| WS2[ReportingWorkstation]
-        WB --> |继承| WS3[HybridWorkstation]
-    end
-    
-    subgraph "外部系统"
-        EXT1[PLC设备] --> |通信| PLC
-        EXT2[外部工作站] --> |HTTP报送| WHS
-        EXT3[LIMS系统] --> |HTTP报送| WHS
-        EXT4[Bioyond物料系统] --> |查询| BIO
-    end
-```
-
-## 2. 类关系图
-
-```mermaid
-classDiagram
-    class WorkstationBase {
-        <<abstract>>
-        +device_id: str
-        +communication: WorkstationCommunicationBase
-        +material_management: MaterialManagementBase
-        +http_service: WorkstationHTTPService
-        +workflow_status: WorkflowStatus
-        +supported_workflows: Dict
-        
-        +_create_communication_module()* 
-        +_create_material_management_module()*
-        +_register_supported_workflows()*
-        
-        +process_step_finish_report()
-        +process_sample_finish_report()
-        +process_order_finish_report()
-        +process_material_change_report()
-        +handle_external_error()
-        
-        +start_workflow()
-        +stop_workflow()
-        +get_workflow_status()
-        +get_device_status()
-    }
-    
-    class ROS2WorkstationNode {
-        +sub_devices: Dict
-        +protocol_names: List
-        +execute_single_action()
-        +create_ros_action_server()
-        +initialize_device()
-    }
-    
-    class WorkstationCommunicationBase {
-        <<abstract>>
-        +config: CommunicationConfig
-        +is_connected: bool
-        +connect()
-        +disconnect()
-        +start_workflow()*
-        +stop_workflow()*
-        +get_device_status()*
-        +write_register()
-        +read_register()
-    }
-    
-    class MaterialManagementBase {
-        <<abstract>>
-        +device_id: str
-        +deck_config: Dict
-        +resource_tracker: DeviceNodeResourceTracker
-        +plr_deck: Deck
-        +find_materials_by_type()
-        +update_material_location()
-        +convert_to_unilab_format()
-        +_create_resource_by_type()*
-    }
-    
-    class WorkstationHTTPService {
-        +workstation_instance: WorkstationBase
-        +host: str
-        +port: int
-        +start()
-        +stop()
-        +_handle_step_finish_report()
-        +_handle_material_change_report()
-    }
-    
-    class PLCWorkstation {
-        +plc_config: Dict
-        +modbus_client: ModbusTCPClient
-        +_create_communication_module()
-        +_create_material_management_module()
-        +_register_supported_workflows()
-    }
-    
-    class ReportingWorkstation {
-        +report_handlers: Dict
-        +_create_communication_module()
-        +_create_material_management_module()
-        +_register_supported_workflows()
-    }
-    
-    WorkstationBase --|> ROS2WorkstationNode
-    WorkstationBase *-- WorkstationCommunicationBase
-    WorkstationBase *-- MaterialManagementBase
-    WorkstationBase *-- WorkstationHTTPService
-    
-    PLCWorkstation --|> WorkstationBase
-    ReportingWorkstation --|> WorkstationBase
-    
-    WorkstationCommunicationBase <|-- PLCCommunication
-    WorkstationCommunicationBase <|-- DummyCommunication
-    
-    MaterialManagementBase <|-- PyLabRobotMaterialManager
-    MaterialManagementBase <|-- SimpleMaterialManager
-```
-
-## 3. 工作站启动时序图
-
-```mermaid
-sequenceDiagram
-    participant APP as Application
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant MAT as MaterialManager
-    participant HTTP as HTTPService
-    participant ROS as ROS2WorkstationNode
-    
-    APP->>WS: 创建工作站实例
-    WS->>ROS: 初始化ROS2WorkstationNode
-    ROS->>ROS: 初始化子设备
-    ROS->>ROS: 设置硬件接口代理
-    
-    WS->>COMM: _create_communication_module()
-    COMM->>COMM: 初始化通信配置
-    COMM->>COMM: 建立PLC/串口连接
-    COMM-->>WS: 返回通信模块实例
-    
-    WS->>MAT: _create_material_management_module()
-    MAT->>MAT: 创建PyLabRobot Deck
-    MAT->>MAT: 初始化物料资源
-    MAT->>MAT: 注册到ResourceTracker
-    MAT-->>WS: 返回物料管理实例
-    
-    WS->>WS: _register_supported_workflows()
-    WS->>WS: _create_workstation_services()
-    WS->>HTTP: _start_http_service()
-    HTTP->>HTTP: 创建HTTP服务器
-    HTTP->>HTTP: 启动监听线程
-    HTTP-->>WS: HTTP服务启动完成
-    
-    WS-->>APP: 工作站初始化完成
-```
-
-## 4. 工作流执行时序图
-
-```mermaid
-sequenceDiagram
-    participant EXT as ExternalSystem
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant MAT as MaterialManager
-    participant ROS as ROS2WorkstationNode
-    participant DEV as SubDevice
-    
-    EXT->>WS: start_workflow(type, params)
-    WS->>WS: 验证工作流类型
-    WS->>COMM: start_workflow(type, params)
-    COMM->>COMM: 发送启动命令到PLC
-    COMM-->>WS: 启动成功
-    
-    WS->>WS: 更新workflow_status = RUNNING
-    
-    loop 工作流步骤执行
-        WS->>ROS: execute_single_action(device_id, action, params)
-        ROS->>DEV: 发送ROS Action请求
-        DEV->>DEV: 执行设备动作
-        DEV-->>ROS: 返回执行结果
-        ROS-->>WS: 返回动作结果
-        
-        WS->>MAT: update_material_location(material_id, location)
-        MAT->>MAT: 更新PyLabRobot资源状态
-        MAT-->>WS: 更新完成
-    end
-    
-    WS->>COMM: get_workflow_status()
-    COMM->>COMM: 查询PLC状态寄存器
-    COMM-->>WS: 返回状态信息
-    
-    WS->>WS: 更新workflow_status = COMPLETED
-    WS-->>EXT: 工作流执行完成
-```
-
-## 5. HTTP报送处理时序图
-
-```mermaid
-sequenceDiagram
-    participant EXT as ExternalWorkstation
-    participant HTTP as HTTPService
-    participant WS as WorkstationBase
-    participant MAT as MaterialManager
-    participant DB as DataStorage
-    
-    EXT->>HTTP: POST /report/step_finish
-    HTTP->>HTTP: 解析请求数据
-    HTTP->>HTTP: 验证LIMS协议字段
-    HTTP->>WS: process_step_finish_report(request)
-    
-    WS->>WS: 增加接收计数
-    WS->>WS: 记录步骤完成事件
-    WS->>MAT: 更新相关物料状态
-    MAT->>MAT: 更新PyLabRobot资源
-    MAT-->>WS: 更新完成
-    
-    WS->>DB: 保存报送记录
-    DB-->>WS: 保存完成
-    
-    WS-->>HTTP: 返回处理结果
-    HTTP->>HTTP: 构造HTTP响应
-    HTTP-->>EXT: 200 OK + acknowledgment_id
-    
-    Note over EXT,DB: 类似处理sample_finish, order_finish, material_change等报送
-```
-
-## 6. 错误处理时序图
-
-```mermaid
-sequenceDiagram
-    participant DEV as Device
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant HTTP as HTTPService
-    participant EXT as ExternalSystem
-    
-    DEV->>WS: 设备错误事件
-    WS->>WS: handle_external_error(error_data)
-    WS->>WS: 记录错误历史
-    
-    alt 关键错误
-        WS->>COMM: emergency_stop()
-        COMM->>COMM: 发送紧急停止命令
-        WS->>WS: 更新workflow_status = ERROR
-    else 普通错误
-        WS->>WS: 标记动作失败
-        WS->>WS: 触发重试逻辑
-    end
-    
-    WS->>HTTP: 记录错误报送
-    HTTP->>EXT: 主动通知错误状态
-    
-    WS-->>DEV: 错误处理完成
-```
-
-## 7. 典型工作站实现示例
-
-### 7.1 PLC工作站实现
-
-```python
-class PLCWorkstation(WorkstationBase):
-    def _create_communication_module(self):
-        return PLCCommunication(self.communication_config)
-    
-    def _create_material_management_module(self):
-        return PyLabRobotMaterialManager(
-            self.device_id, 
-            self.deck_config, 
-            self.resource_tracker
-        )
-    
-    def _register_supported_workflows(self):
-        self.supported_workflows = {
-            "battery_assembly": WorkflowInfo(...),
-            "quality_check": WorkflowInfo(...)
-        }
-```
-
-### 7.2 报送接收工作站实现
-
-```python
-class ReportingWorkstation(WorkstationBase):
-    def _create_communication_module(self):
-        return DummyCommunication(self.communication_config)
-    
-    def _create_material_management_module(self):
-        return SimpleMaterialManager(
-            self.device_id,
-            self.deck_config,
-            self.resource_tracker
-        )
-    
-    def _register_supported_workflows(self):
-        self.supported_workflows = {
-            "data_collection": WorkflowInfo(...),
-            "report_processing": WorkflowInfo(...)
-        }
-```
-
-## 8. 核心接口说明
-
-### 8.1 必须实现的抽象方法
- `_create_communication_module()`: 创建通信模块
- `_create_material_management_module()`: 创建物料管理模块
- `_register_supported_workflows()`: 注册支持的工作流
-
-### 8.2 可重写的报送处理方法
- `process_step_finish_report()`: 步骤完成处理
- `process_sample_finish_report()`: 样本完成处理
- `process_order_finish_report()`: 订单完成处理
- `process_material_change_report()`: 物料变更处理
- `handle_external_error()`: 错误处理
-
-### 8.3 工作流控制接口
- `start_workflow()`: 启动工作流
- `stop_workflow()`: 停止工作流
- `get_workflow_status()`: 获取状态
-
-## 9. 配置参数说明
-
-```python
-workstation_config = {
-    "communication_config": {
-        "protocol": "modbus_tcp",
-        "host": "192.168.1.100",
-        "port": 502
-    },
-    "deck_config": {
-        "size_x": 1000.0,
-        "size_y": 1000.0,
-        "size_z": 500.0
-    },
-    "http_service_config": {
-        "enabled": True,
-        "host": "127.0.0.1",
-        "port": 8081
-    },
-    "communication_interfaces": {
-        "logical_device_1": CommunicationInterface(...)
-    }
-}
-```
-
-这个架构设计支持：
-1. **灵活的通信方式**: 通过CommunicationBase支持PLC、串口、以太网等
-2. **多样的物料管理**: 支持PyLabRobot、Bioyond、简单物料系统
-3. **统一的HTTP报送**: 基于LIMS协议的标准化报送接口
-4. **完整的工作流控制**: 支持动态和静态工作流
-5. **强大的错误处理**: 多层次的错误处理和恢复机制
--- a/docs/intro.md
+++ b/docs/intro.md
@@ -33,8 +33,6 @@ developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
 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
@@ -1,13 +0,0 @@
-# Sphinx文档构建依赖
-sphinx>=7.0.0
-sphinx-rtd-theme>=2.0.0
-myst-parser>=2.0.0
-
-# 用于支持Jupyter notebook文档
-myst-nb>=1.0.0
-
-# 用于代码复制按钮
-sphinx-copybutton>=0.5.0
-
-# 用于自动摘要生成
-sphinx-autobuild>=2024.2.4
--- a/docs/user_guide/configuration.md
+++ b/docs/user_guide/configuration.md
@@ -1,75 +1,82 @@
 # Uni-Lab 配置指南

-Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
+Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。

 ## 配置文件格式

-Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
+Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。

-### 默认配置示例
+### 基本配置示例

-首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
-
-```python
-# unilabos的配置文件
-
-class BasicConfig:
-    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
-    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
-
-
-# WebSocket配置，一般无需调整
-class WSConfig:
-    reconnect_interval = 5  # 重连间隔（秒）
-    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
-```
-您可以进入实验室，点击左下角的头像在实验室详情中获取所在实验室的ak sk
-![copy_aksk.gif](image/copy_aksk.gif)
-
-### 完整配置示例
-
-您可以根据需要添加更多配置选项：
+一个典型的配置文件包含以下部分：

 ```python
 #!/usr/bin/env python
 # coding=utf-8
 """Uni-Lab 配置文件"""

-# 基础配置
-class BasicConfig:
-    ak = "your_access_key"  # 实验室访问密钥
-    sk = "your_secret_key"  # 实验室私钥
-    working_dir = ""  # 工作目录（通常自动设置）
-    config_path = ""  # 配置文件路径（自动设置）
-    is_host_mode = True  # 是否为主站模式
-    slave_no_host = False  # 从站模式下是否跳过等待主机服务
-    upload_registry = False  # 是否上传注册表
-    machine_name = "undefined"  # 机器名称（自动获取）
-    vis_2d_enable = False  # 是否启用2D可视化
-    enable_resource_load = True  # 是否启用资源加载
-    communication_protocol = "websocket"  # 通信协议
+from dataclasses import dataclass

-# WebSocket配置
-class WSConfig:
-    reconnect_interval = 5  # 重连间隔（秒）
-    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+# 配置类定义

-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""  # API主机地址
-    authorization = ""  # 授权信息
-    init_endpoint = ""  # 初始化端点
-    complete_endpoint = ""  # 完成端点
-    max_retries = 3  # 最大重试次数
+class MQConfig:
+    """MQTT 配置类"""
+    lab_id: str = "YOUR_LAB_ID"
+    # 更多配置...

-# HTTP配置
-class HTTPConfig:
-    remote_addr = "http://127.0.0.1:48197/api/v1"  # 远程地址
+# 其他配置类...
+```
+
+## 配置选项说明
+
+### MQTT配置 (MQConfig)
+
+MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
+
+```python
+
+class MQConfig:
+    """MQTT 配置类"""
+    lab_id: str = "7AAEDBEA"  # 实验室唯一标识
+    instance_id: str = "mqtt-cn-instance"
+    access_key: str = "your-access-key"
+    secret_key: str = "your-secret-key"
+    group_id: str = "GID_labs"
+    broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
+    port: int = 8883
+    
+    # 可以直接提供证书文件路径
+    ca_file: str = "/path/to/ca.pem"  # 相对config.py所在目录的路径
+    cert_file: str = "/path/to/cert.pem"  # 相对config.py所在目录的路径
+    key_file: str = "/path/to/key.pem"  # 相对config.py所在目录的路径
+    
+    # 或者直接提供证书内容
+    ca_content: str = ""
+    cert_content: str = ""
+    key_content: str = ""
+```
+
+#### 证书配置
+
+MQTT连接支持两种方式配置证书：
+
+1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
+2. **直接内容方式**：直接在配置中提供证书内容
+
+推荐使用文件路径方式，便于证书的更新和管理。
+
+### HTTP客户端配置 (HTTPConfig)
+
+即将开放 Uni-Lab 云端实验室。
+
+### ROS模块配置 (ROSConfig)
+
+配置ROS消息转换器需要加载的模块：
+
+```python

-# ROS配置
 class ROSConfig:
+    """ROS模块配置"""
    modules = [
        "std_msgs.msg",
        "geometry_msgs.msg",
@@ -78,365 +85,25 @@ class ROSConfig:
        "nav2_msgs.action",
        "unilabos_msgs.msg",
        "unilabos_msgs.action",
-    ]  # 需要加载的ROS模块
-```
-
-## 命令行参数覆盖配置
-
-Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
-
-### 支持命令行覆盖的配置项
-
-以下配置项可以通过命令行参数进行覆盖：
-
-| 配置类        | 配置字段          | 命令行参数          | 说明                             |
-| ------------- | ----------------- | ------------------- | -------------------------------- |
-| `BasicConfig` | `ak`              | `--ak`              | 实验室访问密钥                   |
-| `BasicConfig` | `sk`              | `--sk`              | 实验室私钥                       |
-| `BasicConfig` | `working_dir`     | `--working_dir`     | 工作目录路径                     |
-| `BasicConfig` | `is_host_mode`    | `--is_slave`        | 主站模式（参数为从站模式，取反） |
-| `BasicConfig` | `slave_no_host`   | `--slave_no_host`   | 从站模式下跳过等待主机服务       |
-| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息             |
-| `BasicConfig` | `vis_2d_enable`   | `--2d_vis`          | 启用 2D 可视化                   |
-| `HTTPConfig`  | `remote_addr`     | `--addr`            | 远程服务地址                     |
-
-### 特殊命令行参数
-
-除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
-
-| 参数                | 说明                                 |
-| ------------------- | ------------------------------------ |
-| `--config`          | 指定配置文件路径                     |
-| `--port`            | Web 服务端口（不影响配置文件）       |
-| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
-| `--visual`          | 可视化工具选择（不影响配置文件）     |
-| `--skip_env_check`  | 跳过环境检查（不影响配置文件）       |
-
-### 配置优先级
-
-配置项的生效优先级从高到低为：
-
-1. **命令行参数**：最高优先级
-2. **环境变量**：中等优先级
-3. **配置文件**：基础优先级
-
-### 使用示例
-
-```bash
-# 通过命令行覆盖认证信息
-unilab --ak "new_access_key" --sk "new_secret_key"
-
-# 覆盖服务器地址
-unilab --addr "https://custom.server.com/api/v1"
-
-# 启用从站模式并跳过等待主机
-unilab --is_slave --slave_no_host
-
-# 启用上传注册表和2D可视化
-unilab --upload_registry --2d_vis
-
-# 组合使用多个覆盖参数
-unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
-```
-
-### 预设环境地址
-
-`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
-
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
- `local` → `http://127.0.0.1:48197/api/v1`
- 其他值 → 直接使用作为完整 URL
-
-## 配置选项详解
-
-### 基础配置 (BasicConfig)
-
-基础配置包含了系统运行的核心参数：
-
-| 参数                     | 类型 | 默认值        | 说明                                       |
-| ------------------------ | ---- | ------------- | ------------------------------------------ |
-| `ak`                     | str  | `""`          | 实验室访问密钥（必需）                     |
-| `sk`                     | str  | `""`          | 实验室私钥（必需）                         |
-| `working_dir`            | str  | `""`          | 工作目录，通常自动设置                     |
-| `is_host_mode`           | bool | `True`        | 是否为主站模式                             |
-| `slave_no_host`          | bool | `False`       | 从站模式下是否跳过等待主机服务             |
-| `upload_registry`        | bool | `False`       | 启动时是否上传注册表信息                   |
-| `machine_name`           | str  | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
-| `vis_2d_enable`          | bool | `False`       | 是否启用 2D 可视化                         |
-| `communication_protocol` | str  | `"websocket"` | 通信协议，固定为 websocket                 |
-
-#### 认证配置
-
-`ak` 和 `sk` 是必需的认证参数：
-
-1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
-2. **配置方式**：
-   - **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
-   - **配置文件**：在 `BasicConfig` 类中设置
-   - **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
-3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
-4. **安全注意**：请妥善保管您的密钥信息
-
-**推荐做法**：
-
- 开发环境：使用配置文件
- 生产环境：使用环境变量或命令行参数
- 临时测试：使用命令行参数
-
-### WebSocket 配置 (WSConfig)
-
-WebSocket 是 Uni-Lab 的主要通信方式：
-
-| 参数                     | 类型 | 默认值 | 说明               |
-| ------------------------ | ---- | ------ | ------------------ |
-| `reconnect_interval`     | int  | `5`    | 断线重连间隔（秒） |
-| `max_reconnect_attempts` | int  | `999`  | 最大重连次数       |
-| `ping_interval`          | int  | `30`   | 心跳检测间隔（秒） |
-
-### HTTP 配置 (HTTPConfig)
-
-HTTP 客户端配置用于与云端服务通信：
-
-| 参数          | 类型 | 默认值                            | 说明         |
-| ------------- | ---- | --------------------------------- | ------------ |
-| `remote_addr` | str  | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
-
-**预设环境地址**：
-
- 生产环境：`https://uni-lab.bohrium.com/api/v1`
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
- 本地环境：`http://127.0.0.1:48197/api/v1`
-
-### ROS 配置 (ROSConfig)
-
-配置 ROS 消息转换器需要加载的模块：
-
-```python
-class ROSConfig:
-    modules = [
-        "std_msgs.msg",           # 标准消息类型
-        "geometry_msgs.msg",      # 几何消息类型
-        "control_msgs.msg",       # 控制消息类型
-        "control_msgs.action",    # 控制动作类型
-        "nav2_msgs.action",       # 导航动作类型
-        "unilabos_msgs.msg",      # UniLab 自定义消息类型
-        "unilabos_msgs.action",   # UniLab 自定义动作类型
    ]
 ```

-您可以根据实际使用的设备和功能添加其他 ROS 模块。
+您可以根据需要添加其他ROS模块。

-### OSS 上传配置 (OSSUploadConfig)
+### 其他配置选项

-对象存储服务配置，用于文件上传功能：
+- **OSSUploadConfig**: 对象存储上传配置

-| 参数                | 类型 | 默认值 | 说明                 |
-| ------------------- | ---- | ------ | -------------------- |
-| `api_host`          | str  | `""`   | OSS API 主机地址     |
-| `authorization`     | str  | `""`   | 授权认证信息         |
-| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
-| `complete_endpoint` | str  | `""`   | 上传完成端点         |
-| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
+## 如何使用配置文件

-## 环境变量支持
-
-Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
-
-```
-UNILABOS_{配置类名}_{字段名}
-```
-
-### 环境变量示例
+启动Uni-Lab时通过`--config`参数指定配置文件路径：

 ```bash
-# 设置基础配置
-export UNILABOS_BASICCONFIG_AK="your_access_key"
-export UNILABOS_BASICCONFIG_SK="your_secret_key"
-export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
-
-# 设置WebSocket配置
-export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
-export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
-
-# 设置HTTP配置
-export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
+unilab --config path/to/your/config.py
 ```

-### 环境变量类型转换
+如果您不涉及多环境开发，可以在unilabos的安装路径中手动添加local_config.py的文件

- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
- **整数**：自动转换为 `int` 类型
- **浮点数**：自动转换为 `float` 类型
- **字符串**：保持原值
-
-## 配置文件使用方法
-
-### 1. 指定配置文件启动
-
-```bash
-# 使用指定配置文件启动
-unilab --config /path/to/your/config.py
+# 启动Uni-Lab
+python -m unilabos.app.main --config path/to/your/config.py
 ```
-
-### 2. 使用默认配置文件
-
-如果不指定配置文件，系统会按以下顺序查找：
-
-1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
-2. 工作目录下的 `local_config.py`
-3. 首次使用时会引导创建配置文件
-
-### 3. 配置文件验证
-
-系统启动时会自动验证配置文件：
-
- **语法检查**：确保 Python 语法正确
- **类型检查**：验证配置项类型是否匹配
- **必需项检查**：确保 `ak` 和 `sk` 已配置
-
-## 最佳实践
-
-### 1. 安全配置
-
- 不要将包含密钥的配置文件提交到版本控制系统
- 使用环境变量或命令行参数在生产环境中配置敏感信息
- 定期更换访问密钥
- **推荐配置方式**：
-
-  ```bash
-  # 生产环境 - 使用环境变量
-  export UNILABOS_BASICCONFIG_AK="your_access_key"
-  export UNILABOS_BASICCONFIG_SK="your_secret_key"
-  unilab
-
-  # 或使用命令行参数
-  unilab --ak "your_access_key" --sk "your_secret_key"
-  ```
-
-### 2. 多环境配置
-
-为不同环境创建不同的配置文件并结合命令行参数：
-
-```
-configs/
-├── local_config.py      # 本地开发
-├── test_config.py       # 测试环境
-├── prod_config.py       # 生产环境
-└── example_config.py    # 示例配置
-```
-
-**环境切换示例**：
-
-```bash
-# 本地开发环境
-unilab --config configs/local_config.py --addr local
-
-# 测试环境
-unilab --config configs/test_config.py --addr test --upload_registry
-
-# 生产环境
-unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
-```
-
-### 3. 配置管理
-
- 保持配置文件简洁，只包含需要修改的配置项
- 为配置项添加注释说明其作用
- 定期检查和更新配置文件
- **命令行参数优先使用场景**：
-  - 临时测试不同配置
-  - CI/CD 流水线中的动态配置
-  - 不同环境间快速切换
-  - 敏感信息的安全传递
-
-### 4. 灵活配置策略
-
-**基础配置文件 + 命令行覆盖**的推荐方式：
-
-```python
-# base_config.py - 基础配置
-class BasicConfig:
-    # 非敏感配置写在文件中
-    is_host_mode = True
-    upload_registry = False
-    vis_2d_enable = False
-
-class WSConfig:
-    reconnect_interval = 5
-    max_reconnect_attempts = 999
-    ping_interval = 30
-```
-
-```bash
-# 启动时通过命令行覆盖关键参数
-unilab --config base_config.py \
-       --ak "$AK" \
-       --sk "$SK" \
-       --addr "test" \
-       --upload_registry \
-       --2d_vis
-```
-
-## 故障排除
-
-### 1. 配置文件加载失败
-
-**错误信息**：`[ENV] 配置文件 xxx 不存在`
-
-**解决方法**：
-
- 确认配置文件路径正确
- 检查文件权限是否可读
- 确保配置文件是 `.py` 格式
-
-### 2. 语法错误
-
-**错误信息**：`[ENV] 加载配置文件 xxx 失败`
-
-**解决方法**：
-
- 检查 Python 语法是否正确
- 确认类名和字段名拼写正确
- 验证缩进是否正确（使用空格而非制表符）
-
-### 3. 认证失败
-
-**错误信息**：`后续运行必须拥有一个实验室`
-
-**解决方法**：
-
- 确认 `ak` 和 `sk` 已正确配置
- 检查密钥是否有效
- 确认网络连接正常
-
-### 4. 环境变量不生效
-
-**解决方法**：
-
- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
- 检查环境变量是否已正确设置
- 重启系统或重新加载环境变量
-
-### 5. 命令行参数不生效
-
-**错误现象**：设置了命令行参数但配置没有生效
-
-**解决方法**：
-
- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
- 确认参数位置正确（所有参数都应在 `unilab` 之后）
- 查看启动日志确认参数是否被正确解析
-
-### 6. 配置优先级混淆
-
-**错误现象**：不确定哪个配置生效
-
-**解决方法**：
-
- 记住优先级：命令行参数 > 环境变量 > 配置文件
- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
- 检查启动日志中的配置加载信息
- 临时移除低优先级配置来测试高优先级配置是否生效
--- a/docs/user_guide/image/copy_aksk.gif
+++ b/docs/user_guide/image/copy_aksk.gif
--- a/docs/user_guide/image/creatworkfollow.gif
+++ b/docs/user_guide/image/creatworkfollow.gif
--- a/docs/user_guide/image/links.png
+++ b/docs/user_guide/image/links.png
--- a/docs/user_guide/image/linksandrun.png
+++ b/docs/user_guide/image/linksandrun.png
--- a/docs/user_guide/image/material.png
+++ b/docs/user_guide/image/material.png
--- a/docs/user_guide/image/new.png
+++ b/docs/user_guide/image/new.png
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -1,43 +1,24 @@
 # **Uni-Lab 安装**

-## 快速开始
+请先 `git clone` 本仓库，随后按照以下步骤安装项目：

-1. **配置 Conda 环境**
-
-Uni-Lab-OS 建议使用 `mamba` 管理环境。创建新的环境：
+`Uni-Lab` 建议您采用 `mamba` 管理环境。若需从头建立 `Uni-Lab` 的运行依赖环境，请执行

 ```shell
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-<YOUR_OS>.yaml
+mamba activate unilab
 ```

-2. **安装开发版 Uni-Lab-OS**
+其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
+
+若需将依赖安装进当前环境，请执行

 ```shell
-# 配置好conda环境后，克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git -b dev
-cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-pip install -e .
+conda env update --file unilabos-<YOUR_OS>.yml
 ```

-3. **安装开发版 ros-humble-unilabos-msgs**
+随后，可在本仓库安装 `unilabos` 的开发版：

-**卸载老版本：**
 ```shell
-conda activate unilab
-conda remove --force ros-humble-unilabos-msgs
+pip install .
 ```
-有时相同的安装包版本会由于dev构建得到的md5不一样，触发安全检查，可输入 `config set safety_checks disabled` 来关闭安全检查。
-
-**安装新版本：**
-
-访问 https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/multi-platform-build.yml 选择最新的构建，下载对应平台的压缩包（仅解压一次，得到.conda文件）使用如下指令：
-```shell
-conda activate base
-conda install ros-humble-unilabos-msgs-<version>-<platform>.conda --offline -n <环境名>
-```
-
-4. **启动 Uni-Lab 系统**
-
-请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。
--- a/docs/user_guide/launch.md
+++ b/docs/user_guide/launch.md
@@ -1,4 +1,4 @@
-# Uni-Lab 启动指南
+# Uni-Lab 启动

 安装完毕后，可以通过 `unilab` 命令行启动：

@@ -8,315 +8,70 @@ Start Uni-Lab Edge server.
 options:
  -h, --help            show this help message and exit
  -g GRAPH, --graph GRAPH
-                        Physical setup graph file path.
+                        Physical setup graph.
+  -d DEVICES, --devices DEVICES
+                        Devices config file.
+  -r RESOURCES, --resources RESOURCES
+                        Resources config file.
  -c CONTROLLERS, --controllers CONTROLLERS
-                        Controllers config file path.
+                        Controllers config file.
  --registry_path REGISTRY_PATH
-                        Path to the registry directory
-  --working_dir WORKING_DIR
-                        Path to the working directory
+                        Path to the registry
  --backend {ros,simple,automancer}
                        Choose the backend to run with: 'ros', 'simple', or 'automancer'.
  --app_bridges APP_BRIDGES [APP_BRIDGES ...]
-                        Bridges to connect to. Now support 'websocket' and 'fastapi'.
-  --is_slave            Run the backend as slave node (without host privileges).
-  --slave_no_host       Skip waiting for host service in slave mode
-  --upload_registry     Upload registry information when starting unilab
-  --use_remote_resource Use remote resources when starting unilab
-  --config CONFIG       Configuration file path, supports .py format Python config files
-  --port PORT           Port for web service information page
-  --disable_browser     Disable opening information page on startup
-  --2d_vis              Enable 2D visualization when starting pylabrobot instance
-  --visual {rviz,web,disable}
-                        Choose visualization tool: rviz, web, or disable
-  --ak AK               Access key for laboratory requests
-  --sk SK               Secret key for laboratory requests
-  --addr ADDR           Laboratory backend address
-  --skip_env_check      Skip environment dependency check on startup
-  --complete_registry   Complete registry information
+                        Bridges to connect to. Now support 'mqtt' and 'fastapi'.
+  --without_host        Run the backend as slave (without host).
+  --config CONFIG       Configuration file path for system settings
 ```

-## 启动流程详解
-
-Uni-Lab 的启动过程分为以下几个阶段：
-
-### 1. 参数解析阶段
-
- 解析命令行参数
- 处理参数格式转换（支持 dash 和 underscore 格式）
-
-### 2. 环境检查阶段 (可选)
-
- 默认进行环境依赖检查并自动安装必需包
- 使用 `--skip_env_check` 可跳过此步骤
-
-### 3. 配置文件处理阶段
-
-您可以直接跟随 unilabos 的提示进行，无需查阅本节
-
- **工作目录设置**：
-
-  - 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
-  - 否则使用 `当前目录/unilabos_data` 作为工作目录
-  - 可通过 `--working_dir` 指定自定义工作目录
-
- **配置文件查找顺序**：
-  1. 使用 `--config` 参数指定的配置文件
-  2. 在工作目录中查找 `local_config.py`
-  3. 首次使用时会引导创建配置文件
-
-### 4. 服务器地址配置
-
-支持多种后端环境：
-
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
- 自定义地址：直接指定完整 URL
-
-### 5. 认证配置
-
- **必需参数**：`--ak` 和 `--sk` 必须同时提供
- 命令行参数优先于配置文件中的设置
- 未提供认证信息会导致启动失败并提示注册实验室
-
-### 6. 设备图谱加载
-
-支持两种方式：
-
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
- **远程资源**：使用 `--use_remote_resource` 从云端获取
-
-### 7. 注册表构建
-
- 构建设备和资源注册表
- 支持自定义注册表路径 (`--registry_path`)
- 可选择补全注册表信息 (`--complete_registry`)
-
-### 8. 设备验证和注册
-
- 验证设备连接和端点配置
- 自动注册设备到云端服务
-
-### 9. 通信桥接配置
-
- **WebSocket**：实时通信和任务下发
- **FastAPI**：HTTP API 服务和物料更新
-
-### 10. 可视化和服务启动
-
- 可选启动可视化工具 (`--visual`)
- 启动 Web 信息服务 (默认端口 8002)
- 启动后端通信服务
-
 ## 使用配置文件

-Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
+Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：

 ```bash
 # 使用配置文件启动
 unilab --config path/to/your/config.py
 ```

-配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
+配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。

 ## 初始化信息来源

-启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
+启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：

 ### 1. 组态&拓扑图

-使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
+使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。

-### 2. 分别指定控制逻辑
+### 2. 分别指定设备、耗材、控制逻辑

-使用 `-c` 传入控制逻辑配置。
+分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。

-不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
+可参照 `devices.json` 和 `resources.json`。
+
+不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。

 ## 通信中间件 `--backend`

-目前 Uni-Lab 支持以下通信中间件：
-
- **ros** (默认)：基于 ROS2 的通信
- **simple**：简化通信模式
- **automancer**：Automancer 兼容模式
+目前 Uni-Lab 仅支持 ros2 作为通信中间件。

 ## 端云桥接 `--app_bridges`

-目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
-
- **WebSocket**：负责实时通信和任务下发
- **FastAPI**：负责端对云物料更新和 HTTP API
+目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。

 ## 分布式组网

-启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
-
- **主站 (host)**：持有物料修改权以及对云端的通信
- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
-
-局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
-
-## 可视化选项
-
-### 2D 可视化
-
-使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
-
-### 3D 可视化
-
-通过 `--visual` 参数选择：
-
- **rviz**：使用 RViz 进行 3D 可视化
- **web**：使用 Web 界面进行可视化
- **disable** (默认)：禁用可视化
-
-## 实验室管理
-
-### 首次使用
-
-如果是首次使用，系统会：
-
-1. 提示前往 https://uni-lab.bohrium.com 注册实验室
-2. 引导创建配置文件
-3. 设置工作目录
-
-### 认证设置
-
- `--ak`：实验室访问密钥
- `--sk`：实验室私钥
- 两者必须同时提供才能正常启动
+启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。

 ## 完整启动示例

 以下是一些常用的启动命令示例：

 ```bash
-# 使用组态图启动，上传注册表
-unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
+# 使用配置文件和组态图启动
+unilab -g path/to/graph.json

-# 使用远程资源启动
-unilab --ak your_ak --sk your_sk --use_remote_resource
-
-# 更新注册表
-unilab --ak your_ak --sk your_sk --complete_registry
-
-# 启动从站模式
-unilab --ak your_ak --sk your_sk --is_slave
-
-# 启用可视化
-unilab --ak your_ak --sk your_sk --visual web --2d_vis
-
-# 指定本地信息网页服务端口和禁用自动跳出浏览器
-unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
+# 使用配置文件和分离的设备/资源文件启动
+unilab -d devices.json -r resources.json
 ```
-
-## 常见问题
-
-### 1. 认证失败
-
-如果提示 "后续运行必须拥有一个实验室"，请确保：
-
- 已在 https://uni-lab.bohrium.com 注册实验室
- 正确设置了 `--ak` 和 `--sk` 参数
- 配置文件中包含正确的认证信息
-
-### 2. 配置文件问题
-
-如果配置文件加载失败：
-
- 确保配置文件是 `.py` 格式
- 检查配置文件语法是否正确
- 首次使用可让系统自动创建示例配置文件
-
-### 3. 网络连接问题
-
-如果无法连接到服务器：
-
- 检查网络连接
- 确认服务器地址是否正确
- 尝试使用不同的环境地址（test、uat、local）
-
-### 4. 设备图谱问题
-
-如果设备加载失败：
-
- 检查图谱文件格式是否正确
- 验证设备连接和端点配置
- 确保注册表路径正确
-
-## 页面操作
-
-### 1. 启动成功
-当您启动成功后，可以看到物料列表，节点模版和组态图如图展示
-![material.png](image/material.png)
-
-### 2. 根据需求创建设备和物料
-我们可以做一个简单的案例  
-* 在容器1中加入水  
-* 通过传输泵将容器1中的水转移到容器2中
-#### 2.1 添加所需的设备和物料  
-仪器设备work_station中的workstation 数量x1  
-仪器设备virtual_device中的virtual_transfer_pump 数量x1    
-物料耗材container中的container 数量x2  
-
-#### 2.2 将设备和物料根据父子关系进行关联  
-当我们添加设备时，仪器耗材模块的物料列表也会实时更新  
-我们需要将设备和物料拖拽到workstation中并在画布上将它们连接起来，就像真实的设备操作一样  
-![links.png](image/links.png)
-
-### 3. 创建工作流
-进入工作流模块 → 点击"我创建的" → 新建工作流
-![new.png](image/new.png)
-
-#### 3.1 新增工作流节点
-我们可以进入指定工作流，在空白处右键   
-* 选择Laboratory→host_node中的creat_resource
-* 选择Laboratory→workstation中的PumpTransferProtocol
-
-![creatworkfollow.gif](image/creatworkfollow.gif)
-
-#### 3.2 配置节点参数
-根据案例，工作流包含两个步骤：
-1. 使用creat_resource在容器中创建水
-2. 通过泵传输协议将水传输到另一个容器
-
-我们点击creat_resource卡片上的编辑按钮来配置参数⭐️  
-class_name ：container  
-device_id ： workstation  
-liquid_input_slot ： 0或-1均可  
-liquid_type : water  
-liquid_volume ： 根据需求填写即可，默认单位ml，这里举例50    
-parent ： workstation  
-res_id ： containe  
-关联设备名称(原unilabos_device_id) ： 这里就填写host_node  
-**配置完成后点击底部保存按钮**  
-
-我们点击PumpTransferProtocol卡片上的编辑按钮来配置参数⭐️  
-event ： transfer_liquid  
-from_vessel ： water  
-to_vessel ： container1  
-volume ： 根据需求填写即可，默认单位ml，这里举例50  
-关联设备名称(原unilabos_device_id) ： 这里就填写workstation  
-**配置完成后点击底部保存按钮**  
-
-#### 3.3 运行工作流
-1. 连接两个节点卡片
-2. 点击底部保存按钮
-3. 点击运行按钮执行工作流
-
-![linksandrun.png](image/linksandrun.png)
-
-### 运行监控
-* 运行状态和消息实时显示在底部控制台
-* 如有报错，可点击查看详细信息
-
-### 结果验证
-工作流完成后，返回仪器耗材模块：
-* 点击 container1卡片查看详情
-* 确认其中包含参数指定的水和容量
-
-
-
-
--- a/docs/user_guide/quick_install_guide.md
+++ b/docs/user_guide/quick_install_guide.md
@@ -1,197 +0,0 @@
-# Uni-Lab-OS 一键安装快速指南
-
-## 概述
-
-本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
-
-## 前置要求
-
- 已安装 Conda/Miniconda/Miniforge/Mamba
- 至少 10GB 可用磁盘空间
- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
-
-## 安装步骤
-
-### 第一步：下载预打包环境
-
-1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
-
-2. 选择最新的成功构建记录（绿色勾号 ✓）
-
-3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
-   - Windows: `unilab-pack-win-64-{branch}.zip`
-   - macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
-   - macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
-   - Linux: `unilab-pack-linux-64-{branch}.tar.gz`
-
-### 第二步：解压并运行安装脚本
-
-#### Windows
-
-```batch
-REM 使用 Windows 资源管理器解压下载的 zip 文件
-REM 或使用命令行：
-tar -xzf unilab-pack-win-64-dev.zip
-
-REM 进入解压后的目录
-cd unilab-pack-win-64-dev
-
-REM 双击运行 install_unilab.bat
-REM 或在命令行中执行：
-install_unilab.bat
-```
-
-#### macOS
-
-```bash
-# 解压下载的压缩包
-tar -xzf unilab-pack-osx-arm64-dev.tar.gz
-
-# 进入解压后的目录
-cd unilab-pack-osx-arm64-dev
-
-# 运行安装脚本
-bash install_unilab.sh
-```
-
-#### Linux
-
-```bash
-# 解压下载的压缩包
-tar -xzf unilab-pack-linux-64-dev.tar.gz
-
-# 进入解压后的目录
-cd unilab-pack-linux-64-dev
-
-# 添加执行权限（如果需要）
-chmod +x install_unilab.sh
-
-# 运行安装脚本
-./install_unilab.sh
-```
-
-### 第三步：激活环境
-
-```bash
-conda activate unilab
-```
-
-### 第四步：验证安装（推荐）
-
-```bash
-# 确保已激活环境
-conda activate unilab
-
-# 运行验证脚本
-python verify_installation.py
-```
-
-如果看到 "✓ All checks passed!"，说明安装成功！
-
-## 常见问题
-
-### Q: 安装脚本找不到 conda？
-
-**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
-
- **Windows**:
-
-  - `%USERPROFILE%\miniforge3`
-  - `%USERPROFILE%\miniconda3`
-  - `%USERPROFILE%\anaconda3`
-  - `C:\ProgramData\miniforge3`
-
- **macOS/Linux**:
-  - `~/miniforge3`
-  - `~/miniconda3`
-  - `~/anaconda3`
-  - `/opt/conda`
-
-如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
-
-### Q: 安装后激活环境提示找不到？
-
-**A:** 尝试以下方法：
-
-```bash
-# 方法 1: 使用 conda activate
-conda activate unilab
-
-# 方法 2: 使用完整路径激活（Windows）
-call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
-
-# 方法 2: 使用完整路径激活（Unix）
-source ~/miniforge3/envs/unilab/bin/activate
-```
-
-### Q: conda-unpack 失败怎么办？
-
-**A:** 尝试手动运行：
-
-```bash
-# Windows
-cd %CONDA_PREFIX%\envs\unilab
-.\Scripts\conda-unpack.exe
-
-# macOS/Linux
-cd $CONDA_PREFIX/envs/unilab
-./bin/conda-unpack
-```
-
-### Q: 验证脚本报错？
-
-**A:** 首先确认环境已激活：
-
-```bash
-# 检查当前环境
-conda env list
-
-# 应该看到 unilab 前面有 * 标记
-```
-
-如果仍有问题，查看具体报错信息，可能需要：
-
- 重新运行安装脚本
- 检查磁盘空间
- 查看详细文档
-
-### Q: 环境很大，有办法减小吗？
-
-**A:** 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用手动安装方式，只安装需要的组件。
-
-### Q: 如何更新到最新版本？
-
-**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
-
-或者在现有环境中更新：
-
-```bash
-conda activate unilab
-
-# 更新 unilabos
-cd /path/to/Uni-Lab-OS
-git pull
-pip install -e . --upgrade
-
-# 更新 ros-humble-unilabos-msgs
-mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
-```
-
-## 下一步
-
-安装完成后，你可以：
-
-1. **查看启动指南**: {doc}`launch`
-2. **运行示例**: {doc}`../boot_examples/index`
-3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
-4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
-
-## 需要帮助？
-
- **文档**: [docs/user_guide/installation.md](installation.md)
- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
- **开发版安装**: 参考 {doc}`installation` 的方式二
-
---
-
-**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。
--- a/package.xml
+++ b/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>unilabos</name>
+  <version>0.0.0</version>
+  <description>ROS2 package for unilabos server</description>
+  <maintainer email="changjh@pku.edu.cn">changjh</maintainer>
+  <license>TODO: License declaration</license>
+
+  <build_depend>action_msgs</build_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
--- a/recipes/conda_build_config.yaml
+++ b/recipes/conda_build_config.yaml
@@ -1,6 +1,3 @@
-channel_sources:
-  - robostack,robostack-staging,conda-forge,defaults
-  
 gazebo:
  - '11'
 libpqxx:
--- a/recipes/macos_sdk_config.yaml
+++ b/recipes/macos_sdk_config.yaml
@@ -1,7 +0,0 @@
-CONDA_BUILD_SYSROOT:
-  - /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
-MACOSX_DEPLOYMENT_TARGET:
-  - "11.0"
-CONDA_SUBDIR:
-  - osx-arm64
-# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,76 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.7
-source:
-  path: ../../unilabos_msgs
-  target_directory: src
-
-build:
-  script:
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
-    - call %SRC_DIR%\bld_ament_cmake.bat
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
-    - bash $SRC_DIR/build_ament_cmake.sh
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
-
-requirements:
-  build:
-  - ${{ compiler('cxx') }}
-  - ${{ compiler('c') }}
-  - python ==3.11.11
-  - numpy
-  - if: build_platform != target_platform
-    then:
-    - pkg-config
-    - cross-python_${{ target_platform }}
-  - if: linux and x86_64
-    then:
-    - sysroot_linux-64 ==2.17
-  - ninja
-  - setuptools
-  - cython
-  - cmake
-  - if: unix
-    then:
-    - make
-    - coreutils
-  - if: osx
-    then:
-    - tapi
-  - if: win
-    then:
-    - vs2022_win-64
-  host:
-  - numpy
-  - pip
-  - if: build_platform == target_platform
-    then:
-    - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  - if: osx and x86_64
-    then:
-    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
--- a/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat
+++ b/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat
@@ -1,7 +1,6 @@
 :: Generated by vinca http://github.com/RoboStack/vinca.
 :: DO NOT EDIT!
-@echo off
-setlocal enabledelayedexpansion
+setlocal EnableDelayedExpansion

 set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"

@@ -17,11 +16,9 @@ pushd build

 :: try to fix long paths issues by using default generator
 set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"

 set PYTHON="%PREFIX%\python.exe"
-set PYTHON=%PYTHON:\=/%
-set SP_DIR="..\Lib\site-packages"
-set SP_DIR=%SP_DIR:\=/%

 cmake ^
    -G "%CMAKE_GENERATOR%" ^
@@ -35,10 +32,10 @@ cmake ^
    -DBUILD_SHARED_LIBS=ON ^
    -DBUILD_TESTING=OFF ^
    -DCMAKE_OBJECT_PATH_MAX=255 ^
-    -DPYTHON_INSTALL_DIR=%SP_DIR% ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
    --compile-no-warning-as-error ^
-    %SRC_DIR%\src
+    %SRC_DIR%\%PKG_NAME%\src\work
 if errorlevel 1 exit 1

-cmake --build . --config Release --target install -j8
-if errorlevel 1 exit 1
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
--- a/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh
+++ b/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh
@@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
 export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
 echo "Using Python ${ROS_PYTHON_VERSION}"
 # Fix up SP_DIR which for some reason might contain a path to a wrong Python version
-FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
 echo "Using site-package dir ${FIXED_SP_DIR}"

 # see https://github.com/conda-forge/cross-python-feedstock/issues/24
@@ -56,6 +56,7 @@ cmake \
    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
@@ -65,6 +66,6 @@ cmake \
    -DBUILD_TESTING=OFF \
    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
    --compile-no-warning-as-error \
-    $SRC_DIR/src
+    $SRC_DIR/$PKG_NAME/src/work

-cmake --build . --config Release --target install -j8
+cmake --build . --config Release --target install
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.9.0
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.10.7"
+  version: "0.9.0"

 source:
  path: ../..
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-"""
-Create Distribution Package README
-===================================
-
-Generate README.txt for conda-pack distribution packages.
-
-Usage:
-    python create_readme.py <platform> <branch> <output_file>
-
-Arguments:
-    platform: Platform identifier (win-64, linux-64, osx-64, osx-arm64)
-    branch: Git branch name
-    output_file: Output file path (e.g., dist-package/README.txt)
-
-Example:
-    python create_readme.py win-64 dev dist-package/README.txt
-"""
-
-import argparse
-import sys
-from datetime import datetime, timezone
-from pathlib import Path
-
-
-def get_readme_content(platform: str, branch: str) -> str:
-    """
-    Generate README content for the specified platform.
-
-    Args:
-        platform: Platform identifier
-        branch: Git branch name
-
-    Returns:
-        str: README content
-    """
-    # Get current UTC time
-    build_date = datetime.now(timezone.utc).strftime("%Y-%m-%d %H:%M:%S UTC")
-
-    # Determine platform-specific content
-    is_windows = platform == "win-64"
-
-    if is_windows:
-        archive_ext = "zip"
-        install_script = "install_unilab.bat"
-        platform_instructions = """Windows:
-  1. Extract the downloaded ZIP file
-  2. Double-click install_unilab.bat (or run in cmd)
-  3. Follow the prompts"""
-    else:
-        archive_ext = "tar.gz"
-        install_script = "install_unilab.sh"
-        platform_name = {"linux-64": "linux-64", "osx-64": "osx-64", "osx-arm64": "osx-arm64"}.get(platform, platform)
-        platform_instructions = f"""macOS/Linux:
-  1. Download and extract unilab-pack-{platform_name}.tar.gz
-  2. Run: bash install_unilab.sh
-  3. Follow the prompts
-  
-  Alternative (if downloaded from GitHub Actions):
-  1. Extract the artifact ZIP file
-  2. Extract unilab-pack-{platform_name}.tar.gz inside
-  3. Run: bash install_unilab.sh"""
-
-    # Generate README content
-    readme = f"""UniLabOS Conda-Pack Environment
-================================
-
-This package contains a pre-built UniLabOS environment.
-
-Installation Instructions:
--------------------------
-
-{platform_instructions}
-
-The installation script will:
-  - Automatically find your conda installation
-  - Extract the environment to conda's envs/unilab directory
-  - Run conda-unpack to finalize setup
-
-After installation:
-  conda activate unilab
-  python verify_installation.py
-
-Verification:
-------------
-
-The verify_installation.py script will check:
-  - Python version (3.11.11)
-  - ROS2 rclpy installation
-  - UniLabOS installation and dependencies
-
-If all checks pass, you're ready to use UniLabOS!
-
-Package Contents:
-----------------
-
-  - {install_script} (automatic installation script)
-  - unilab-env-{platform}.tar.gz (packed conda environment)
-  - verify_installation.py (environment verification tool)
-  - README.txt (this file)
-
-Build Information:
------------------
-
-  Branch:   {branch}
-  Platform: {platform}
-  Python:   3.11.11
-  Date:     {build_date}
-
-Troubleshooting:
----------------
-
-If installation fails:
-
-  1. Ensure conda or mamba is installed
-     Check: conda --version
-
-  2. Verify you have sufficient disk space
-     Required: ~5-10 GB after extraction
-
-  3. Check installation permissions
-     You need write access to conda's envs directory
-
-  4. For detailed logs, run the install script from terminal
-
-For more help:
-  - Documentation: docs/user_guide/installation.md
-  - Quick Start: QUICK_START_CONDA_PACK.md
-  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
-
-License:
--------
-
-UniLabOS is licensed under GPL-3.0-only.
-See LICENSE file for details.
-
-Repository: https://github.com/dptech-corp/Uni-Lab-OS
-"""
-
-    return readme
-
-
-def main():
-    """Main entry point."""
-    parser = argparse.ArgumentParser(
-        description="Generate README.txt for conda-pack distribution",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        epilog="""
-Examples:
-  python create_readme.py win-64 dev dist-package/README.txt
-  python create_readme.py linux-64 main dist-package/README.txt
-        """,
-    )
-
-    parser.add_argument("platform", choices=["win-64", "linux-64", "osx-64", "osx-arm64"], help="Platform identifier")
-
-    parser.add_argument("branch", help="Git branch name")
-
-    parser.add_argument("output_file", help="Output file path")
-
-    args = parser.parse_args()
-
-    try:
-        # Generate README content
-        readme_content = get_readme_content(args.platform, args.branch)
-
-        # Create output directory if needed
-        output_path = Path(args.output_file)
-        output_path.parent.mkdir(parents=True, exist_ok=True)
-
-        # Write README file
-        with open(output_path, "w", encoding="utf-8") as f:
-            f.write(readme_content)
-
-        print(f"✓ README.txt created: {output_path}")
-        print(f"  Platform: {args.platform}")
-        print(f"  Branch:   {args.branch}")
-
-        return 0
-
-    except Exception as e:
-        print(f"Error creating README: {e}", file=sys.stderr)
-        import traceback
-
-        traceback.print_exc()
-        return 1
-
-
-if __name__ == "__main__":
-    sys.exit(main())
--- a/scripts/create_zip_archive.py
+++ b/scripts/create_zip_archive.py
@@ -1,148 +0,0 @@
-#!/usr/bin/env python3
-"""
-Create ZIP Archive with ZIP64 Support
-======================================
-
-This script creates a ZIP archive with ZIP64 support for large files (>2GB).
-It's used in the conda-pack build workflow to package the distribution.
-
-PowerShell's Compress-Archive has a 2GB limitation, so we use Python's zipfile
-module with allowZip64=True to handle large conda-packed environments.
-
-Usage:
-    python create_zip_archive.py <source_dir> <output_zip> [--compression-level LEVEL]
-
-Arguments:
-    source_dir: Directory to compress
-    output_zip: Output ZIP file path
-    --compression-level: Compression level (0-9, default: 6)
-
-Example:
-    python create_zip_archive.py dist-package unilab-pack-win-64.zip
-"""
-
-import argparse
-import os
-import sys
-import zipfile
-from pathlib import Path
-
-
-def create_zip_archive(source_dir: str, output_zip: str, compression_level: int = 6) -> bool:
-    """
-    Create a ZIP archive with ZIP64 support.
-
-    Args:
-        source_dir: Directory to compress
-        output_zip: Output ZIP file path
-        compression_level: Compression level (0-9)
-
-    Returns:
-        bool: True if successful
-    """
-    try:
-        source_path = Path(source_dir)
-        output_path = Path(output_zip)
-
-        # Validate source directory
-        if not source_path.exists():
-            print(f"Error: Source directory does not exist: {source_dir}", file=sys.stderr)
-            return False
-
-        if not source_path.is_dir():
-            print(f"Error: Source path is not a directory: {source_dir}", file=sys.stderr)
-            return False
-
-        # Remove existing output file if present
-        if output_path.exists():
-            print(f"Removing existing archive: {output_path}")
-            output_path.unlink()
-
-        # Create ZIP archive
-        print("=" * 70)
-        print(f"Creating ZIP archive with ZIP64 support")
-        print(f"  Source: {source_path.absolute()}")
-        print(f"  Output: {output_path.absolute()}")
-        print(f"  Compression: Level {compression_level}")
-        print("=" * 70)
-
-        total_size = 0
-        file_count = 0
-
-        with zipfile.ZipFile(
-            output_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True, compresslevel=compression_level
-        ) as zipf:
-            # Walk through source directory
-            for root, dirs, files in os.walk(source_dir):
-                for file in files:
-                    file_path = os.path.join(root, file)
-                    arcname = os.path.relpath(file_path, source_dir)
-                    file_size = os.path.getsize(file_path)
-
-                    # Add file to archive
-                    zipf.write(file_path, arcname)
-
-                    # Display progress
-                    total_size += file_size
-                    file_count += 1
-                    print(f"  [{file_count:3d}] Adding: {arcname:50s} {file_size:>15,} bytes")
-
-        # Get final archive size
-        archive_size = output_path.stat().st_size
-        compression_ratio = (1 - archive_size / total_size) * 100 if total_size > 0 else 0
-
-        # Display summary
-        print("=" * 70)
-        print("Archive created successfully!")
-        print(f"  Files added: {file_count}")
-        print(f"  Total size (uncompressed): {total_size:>15,} bytes ({total_size / (1024**3):.2f} GB)")
-        print(f"  Archive size (compressed):  {archive_size:>15,} bytes ({archive_size / (1024**3):.2f} GB)")
-        print(f"  Compression ratio: {compression_ratio:.1f}%")
-        print("=" * 70)
-
-        return True
-
-    except Exception as e:
-        print(f"Error creating ZIP archive: {e}", file=sys.stderr)
-        import traceback
-
-        traceback.print_exc()
-        return False
-
-
-def main():
-    """Main entry point."""
-    parser = argparse.ArgumentParser(
-        description="Create ZIP archive with ZIP64 support for large files",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        epilog="""
-Examples:
-  python create_zip_archive.py dist-package unilab-pack-win-64.zip
-  python create_zip_archive.py dist-package unilab-pack-win-64.zip --compression-level 9
-        """,
-    )
-
-    parser.add_argument("source_dir", help="Directory to compress")
-
-    parser.add_argument("output_zip", help="Output ZIP file path")
-
-    parser.add_argument(
-        "--compression-level",
-        type=int,
-        default=6,
-        choices=range(0, 10),
-        metavar="LEVEL",
-        help="Compression level (0=no compression, 9=maximum compression, default=6)",
-    )
-
-    args = parser.parse_args()
-
-    # Create archive
-    success = create_zip_archive(args.source_dir, args.output_zip, args.compression_level)
-
-    # Exit with appropriate code
-    sys.exit(0 if success else 1)
-
-
-if __name__ == "__main__":
-    main()
--- a/scripts/install_unilab.bat
+++ b/scripts/install_unilab.bat
@@ -1,203 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-echo ================================================
-echo UniLabOS Environment Installation Script
-echo ================================================
-echo.
-
-REM Get the directory where this script is located
-set "SCRIPT_DIR=%~dp0"
-cd /d "%SCRIPT_DIR%"
-
-REM Find conda installation
-echo Searching for conda installation...
-
-REM Method 1: Try to get conda base using 'conda info --base'
-set "CONDA_BASE="
-for /f "tokens=*" %%i in ('conda info --base 2^>nul') do (
-    set "CONDA_BASE=%%i"
-)
-
-if not "%CONDA_BASE%"=="" (
-    echo Found conda at: %CONDA_BASE% (via conda info)
-    goto :conda_found
-)
-
-REM Method 2: Use 'where conda' and parse the path
-echo Trying alternative method...
-for /f "tokens=*" %%i in ('where conda 2^>nul') do (
-    set "CONDA_PATH=%%i"
-    goto :parse_conda_path
-)
-
-echo ERROR: Could not find conda installation!
-echo Please make sure conda/mamba is installed and in your PATH.
-echo.
-pause
-exit /b 1
-
-:parse_conda_path
-REM Parse conda path to find base directory
-REM Common paths:
-REM   C:\Users\hp\miniforge3\Library\bin\conda.bat
-REM   C:\Users\hp\miniforge3\Scripts\conda.exe
-REM   C:\Users\hp\miniforge3\condabin\conda.bat
-
-echo Found conda executable at: %CONDA_PATH%
-
-REM Check if path contains \Library\bin\ (typical for conda.bat)
-echo %CONDA_PATH% | findstr /C:"\Library\bin\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\Library\bin\conda.bat
-    REM Need to go up 3 levels: bin -> Library -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\..\..") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Check if path contains \Scripts\ (typical for conda.exe)
-echo %CONDA_PATH% | findstr /C:"\Scripts\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\Scripts\conda.exe
-    REM Need to go up 2 levels: Scripts -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Check if path contains \condabin\ (typical for conda.bat)
-echo %CONDA_PATH% | findstr /C:"\condabin\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\condabin\conda.bat
-    REM Need to go up 2 levels: condabin -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Default: assume it's 2 levels up
-for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-
-:conda_found
-echo Found conda base directory: %CONDA_BASE%
-echo.
-
-REM Set target environment path
-set "ENV_NAME=unilab"
-set "ENV_PATH=%CONDA_BASE%\envs\%ENV_NAME%"
-
-REM Check if environment already exists
-if exist "%ENV_PATH%" (
-    echo WARNING: Environment '%ENV_NAME%' already exists at %ENV_PATH%
-    echo.
-    set /p "OVERWRITE=Do you want to overwrite it? (y/n): "
-    if /i not "!OVERWRITE!"=="y" (
-        echo Installation cancelled.
-        pause
-        exit /b 0
-    )
-    echo Removing existing environment...
-    rmdir /s /q "%ENV_PATH%"
-)
-
-REM Find the packed environment file
-set "PACK_FILE="
-for %%f in (unilab-env*.tar.gz) do (
-    set "PACK_FILE=%%f"
-    goto :found_pack
-)
-
-:found_pack
-if "%PACK_FILE%"=="" (
-    echo ERROR: Could not find unilab-env*.tar.gz file!
-    echo Please make sure the packed environment file is in the same directory as this script.
-    echo.
-    pause
-    exit /b 1
-)
-
-echo Found packed environment: %PACK_FILE%
-echo.
-
-REM Extract the packed environment
-echo Extracting environment to %ENV_PATH%...
-mkdir "%ENV_PATH%"
-
-REM Extract using tar (available in Windows 10+)
-tar -xzf "%PACK_FILE%" -C "%ENV_PATH%"
-if errorlevel 1 (
-    echo ERROR: Failed to extract environment!
-    echo Make sure you have Windows 10 or later with tar support.
-    pause
-    exit /b 1
-)
-
-echo.
-echo Unpacking conda environment...
-echo Changing to environment directory: %ENV_PATH%
-cd /d "%ENV_PATH%"
-
-REM Run conda-unpack from the environment directory
-if exist "Scripts\conda-unpack.exe" (
-    echo Running: .\Scripts\conda-unpack.exe
-    .\Scripts\conda-unpack.exe
-) else if exist "Scripts\activate.bat" (
-    echo Running: .\Scripts\activate.bat followed by conda-unpack
-    call .\Scripts\activate.bat
-    conda-unpack
-) else (
-    echo ERROR: Could not find Scripts\conda-unpack.exe or Scripts\activate.bat!
-    echo Current directory: %CD%
-    echo Expected location: %ENV_PATH%\Scripts\
-    pause
-    exit /b 1
-)
-
-if errorlevel 1 (
-    echo ERROR: conda-unpack failed!
-    pause
-    exit /b 1
-)
-
-echo.
-echo Checking UniLabOS entry point...
-REM Check if unilab-script.py exists
-set "UNILAB_SCRIPT=%ENV_PATH%\Scripts\unilab-script.py"
-if not exist "%UNILAB_SCRIPT%" (
-    echo WARNING: unilab-script.py not found, creating it...
-    (
-        echo # -*- coding: utf-8 -*-
-        echo import re
-        echo import sys
-        echo.
-        echo from unilabos.app.main import main
-        echo.
-        echo if __name__ == '__main__':
-        echo     sys.argv[0] = re.sub^(r'(-script\.pyw?^|\.exe^)?$', '', sys.argv[0]^)
-        echo     sys.exit^(main^(^)^)
-    ) > "%UNILAB_SCRIPT%"
-    echo Created: %UNILAB_SCRIPT%
-) else (
-    echo Found: %UNILAB_SCRIPT%
-)
-
-echo.
-echo ================================================
-echo Installation completed successfully!
-echo ================================================
-echo.
-echo To activate the environment, run:
-echo   conda activate %ENV_NAME%
-echo.
-echo or
-echo.
-echo   call %ENV_PATH%\Scripts\activate.bat
-echo.
-echo You can verify the installation by running:
-echo   cd /d "%SCRIPT_DIR%"
-echo   python verify_installation.py
-echo.
-pause
-
--- a/scripts/install_unilab.sh
+++ b/scripts/install_unilab.sh
@@ -1,139 +0,0 @@
-#!/bin/bash
-set -e
-
-echo "================================================"
-echo "UniLabOS Environment Installation Script"
-echo "================================================"
-echo ""
-
-# Get the directory where this script is located
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-cd "$SCRIPT_DIR"
-
-# Find conda installation
-echo "Searching for conda installation..."
-CONDA_BASE=""
-
-# Try to find conda in PATH
-if command -v conda &> /dev/null; then
-    CONDA_BASE=$(conda info --base)
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/miniforge3" ]; then
-    CONDA_BASE="$HOME/miniforge3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/miniconda3" ]; then
-    CONDA_BASE="$HOME/miniconda3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/anaconda3" ]; then
-    CONDA_BASE="$HOME/anaconda3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "/opt/conda" ]; then
-    CONDA_BASE="/opt/conda"
-    echo "Found conda at: $CONDA_BASE"
-else
-    echo "ERROR: Could not find conda installation!"
-    echo "Please make sure conda/mamba is installed."
-    exit 1
-fi
-
-echo ""
-
-# Initialize conda for this shell
-if [ -f "$CONDA_BASE/etc/profile.d/conda.sh" ]; then
-    source "$CONDA_BASE/etc/profile.d/conda.sh"
-fi
-
-# Set target environment path
-ENV_NAME="unilab"
-ENV_PATH="$CONDA_BASE/envs/$ENV_NAME"
-
-# Check if environment already exists
-if [ -d "$ENV_PATH" ]; then
-    echo "WARNING: Environment '$ENV_NAME' already exists at $ENV_PATH"
-    read -p "Do you want to overwrite it? (y/n): " OVERWRITE
-    if [ "$OVERWRITE" != "y" ] && [ "$OVERWRITE" != "Y" ]; then
-        echo "Installation cancelled."
-        exit 0
-    fi
-    echo "Removing existing environment..."
-    rm -rf "$ENV_PATH"
-fi
-
-# Find the packed environment file
-PACK_FILE=$(ls unilab-env*.tar.gz 2>/dev/null | head -n 1)
-
-if [ -z "$PACK_FILE" ]; then
-    echo "ERROR: Could not find unilab-env*.tar.gz file!"
-    echo "Please make sure the packed environment file is in the same directory as this script."
-    exit 1
-fi
-
-echo "Found packed environment: $PACK_FILE"
-echo ""
-
-# Extract the packed environment
-echo "Extracting environment to $ENV_PATH..."
-mkdir -p "$ENV_PATH"
-tar -xzf "$PACK_FILE" -C "$ENV_PATH"
-
-echo ""
-echo "Unpacking conda environment..."
-echo "Changing to environment directory: $ENV_PATH"
-cd "$ENV_PATH"
-
-# Run conda-unpack from the environment directory
-if [ -f "bin/conda-unpack" ]; then
-    echo "Running: ./bin/conda-unpack"
-    ./bin/conda-unpack
-elif [ -f "bin/activate" ]; then
-    echo "Running: source bin/activate followed by conda-unpack"
-    source bin/activate
-    conda-unpack
-else
-    echo "ERROR: Could not find bin/conda-unpack or bin/activate!"
-    echo "Current directory: $(pwd)"
-    echo "Expected location: $ENV_PATH/bin/"
-    exit 1
-fi
-
-echo ""
-echo "Checking UniLabOS entry point..."
-# Check if unilab script exists in bin directory
-UNILAB_SCRIPT="$ENV_PATH/bin/unilab"
-if [ ! -f "$UNILAB_SCRIPT" ]; then
-    echo "WARNING: unilab script not found, creating it..."
-    cat > "$UNILAB_SCRIPT" << 'EOF'
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import re
-import sys
-
-from unilabos.app.main import main
-
-if __name__ == '__main__':
-    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(main())
-EOF
-    chmod +x "$UNILAB_SCRIPT"
-    echo "Created: $UNILAB_SCRIPT"
-else
-    echo "Found: $UNILAB_SCRIPT"
-fi
-
-echo ""
-echo "================================================"
-echo "Installation completed successfully!"
-echo "================================================"
-echo ""
-echo "To activate the environment, run:"
-echo "  conda activate $ENV_NAME"
-echo ""
-echo "or"
-echo ""
-echo "  source $ENV_PATH/bin/activate"
-echo ""
-echo "You can verify the installation by running:"
-echo "  cd $SCRIPT_DIR"
-echo "  python verify_installation.py"
-echo ""
-
--- a/scripts/verify_installation.py
+++ b/scripts/verify_installation.py
@@ -1,153 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-UniLabOS Installation Verification Script
-=========================================
-
-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
-
-    Or in the conda environment:
-    conda activate unilab
-    python verify_installation.py
-"""
-
-import sys
-import os
-
-# 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")
-    except (AttributeError, OSError):
-        pass
-
-    # Method 2: Set environment variable for subprocess and console
-    os.environ["PYTHONIOENCODING"] = "utf-8"
-
-    # Method 3: Try to change Windows console code page to UTF-8
-    try:
-        import ctypes
-
-        # Set console code page to UTF-8 (CP 65001)
-        ctypes.windll.kernel32.SetConsoleCP(65001)
-        ctypes.windll.kernel32.SetConsoleOutputCP(65001)
-    except (ImportError, AttributeError, OSError):
-        pass
-
-# Now import other modules
-import importlib
-
-# Use ASCII-safe symbols that work across all platforms
-CHECK_MARK = "[OK]"
-CROSS_MARK = "[FAIL]"
-
-
-def check_package(package_name: str, display_name: str = None) -> bool:
-    """
-    Check if a package can be imported.
-
-    Args:
-        package_name: Name of the package to import
-        display_name: Display name (defaults to package_name)
-
-    Returns:
-        bool: True if package is available
-    """
-    if display_name is None:
-        display_name = package_name
-
-    try:
-        importlib.import_module(package_name)
-        print(f"  {CHECK_MARK} {display_name}")
-        return True
-    except ImportError:
-        print(f"  {CROSS_MARK} {display_name}")
-        return False
-
-
-def check_python_version() -> bool:
-    """Check Python version."""
-    version = sys.version_info
-    version_str = f"{version.major}.{version.minor}.{version.micro}"
-
-    if version.major == 3 and version.minor >= 11:
-        print(f"  {CHECK_MARK} Python {version_str}")
-        return True
-    else:
-        print(f"  {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
-        return False
-
-
-def main():
-    """Run all verification checks."""
-    print("=" * 60)
-    print("UniLabOS Installation Verification")
-    print("=" * 60)
-    print()
-
-    all_passed = True
-
-    # Check Python version
-    print("Checking Python version...")
-    if not check_python_version():
-        all_passed = False
-    print()
-
-    # Check ROS2 rclpy
-    print("Checking ROS2 rclpy...")
-    if not check_package("rclpy", "ROS2 rclpy"):
-        all_passed = False
-    print()
-
-    # Run environment checker from unilabos
-    print("Checking UniLabOS and dependencies...")
-    try:
-        from unilabos.utils.environment_check import check_environment
-
-        print(f"  {CHECK_MARK} UniLabOS installed")
-
-        # Check environment without auto-install (verification only)
-        # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
-        env_check_passed = check_environment(auto_install=False, show_details=False)
-
-        if env_check_passed:
-            print(f"  {CHECK_MARK} All required packages available")
-        else:
-            print(f"  {CROSS_MARK} Some optional packages are missing")
-    except ImportError:
-        print(f"  {CROSS_MARK} UniLabOS not installed")
-        all_passed = False
-    except Exception as e:
-        print(f"  {CROSS_MARK} Environment check failed: {str(e)}")
-    print()
-
-    # Summary
-    print("=" * 60)
-    print("Verification Summary")
-    print("=" * 60)
-
-    if all_passed:
-        print(f"\n{CHECK_MARK} All checks passed! Your UniLabOS installation is ready.")
-        print("\nNext steps:")
-        print("  1. Review the documentation: docs/user_guide/launch.md")
-        print("  2. Try the examples: docs/boot_examples/")
-        print("  3. Configure your devices: unilabos_data/startup_config.json")
-        return 0
-    else:
-        print(f"\n{CROSS_MARK} Some checks failed. Please review the errors above.")
-        print("\nTroubleshooting:")
-        print("  1. Ensure you're in the correct conda environment: conda activate unilab")
-        print("  2. Check the installation documentation: docs/user_guide/installation.md")
-        print("  3. Try reinstalling: pip install .")
-        return 1
-
-
-if __name__ == "__main__":
-    sys.exit(main())
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,2 +1,4 @@
+[develop]
+script_dir=$base/lib/unilabos
 [install]
 install_scripts=$base/lib/unilabos
--- a/setup.py
+++ b/setup.py
@@ -4,20 +4,19 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.10.7',
+    version='0.9.0',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
    zip_safe=True,
-    author="The unilabos developers",
-    maintainer='Junhan Chang, Xuwznln',
-    maintainer_email='Junhan Chang <changjh@pku.edu.cn>, Xuwznln <18435084+Xuwznln@users.noreply.github.com>',
+    maintainer='Junhan Chang',
+    maintainer_email='changjh@pku.edu.cn',
    description='',
    license='GPL v3',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
-            "unilab = unilabos.app.main:main"
+            "unilab = unilabos.app.main:main",
        ],
    },
 )
--- a/test/commands/resource_add.md
+++ b/test/commands/resource_add.md
@@ -2,10 +2,4 @@

 ```bash
 ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
-```
-
-使用mock_all.json启动，重新捕获MockContainerForChiller1
-
-```bash
-ros2 action send_goal /devices/host_node/create_resource unilabos_msgs/action/_resource_create_from_outer_easy/ResourceCreateFromOuterEasy "{ 'res_id': 'MockContainerForChiller1', 'device_id': 'MockChiller1', 'class_name': 'container', 'parent': 'MockChiller1', 'bind_locations': { 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'liquid_input_slot': [ -1 ], 'liquid_type': [ 'CuCl2' ], 'liquid_volume': [ 100.0 ], 'slot_on_deck': '' }"
 ```
--- a/test/experiments/Protocol_Test_Station/add_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/add_protocol_test_station.json
@@ -1,563 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "AddProtocolTestStation",
-            "name": "添加协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2", 
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "stirrer_1",
-                "stirrer_2",
-                "flask_DMF",
-                "flask_ethyl_acetate", 
-                "flask_methanol",
-                "flask_acetone",
-                "flask_water",
-                "flask_air",
-                "main_reactor",
-                "secondary_reactor",
-                "waste_workup",
-                "collection_bottle_1",
-                "collection_bottle_2"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["PumpTransferProtocol", "AddProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵1",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 250,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "转移泵2",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 750,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "试剂分配阀",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 250,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "反应器分配阀",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 750,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "stirrer_1",
-            "name": "主反应器搅拌器",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER1",
-                "max_speed": 1500.0,
-                "default_speed": 300.0
-            },
-            "data": {
-                "speed": 0.0,
-                "status": "Stopped"
-            }
-        },
-        {
-            "id": "stirrer_2",
-            "name": "副反应器搅拌器",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 900,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER2",
-                "max_speed": 1500.0,
-                "default_speed": 300.0
-            },
-            "data": {
-                "speed": 0.0,
-                "status": "Stopped"
-            }
-        },
-        {
-            "id": "flask_DMF",
-            "name": "DMF试剂瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 50,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯试剂瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 150,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇试剂瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮试剂瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 350,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 450,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "secondary_reactor",
-            "name": "副反应器",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液处理瓶",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "AddProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve1_DMF",
-            "source": "multiway_valve_1",
-            "target": "flask_DMF",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_DMF": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve2_main_reactor",
-            "source": "multiway_valve_2",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "main_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_secondary_reactor",
-            "source": "multiway_valve_2",
-            "target": "secondary_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "secondary_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection1",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection2",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "8",
-                "collection_bottle_2": "inlet"
-            }
-        },
-        {
-            "id": "link_stirrer1_main_reactor",
-            "source": "stirrer_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_1": "stirrer_head",
-                "main_reactor": "stirrer_port"
-            }
-        },
-        {
-            "id": "link_stirrer2_secondary_reactor",
-            "source": "stirrer_2",
-            "target": "secondary_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_2": "stirrer_head",
-                "secondary_reactor": "stirrer_port"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/centrifuge_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/centrifuge_protocol_test_station.json
@@ -1,438 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "CentrifugeProtocolTestStation",
-            "name": "离心协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2",
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "centrifuge_1",
-                "reaction_mixture",
-                "centrifuge_tube",
-                "collection_bottle_1",
-                "flask_water",
-                "flask_ethanol",
-                "flask_acetone",
-                "flask_air",
-                "waste_workup"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "CentrifugeProtocol",
-                    "PumpTransferProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "主转移泵",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 200,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "副转移泵",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 400,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "溶剂分配阀",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 200,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "样品分配阀",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 400,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "centrifuge_1",
-            "name": "离心机",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "device",
-            "class": "virtual_centrifuge",
-            "position": {
-                "x": 600,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_CENTRIFUGE1",
-                "max_speed": 15000.0,
-                "max_temp": 40.0,
-                "min_temp": 4.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "reaction_mixture",
-            "name": "反应混合物",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "cell_suspension",
-                        "liquid_volume": 200.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "centrifuge_tube",
-            "name": "离心管",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 15.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "上清液收集瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 900.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇清洗瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮清洗瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "CentrifugeProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve2_reaction_mixture",
-            "source": "multiway_valve_2",
-            "target": "reaction_mixture",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "reaction_mixture": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_centrifuge_tube",
-            "source": "multiway_valve_2",
-            "target": "centrifuge_tube",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "centrifuge_tube": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "4",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_centrifuge1_centrifuge_tube",
-            "source": "centrifuge_1",
-            "target": "centrifuge_tube",
-            "type": "transport",
-            "port": {
-                "centrifuge_1": "centrifuge",
-                "centrifuge_tube": "centrifuge_port"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/clean_vessel_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/clean_vessel_protocol_test_station.json
@@ -1,446 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "CleanVesselProtocolTestStation",
-            "name": "容器清洗协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2",
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "heatchill_1",
-                "flask_water",
-                "flask_acetone",
-                "flask_ethanol",
-                "flask_air",
-                "main_reactor",
-                "secondary_reactor",
-                "waste_workup"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "CleanVesselProtocol",
-                    "PumpTransferProtocol",
-                    "HeatChillProtocol",
-                    "HeatChillStartProtocol",
-                    "HeatChillStopProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "主清洗泵",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 250,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 2.5
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "副清洗泵",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 450,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 2.5
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "溶剂分配阀",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 250,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "容器分配阀",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 450,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热清洗器",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 600,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL1",
-                "max_temp": 100.0,
-                "min_temp": 10.0,
-                "max_stir_speed": 500.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 50,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 900.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮清洗瓶",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 150,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇清洗瓶",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 250,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 350,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "residue",
-                        "liquid_volume": 50.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "secondary_reactor",
-            "name": "副反应器",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 800,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "organic_residue",
-                        "liquid_volume": 30.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "清洗废液瓶",
-            "children": [],
-            "parent": "CleanVesselProtocolTestStation",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 700,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 3000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-        "links": [
-        {
-            "id": "link_pump1_to_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_to_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_to_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_water": "top"
-            }
-        },
-        {
-            "id": "link_valve1_to_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_acetone": "top"
-            }
-        },
-        {
-            "id": "link_valve1_to_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_ethanol": "top"
-            }
-        },
-        {
-            "id": "link_valve1_to_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_to_valve2_for_cleaning",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "multiway_valve_2": "8"
-            }
-        },
-        {
-            "id": "link_valve2_to_main_reactor_in",
-            "source": "multiway_valve_2",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "main_reactor": "top"
-            }
-        },
-        {
-            "id": "link_valve2_to_secondary_reactor_in",
-            "source": "multiway_valve_2",
-            "target": "secondary_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "secondary_reactor": "top"
-            }
-        },
-        {
-            "id": "link_main_reactor_out_to_valve2",
-            "source": "main_reactor",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "main_reactor": "bottom",
-                "multiway_valve_2": "6"
-            }
-        },
-        {
-            "id": "link_secondary_reactor_out_to_valve2",
-            "source": "secondary_reactor",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "secondary_reactor": "bottom",
-                "multiway_valve_2": "7"
-            }
-        },
-        {
-            "id": "link_valve2_to_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "4",
-                "waste_workup": "top"
-            }
-        },
-        {
-            "id": "link_heatchill1_to_main_reactor",
-            "source": "heatchill_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "heatchill_1": "heatchill",
-                "main_reactor": "bind"
-            }
-        },
-        {
-            "id": "link_heatchill1_to_secondary_reactor",
-            "source": "heatchill_1",
-            "target": "secondary_reactor",
-            "type": "mechanical",
-            "port": {
-                "heatchill_1": "heatchill",
-                "secondary_reactor": "bind"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/dual_valve_pump_test_station.json
+++ b/test/experiments/Protocol_Test_Station/dual_valve_pump_test_station.json
@@ -1,367 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "DualValvePumpStation",
-            "name": "双阀门泵站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2", 
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "flask_DMF",
-                "flask_ethyl_acetate", 
-                "flask_methanol",
-                "flask_air",
-                "main_reactor",
-                "waste_workup",
-                "collection_bottle_1"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["PumpTransferProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵1",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 300,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "转移泵2",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 700,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "第一个八通阀",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 300,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "第二个八通阀",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 700,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "flask_DMF",
-            "name": "DMF试剂瓶",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯试剂瓶",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇试剂瓶",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液处理瓶",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "DualValvePumpStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_DMF",
-            "source": "multiway_valve_1",
-            "target": "flask_DMF",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_DMF": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve2_reactor",
-            "source": "multiway_valve_2",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "main_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "collection_bottle_1": "inlet"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/evacuateandrefill_test_station.json
+++ b/test/experiments/Protocol_Test_Station/evacuateandrefill_test_station.json
@@ -1,557 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "EvacuateRefillTestStation",
-            "name": "抽真空充气测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2", 
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "flask_DMF",
-                "flask_ethyl_acetate", 
-                "flask_methanol",
-                "flask_air",
-                "vacuum_pump_1",
-                "gas_source_nitrogen",
-                "gas_source_air",
-                "solenoid_valve_vacuum",
-                "solenoid_valve_gas",
-                "main_reactor",
-                "stirrer_1",
-                "waste_workup",
-                "collection_bottle_1"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵1",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 300,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "转移泵2",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 700,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "第一个八通阀",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 300,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "第二个八通阀",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 700,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "vacuum_pump_1",
-            "name": "真空泵1",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_vacuum_pump",
-            "position": {
-                "x": 150,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VACUUM1",
-                "max_pressure": -0.9
-            },
-            "data": {
-                "status": "OFF",
-                "pressure": 0.0
-            }
-        },
-        {
-            "id": "gas_source_nitrogen",
-            "name": "氮气源",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_gas_source",
-            "position": {
-                "x": 850,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_GAS_N2",
-                "gas_type": "nitrogen",
-                "max_pressure": 5.0
-            },
-            "data": {
-                "status": "OFF",
-                "flow_rate": 0.0
-            }
-        },
-        {
-            "id": "gas_source_air",
-            "name": "空气源",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_gas_source",
-            "position": {
-                "x": 950,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_GAS_AIR",
-                "gas_type": "air",
-                "max_pressure": 3.0
-            },
-            "data": {
-                "status": "OFF",
-                "flow_rate": 0.0
-            }
-        },
-        {
-            "id": "solenoid_valve_vacuum",
-            "name": "真空电磁阀",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_solenoid_valve",
-            "position": {
-                "x": 225,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_SOLENOID_VACUUM"
-            },
-            "data": {
-                "valve_position": "CLOSED"
-            }
-        },
-        {
-            "id": "solenoid_valve_gas",
-            "name": "气源电磁阀",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_solenoid_valve",
-            "position": {
-                "x": 775,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_SOLENOID_GAS"
-            },
-            "data": {
-                "valve_position": "CLOSED"
-            }
-        },
-        {
-            "id": "flask_DMF",
-            "name": "DMF试剂瓶",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯试剂瓶",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇试剂瓶",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "stirrer_1",
-            "name": "搅拌器1",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER1",
-                "max_speed": 1500.0
-            },
-            "data": {
-                "speed": 0.0,
-                "status": "OFF"
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液处理瓶",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "EvacuateRefillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_vacuum_solenoid",
-            "source": "vacuum_pump_1",
-            "target": "solenoid_valve_vacuum",
-            "type": "fluid",
-            "port": {
-                "vacuum_pump_1": "outlet",
-                "solenoid_valve_vacuum": "inlet"
-            }
-        },
-        {
-            "id": "link_solenoid_vacuum_valve1",
-            "source": "solenoid_valve_vacuum",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "solenoid_valve_vacuum": "outlet",
-                "multiway_valve_1": "7"
-            }
-        },
-        {
-            "id": "link_gas_solenoid",
-            "source": "gas_source_nitrogen",
-            "target": "solenoid_valve_gas",
-            "type": "fluid",
-            "port": {
-                "gas_source_nitrogen": "outlet",
-                "solenoid_valve_gas": "inlet"
-            }
-        },
-        {
-            "id": "link_solenoid_gas_valve2",
-            "source": "solenoid_valve_gas",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "solenoid_valve_gas": "outlet",
-                "multiway_valve_2": "8"
-            }
-        },
-        {
-            "id": "link_air_source_valve2",
-            "source": "gas_source_air",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "gas_source_air": "outlet",
-                "multiway_valve_2": "2"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_DMF",
-            "source": "multiway_valve_1",
-            "target": "flask_DMF",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_DMF": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve2_reactor",
-            "source": "multiway_valve_2",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "main_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_stirrer_reactor",
-            "source": "stirrer_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_1": "stirrer",
-                "main_reactor": "stirrer"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/evaporate_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/evaporate_protocol_test_station.json
@@ -1,503 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "EvaporateProtocolTestStation",
-            "name": "蒸发协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2", 
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "rotavap_1",
-                "heatchill_1",
-                "reaction_mixture",
-                "rotavap_flask",
-                "rotavap_condenser",
-                "flask_distillate",
-                "flask_ethanol",
-                "flask_acetone",
-                "flask_water",
-                "flask_air",
-                "waste_workup"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "EvaporateProtocol",
-                    "PumpTransferProtocol",
-                    "HeatChillProtocol",
-                    "HeatChillStartProtocol",
-                    "HeatChillStopProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "主转移泵",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 200,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 2.5
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "副转移泵",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 400,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 2.5
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "溶剂分配阀",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 200,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "容器分配阀",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 400,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "rotavap_1",
-            "name": "旋转蒸发仪",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_rotavap",
-            "position": {
-                "x": 700,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_ROTAVAP1",
-                "max_temp": 180.0,
-                "max_rotation_speed": 280.0
-            },
-            "data": {
-                "status": "Ready"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "预加热器",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 100,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL1",
-                "max_temp": 100.0,
-                "min_temp": 10.0,
-                "max_stir_speed": 500.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "reaction_mixture",
-            "name": "反应混合物",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "reaction_mixture",
-                        "liquid_volume": 600.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "rotavap_flask",
-            "name": "旋蒸样品瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "rotavap_condenser",
-            "name": "旋蒸冷凝器",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_distillate",
-            "name": "溶剂回收瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇清洗瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 50,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮清洗瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 150,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 900.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 350,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "EvaporateProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 3000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_ethanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve2_reaction_mixture",
-            "source": "multiway_valve_2",
-            "target": "reaction_mixture",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "reaction_mixture": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_rotavap_flask",
-            "source": "multiway_valve_2",
-            "target": "rotavap_flask",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "rotavap_flask": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_rotavap_condenser",
-            "source": "multiway_valve_2",
-            "target": "rotavap_condenser",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "4",
-                "rotavap_condenser": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_distillate",
-            "source": "multiway_valve_2",
-            "target": "flask_distillate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "flask_distillate": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_rotavap1_rotavap_flask",
-            "source": "rotavap_1",
-            "target": "rotavap_flask",
-            "type": "fluid",
-            "port": {
-                "rotavap_1": "rotavap-sample",
-                "rotavap_flask": "rotavap_port"
-            }
-        },
-        {
-            "id": "link_heatchill1_reaction_mixture",
-            "source": "heatchill_1",
-            "target": "reaction_mixture",
-            "type": "mechanical",
-            "port": {
-                "heatchill_1": "heatchill",
-                "reaction_mixture": "heating_jacket"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/filter_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/filter_protocol_test_station.json
@@ -1,534 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "FilterProtocolTestStation",
-            "name": "过滤协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2",
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "filter_1",
-                "heatchill_1",
-                "reaction_mixture",
-                "filter_vessel",
-                "filtrate_vessel",
-                "collection_bottle_1",
-                "collection_bottle_2",
-                "flask_water",
-                "flask_ethanol",
-                "flask_acetone",
-                "flask_air",
-                "waste_workup"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "FilterProtocol",
-                    "PumpTransferProtocol",
-                    "HeatChillProtocol",
-                    "HeatChillStartProtocol",
-                    "HeatChillStopProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "主转移泵",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 200,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "副转移泵",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 400,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "溶剂分配阀",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 200,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "样品分配阀",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 400,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "filter_1",
-            "name": "过滤器",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_filter",
-            "position": {
-                "x": 600,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_FILTER1",
-                "max_temp": 100.0,
-                "max_stir_speed": 1000.0,
-                "max_volume": 500.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热搅拌器",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL1",
-                "max_temp": 100.0,
-                "min_temp": 4.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "reaction_mixture",
-            "name": "反应混合物",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "cell_suspension",
-                        "liquid_volume": 200.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "filter_vessel",
-            "name": "过滤器容器",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "filtrate_vessel",
-            "name": "滤液收集容器",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 900.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇清洗瓶",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮清洗瓶",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "FilterProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve2_reaction_mixture",
-            "source": "multiway_valve_2",
-            "target": "reaction_mixture",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "reaction_mixture": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_filter_vessel",
-            "source": "multiway_valve_2",
-            "target": "filter_vessel",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "filter_vessel": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_filtrate_vessel",
-            "source": "multiway_valve_2",
-            "target": "filtrate_vessel",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "4",
-                "filtrate_vessel": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection1",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection2",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "collection_bottle_2": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_filter1_filter_vessel",
-            "source": "filter_1",
-            "target": "filter_vessel",
-            "type": "transport",
-            "port": {
-                "filter_1": "filter",
-                "filter_vessel": "filter_port"
-            }
-        },
-        {
-            "id": "link_heatchill1_filter_vessel",
-            "source": "heatchill_1",
-            "target": "filter_vessel",
-            "type": "mechanical",
-            "port": {
-                "heatchill_1": "heatchill",
-                "filter_vessel": "heating_jacket"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/heatchill_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/heatchill_protocol_test_station.json
@@ -1,671 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "HeatChillProtocolTestStation",
-            "name": "加热冷却协议测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2", 
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "stirrer_1",
-                "stirrer_2",
-                "heatchill_1",
-                "heatchill_2",
-                "flask_DMF",
-                "flask_ethyl_acetate", 
-                "flask_methanol",
-                "flask_acetone",
-                "flask_water",
-                "flask_ethanol",
-                "flask_air",
-                "main_reactor",
-                "secondary_reactor",
-                "waste_workup",
-                "collection_bottle_1",
-                "collection_bottle_2"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "PumpTransferProtocol", 
-                    "AddProtocol", 
-                    "HeatChillProtocol", 
-                    "HeatChillStartProtocol", 
-                    "HeatChillStopProtocol",
-                    "DissolveProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵1",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 250,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "转移泵2",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 750,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "试剂分配阀",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 250,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "反应器分配阀",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 750,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "stirrer_1",
-            "name": "主反应器搅拌器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER1",
-                "max_speed": 1500.0,
-                "default_speed": 300.0
-            },
-            "data": {
-                "speed": 0.0,
-                "status": "Stopped"
-            }
-        },
-        {
-            "id": "stirrer_2",
-            "name": "副反应器搅拌器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 900,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER2",
-                "max_speed": 1500.0,
-                "default_speed": 300.0
-            },
-            "data": {
-                "speed": 0.0,
-                "status": "Stopped"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "主反应器加热冷却器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 550,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL1",
-                "max_temp": 200.0,
-                "min_temp": -80.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "heatchill_2",
-            "name": "副反应器加热冷却器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 850,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL2",
-                "max_temp": 200.0,
-                "min_temp": -80.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_DMF",
-            "name": "DMF试剂瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 50,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯试剂瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 150,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇试剂瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-                {
-            "id": "flask_ethanol",
-            "name": "乙醇试剂瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 650,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮试剂瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 350,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 450,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "secondary_reactor",
-            "name": "副反应器",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液处理瓶",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "HeatChillProtocolTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve1_DMF",
-            "source": "multiway_valve_1",
-            "target": "flask_DMF",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_DMF": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve2_main_reactor",
-            "source": "multiway_valve_2",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "main_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_secondary_reactor",
-            "source": "multiway_valve_2",
-            "target": "secondary_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "secondary_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_waste",
-            "source": "multiway_valve_2",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection1",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_collection2",
-            "source": "multiway_valve_2",
-            "target": "collection_bottle_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "8",
-                "collection_bottle_2": "inlet"
-            }
-        },
-        {
-            "id": "link_stirrer1_main_reactor",
-            "source": "stirrer_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_1": "stirrer_head",
-                "main_reactor": "stirrer_port"
-            }
-        },
-        {
-            "id": "link_stirrer2_secondary_reactor",
-            "source": "stirrer_2",
-            "target": "secondary_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_2": "stirrer_head",
-                "secondary_reactor": "stirrer_port"
-            }
-        },
-        {
-            "id": "link_heatchill1_main_reactor",
-            "source": "heatchill_1",
-            "target": "main_reactor",
-            "type": "thermal",
-            "port": {
-                "heatchill_1": "heating_surface",
-                "main_reactor": "heating_jacket"
-            }
-        },
-        {
-            "id": "link_heatchill2_secondary_reactor",
-            "source": "heatchill_2",
-            "target": "secondary_reactor",
-            "type": "thermal",
-            "port": {
-                "heatchill_2": "heating_surface",
-                "secondary_reactor": "heating_jacket"
-            }
-        },
-        {
-            "id": "link_valve1_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "7",
-                "flask_ethanol": "outlet"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/pumptransfer_filterthrough_test_station.json
+++ b/test/experiments/Protocol_Test_Station/pumptransfer_filterthrough_test_station.json
@@ -1,778 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "PumpTransferFilterThroughTestStation",
-            "name": "泵转移+过滤介质测试站",
-            "children": [
-                "transfer_pump_1",
-                "transfer_pump_2",
-                "multiway_valve_1",
-                "multiway_valve_2",
-                "reaction_mixture",
-                "crude_product",
-                "filter_celite",
-                "column_silica_gel",
-                "filter_C18",
-                "pure_product",
-                "collection_bottle_1",
-                "collection_bottle_2",
-                "collection_bottle_3",
-                "intermediate_vessel_1",
-                "intermediate_vessel_2",
-                "flask_water",
-                "flask_ethanol",
-                "flask_methanol",
-                "flask_ethyl_acetate",
-                "flask_acetone",
-                "flask_hexane",
-                "flask_air",
-                "waste_workup"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "PumpTransferProtocol",
-                    "FilterThroughProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "主转移泵",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 200,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "transfer_pump_2",
-            "name": "副转移泵",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 400,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP2",
-                "max_volume": 25.0,
-                "transfer_rate": 2.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "溶剂分配阀",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 200,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "multiway_valve_2",
-            "name": "样品分配阀",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 400,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE2",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "reaction_mixture",
-            "name": "反应混合物",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "organic_reaction_mixture",
-                        "liquid_volume": 250.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "crude_product",
-            "name": "粗产品",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "crude_organic_compound",
-                        "liquid_volume": 150.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "filter_celite",
-            "name": "硅藻土过滤器",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 300.0,
-                "filter_type": "celite_pad"
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "column_silica_gel",
-            "name": "硅胶柱",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 200.0,
-                "filter_type": "silica_gel_column"
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "filter_C18",
-            "name": "C18固相萃取柱",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 100.0,
-                "filter_type": "C18_cartridge"
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "pure_product",
-            "name": "纯产品",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_3",
-            "name": "收集瓶3",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 550,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "intermediate_vessel_1",
-            "name": "中间容器1",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "intermediate_vessel_2",
-            "name": "中间容器2",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "蒸馏水瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 900.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 500,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_hexane",
-            "name": "正己烷瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "hexane",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "PumpTransferFilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 600,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump1_valve1",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_pump2_valve2",
-            "source": "transfer_pump_2",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_2": "transferpump",
-                "multiway_valve_2": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve1_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve1_water",
-            "source": "multiway_valve_1",
-            "target": "flask_water",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_water": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethanol",
-            "source": "multiway_valve_1",
-            "target": "flask_ethanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_acetone",
-            "source": "multiway_valve_1",
-            "target": "flask_acetone",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "flask_acetone": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_hexane",
-            "source": "multiway_valve_1",
-            "target": "flask_hexane",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "7",
-                "flask_hexane": "outlet"
-            }
-        },
-        {
-            "id": "link_valve1_valve2",
-            "source": "multiway_valve_1",
-            "target": "multiway_valve_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "multiway_valve_2": "1"
-            }
-        },
-        {
-            "id": "link_valve2_reaction_mixture",
-            "source": "multiway_valve_2",
-            "target": "reaction_mixture",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "2",
-                "reaction_mixture": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_crude_product",
-            "source": "multiway_valve_2",
-            "target": "crude_product",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "3",
-                "crude_product": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_intermediate1",
-            "source": "multiway_valve_2",
-            "target": "intermediate_vessel_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "4",
-                "intermediate_vessel_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_intermediate2",
-            "source": "multiway_valve_2",
-            "target": "intermediate_vessel_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "5",
-                "intermediate_vessel_2": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_celite",
-            "source": "multiway_valve_2",
-            "target": "filter_celite",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "6",
-                "filter_celite": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_silica_gel",
-            "source": "multiway_valve_2",
-            "target": "column_silica_gel",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "7",
-                "column_silica_gel": "inlet"
-            }
-        },
-        {
-            "id": "link_valve2_C18",
-            "source": "multiway_valve_2",
-            "target": "filter_C18",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_2": "8",
-                "filter_C18": "inlet"
-            }
-        },
-        {
-            "id": "link_celite_collection1",
-            "source": "filter_celite",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "filter_celite": "outlet",
-                "collection_bottle_1": "inlet"
-            }
-        },
-        {
-            "id": "link_silica_gel_collection2",
-            "source": "column_silica_gel",
-            "target": "collection_bottle_2",
-            "type": "fluid",
-            "port": {
-                "column_silica_gel": "outlet",
-                "collection_bottle_2": "inlet"
-            }
-        },
-        {
-            "id": "link_C18_collection3",
-            "source": "filter_C18",
-            "target": "collection_bottle_3",
-            "type": "fluid",
-            "port": {
-                "filter_C18": "outlet",
-                "collection_bottle_3": "inlet"
-            }
-        },
-        {
-            "id": "link_collection1_pure_product",
-            "source": "collection_bottle_1",
-            "target": "pure_product",
-            "type": "fluid",
-            "port": {
-                "collection_bottle_1": "outlet",
-                "pure_product": "inlet"
-            }
-        },
-        {
-            "id": "link_collection2_pure_product",
-            "source": "collection_bottle_2",
-            "target": "pure_product",
-            "type": "fluid",
-            "port": {
-                "collection_bottle_2": "outlet",
-                "pure_product": "inlet"
-            }
-        },
-        {
-            "id": "link_collection3_pure_product",
-            "source": "collection_bottle_3",
-            "target": "pure_product",
-            "type": "fluid",
-            "port": {
-                "collection_bottle_3": "outlet",
-                "pure_product": "inlet"
-            }
-        },
-        {
-            "id": "link_waste_connection",
-            "source": "pure_product",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "pure_product": "waste_outlet",
-                "waste_workup": "inlet"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/pumptransfer_test_station.json
+++ b/test/experiments/Protocol_Test_Station/pumptransfer_test_station.json
@@ -1,304 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "SimpleProtocolStation",
-            "name": "简单协议工作站",
-            "children": [
-                "transfer_pump_1",
-                "multiway_valve_1",
-                "flask_DMF",
-                "flask_ethyl_acetate", 
-                "flask_methanol",
-                "main_reactor",
-                "waste_workup",
-                "collection_bottle_1",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["PumpTransferProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵1",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 500,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 25.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "position": 0.0,
-                "status": "Idle",
-                "valve_position": "0"
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "八通阀1",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 500,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "flask_DMF",
-            "name": "DMF试剂瓶",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯试剂瓶",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇试剂瓶",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 800.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "废液处理瓶",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_bottle_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "SimpleProtocolStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump_valve",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump", 
-                "multiway_valve_1": "transferpump"  
-            }
-        },
-        {
-            "id": "link_valve_air",
-            "source": "multiway_valve_1",
-            "target": "flask_air",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_air": "top"
-            }
-        },
-        {
-            "id": "link_valve_DMF",
-            "source": "multiway_valve_1",
-            "target": "flask_DMF",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_DMF": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_reactor",
-            "source": "multiway_valve_1",
-            "target": "main_reactor",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "main_reactor": "inlet"
-            }
-        },
-        {
-            "id": "link_valve_waste",
-            "source": "multiway_valve_1",
-            "target": "waste_workup",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "waste_workup": "inlet"
-            }
-        },
-        {
-            "id": "link_valve_collection",
-            "source": "multiway_valve_1",
-            "target": "collection_bottle_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "7",
-                "collection_bottle_1": "inlet"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/run_column_protocol_test_station.json
+++ b/test/experiments/Protocol_Test_Station/run_column_protocol_test_station.json
@@ -1,432 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "RunColumnTestStation",
-            "name": "柱层析测试工作站",
-            "children": [
-                "transfer_pump_1",
-                "multiway_valve_1",
-                "column_1",
-                "flask_sample",
-                "flask_hexane",
-                "flask_ethyl_acetate",
-                "flask_methanol",
-                "column_vessel",
-                "collection_flask_1",
-                "collection_flask_2",
-                "collection_flask_3",
-                "waste_flask",
-                "main_reactor"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["RunColumnProtocol", "PumpTransferProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 300,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_PUMP1",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "position": 0.0
-            }
-        },
-        {
-            "id": "multiway_valve_1",
-            "name": "八通阀门",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 300,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_VALVE1",
-                "positions": 8
-            },
-            "data": {
-                "current_position": 1
-            }
-        },
-        {
-            "id": "column_1",
-            "name": "柱层析设备",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "device",
-            "class": "virtual_column",
-            "position": {
-                "x": 600,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_COLUMN1",
-                "max_flow_rate": 5.0,
-                "column_length": 30.0,
-                "column_diameter": 2.5
-            },
-            "data": {
-                "status": "Idle",
-                "column_state": "Ready"
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "crude_mixture",
-                        "volume": 200.0,
-                        "concentration": 70.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_hexane",
-            "name": "正己烷洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 200,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "hexane",
-                        "volume": 1500.0,
-                        "concentration": 99.8
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethyl_acetate",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "methanol",
-                        "volume": 800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "column_vessel",
-            "name": "柱容器",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 300.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_flask_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_flask_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_flask_3",
-            "name": "收集瓶3",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_flask",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 500,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 600,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "reaction_mixture",
-                        "volume": 300.0,
-                        "concentration": 85.0
-                    }
-                ]
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_pump_valve",
-            "source": "transfer_pump_1",
-            "target": "multiway_valve_1",
-            "type": "fluid",
-            "port": {
-                "transfer_pump_1": "transferpump",
-                "multiway_valve_1": "transferpump"
-            }
-        },
-        {
-            "id": "link_valve_sample",
-            "source": "multiway_valve_1",
-            "target": "flask_sample",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "1",
-                "flask_sample": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_hexane",
-            "source": "multiway_valve_1",
-            "target": "flask_hexane",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "2",
-                "flask_hexane": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_ethyl_acetate",
-            "source": "multiway_valve_1",
-            "target": "flask_ethyl_acetate",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "3",
-                "flask_ethyl_acetate": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_methanol",
-            "source": "multiway_valve_1",
-            "target": "flask_methanol",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "4",
-                "flask_methanol": "outlet"
-            }
-        },
-        {
-            "id": "link_valve_column_vessel",
-            "source": "multiway_valve_1",
-            "target": "column_vessel",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "5",
-                "column_vessel": "inlet"
-            }
-        },
-        {
-            "id": "link_valve_collection1",
-            "source": "multiway_valve_1",
-            "target": "collection_flask_1",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "6",
-                "collection_flask_1": "inlet"
-            }
-        },
-        {
-            "id": "link_valve_collection2",
-            "source": "multiway_valve_1",
-            "target": "collection_flask_2",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "7",
-                "collection_flask_2": "inlet"
-            }
-        },
-        {
-            "id": "link_valve_waste",
-            "source": "multiway_valve_1",
-            "target": "waste_flask",
-            "type": "fluid",
-            "port": {
-                "multiway_valve_1": "8",
-                "waste_flask": "inlet"
-            }
-        },
-        {
-            "id": "link_column_device_vessel",
-            "source": "column_1",
-            "target": "column_vessel",
-            "type": "transport",
-            "port": {
-                "column_1": "columnin",
-                "column_vessel": "column_port"
-            }
-        },
-        {
-            "id": "link_column_collection3",
-            "source": "column_1",
-            "target": "collection_flask_3",
-            "type": "transport",
-            "port": {
-                "column_1": "columnout",
-                "collection_flask_3": "column_outlet"
-            }
-        }
-    ]
-}
--- a/test/experiments/Protocol_Test_Station/simple_stir_heatchill_test_station.json
+++ b/test/experiments/Protocol_Test_Station/simple_stir_heatchill_test_station.json
@@ -1,141 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "SimpleStirHeatChillTestStation",
-            "name": "搅拌加热测试站",
-            "children": [
-                "stirrer_1",
-                "heatchill_1",
-                "main_reactor",
-                "secondary_reactor"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "StirProtocol",
-                    "StartStirProtocol", 
-                    "StopStirProtocol",
-                    "HeatChillProtocol", 
-                    "HeatChillStartProtocol", 
-                    "HeatChillStopProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "stirrer_1",
-            "name": "主搅拌器",
-            "children": [],
-            "parent": "SimpleStirHeatChillTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 400,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_STIRRER1",
-                "max_speed": 1500.0,
-                "min_speed": 50.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "主加热冷却器",
-            "children": [],
-            "parent": "SimpleStirHeatChillTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 600,
-                "y": 350,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL_HEATCHILL1",
-                "max_temp": 200.0,
-                "min_temp": -80.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "main_reactor",
-            "name": "主反应器",
-            "children": [],
-            "parent": "SimpleStirHeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 500,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "secondary_reactor",
-            "name": "副反应器",
-            "children": [],
-            "parent": "SimpleStirHeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 700,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "id": "link_stirrer1_main_reactor",
-            "source": "stirrer_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "stirrer_1": "stirrer",
-                "main_reactor": "stirrer_port"
-            }
-        },
-        {
-            "id": "link_heatchill1_main_reactor",
-            "source": "heatchill_1",
-            "target": "main_reactor",
-            "type": "mechanical",
-            "port": {
-                "heatchill_1": "heatchill",
-                "main_reactor": "heating_jacket"
-            }
-        }
-    ]
-}
--- a/test/experiments/biomek.json
+++ b/test/experiments/biomek.json
@@ -1,22 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "BIOMEK",
-            "name": "BIOMEK",
-            "parent": null,
-            "type": "device",
-            "class": "liquid_handler.biomek",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-            },
-            "data": {},
-            "children": [
-            ]
-        }
-    ],
-    "links": []
-}
--- a/test/experiments/camera.json
+++ b/test/experiments/camera.json
@@ -1,45 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "Camera",
-            "name": "摄像头",
-            "children": [
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "camera",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "camera_index": 0,
-                "period": 0.05
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "Gripper1",
-            "name": "假夹爪",
-            "children": [
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "gripper.mock",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-            },
-            "data": {
-            }
-        }
-    ],
-    "links": [
-        
-    ]
-}
--- a/test/experiments/comprehensive_protocol/checklist.md
+++ b/test/experiments/comprehensive_protocol/checklist.md
@@ -1,258 +0,0 @@
-1. 用到的仪器
-                virtual_multiway_valve(√)                                                     八通阀门
-                virtual_transfer_pump(√)                                                        转移泵
-                virtual_centrifuge()                                                            离心机
-                virtual_rotavap()                                                               旋蒸仪
-                virtual_heatchill()                                                             加热器
-                virtual_stirrer()                                                               搅拌器
-                virtual_solenoid_valve()                                                        电磁阀
-                virtual_vacuum_pump(√)                       vacuum_pump.mock                            真空泵
-                virtual_gas_source(√)                                                                    气源
-                virtual_filter()                                                                过滤器
-                virtual_column(√)                                                               层析柱
-                separator()                         homemade_grbl_conductivity                  分液漏斗
-2. 用到的protocol
-    PumpTransferProtocol: generate_pump_protocol_with_rinsing,                      (√)
-    这个重复了，删掉CleanProtocol: generate_clean_protocol,
-    SeparateProtocol: generate_separate_protocol,                           (×)
-    EvaporateProtocol: generate_evaporate_protocol,                                 (√)
-    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,                 (√)
-    CentrifugeProtocol: generate_centrifuge_protocol,                               (√)
-    AddProtocol: generate_add_protocol,                                             (√)
-    FilterProtocol: generate_filter_protocol,                                       (√)
-    HeatChillProtocol: generate_heat_chill_protocol,                                (√)
-    HeatChillStartProtocol: generate_heat_chill_start_protocol,                     (√)
-    HeatChillStopProtocol: generate_heat_chill_stop_protocol,                       (√)
-    HeatChillToTempProtocol:
-    StirProtocol: generate_stir_protocol,                                           (√)
-    StartStirProtocol: generate_start_stir_protocol,                                (√)
-    StopStirProtocol: generate_stop_stir_protocol,                                  (√)
-    这个重复了，删掉TransferProtocol: generate_transfer_protocol,
-    CleanVesselProtocol: generate_clean_vessel_protocol,                            (√)
-    DissolveProtocol: generate_dissolve_protocol,                                   (√)
-    FilterThroughProtocol: generate_filter_through_protocol,                        (√)
-    RunColumnProtocol: generate_run_column_protocol,                                (√)<RunColumn Rf="?" column="column" from_vessel="rotavap" ratio="5:95" solvent1="methanol" solvent2="chloroform" to_vessel="rotavap"/>
-
-上下文体积搜索
-3. 还没创建的protocol
-    ResetHandling                         写完了                               <ResetHandling solvent="methanol"/>
-    Dry                                  写完了                                 <Dry compound="product" vessel="filter"/>
-    AdjustPH                               写完了                                <AdjustPH pH="8.0" reagent="hydrochloric acid" vessel="main_reactor"/>
-    Recrystallize                          写完了                              <Recrystallize ratio="?" solvent1="dichloromethane" solvent2="methanol" vessel="filter" volume="?"/>
-    TakeSample                                                                  <TakeSample id="a" vessel="rotavap"/>
-    Hydrogenate                                                                 <Hydrogenate temp="45 °C" time="?" vessel="main_reactor"/>
-4. 参数对齐
-
-
-
-
-
-
-
-
-
-
-class PumpTransferProtocol(BaseModel):
-    from_vessel: str
-    to_vessel: str
-    volume: float
-    amount: str = ""
-    time: float = 0
-    viscous: bool = False
-    rinsing_solvent: str = "air"        <Transfer from_vessel="main_reactor" to_vessel="rotavap"/>
-    rinsing_volume: float = 5000        <Transfer event="A" from_vessel="reactor" rate_spec="dropwise" to_vessel="main_reactor"/>
-    rinsing_repeats: int = 2            <Transfer from_vessel="separator" through="cartridge" to_vessel="rotavap"/>
-    solid: bool = False                 测完了三个都能跑✅
-    flowrate: float = 500
-    transfer_flowrate: float = 2500
-
-class SeparateProtocol(BaseModel):
-    purpose: str
-    product_phase: str
-    from_vessel: str
-    separation_vessel: str
-    to_vessel: str
-    waste_phase_to_vessel: str
-    solvent: str
-    solvent_volume: float               <Separate product_phase="bottom" purpose="wash" solvent="water" vessel="separator" volume="?"/>
-    through: str                        <Separate product_phase="top" purpose="separate" vessel="separator"/>
-    repeats: int                        <Separate product_phase="bottom" purpose="extract" repeats="3" solvent="CH2Cl2" vessel="separator" volume="?"/>
-    stir_time: float                    <Separate product_phase="top" product_vessel="flask" purpose="separate" vessel="separator" waste_vessel="separator"/>
-    stir_speed: float
-    settling_time: float                测完了能跑✅
-
-
-class EvaporateProtocol(BaseModel):
-    vessel: str
-    pressure: float
-    temp: float                         <Evaporate solvent="ethanol" vessel="rotavap"/>
-    time: float                         测完了能跑✅
-    stir_speed: float
-
-
-class EvacuateAndRefillProtocol(BaseModel):
-    vessel: str
-    gas: str                            <EvacuateAndRefill gas="nitrogen" vessel="main_reactor"/>
-    repeats: int                        测完了能跑✅
-
-class AddProtocol(BaseModel):
-    vessel: str
-    reagent: str
-    volume: float
-    mass: float
-    amount: str
-    time: float
-    stir: bool
-    stir_speed: float                   <Add reagent="ethanol" vessel="main_reactor" volume="2.7 mL"/>
-    <Add event="A" mass="19.3 g" mol="0.28 mol" rate_spec="portionwise" reagent="sodium nitrite" time="1 h" vessel="main_reactor"/>
-    <Add mass="4.5 g" mol="16.2 mmol" reagent="(S)-2-phthalimido-6-hydroxyhexanoic acid" vessel="main_reactor"/>
-    <Add purpose="dilute" reagent="hydrochloric acid" vessel="main_reactor" volume="?"/>
-    <Add equiv="1.1" event="B" mol="25.2 mmol" rate_spec="dropwise" reagent="1-fluoro-2-nitrobenzene" time="20 min" 
-    vessel="main_reactor" volume="2.67 mL"/>
-    <Add ratio="?" reagent="tetrahydrofuran|tert-butanol" vessel="main_reactor" volume="?"/>
-    viscous: bool
-    purpose: str                        测完了能跑✅
-
-class CentrifugeProtocol(BaseModel):
-    vessel: str
-    speed: float
-    time: float                         没毛病
-    temp: float
-
-class FilterProtocol(BaseModel):
-    vessel: str
-    filtrate_vessel: str
-    stir: bool                          <Filter vessel="filter"/>
-    stir_speed: float                   <Filter filtrate_vessel="rotavap" vessel="filter"/>
-    temp: float                         测完了能跑✅
-    continue_heatchill: bool
-    volume: float
-
-class HeatChillProtocol(BaseModel):
-    vessel: str
-    temp: float
-    time: float                         <HeatChill pressure="1 mbar" temp_spec="room temperature" time="?" vessel="main_reactor"/>
-                                        <HeatChill temp_spec="room temperature" time_spec="overnight" vessel="main_reactor"/>
-                                        <HeatChill temp="256 °C" time="?" vessel="main_reactor"/>
-                                        <HeatChill reflux_solvent="methanol" temp_spec="reflux" time="2 h" vessel="main_reactor"/>
-                                        <HeatChillToTemp temp_spec="room temperature" vessel="main_reactor"/>
-    stir: bool                          测完了能跑✅
-    stir_speed: float
-    purpose: str
-
-class HeatChillStartProtocol(BaseModel):
-    vessel: str
-    temp: float                     疑似没有
-    purpose: str
-
-class HeatChillStopProtocol(BaseModel):
-    vessel: str                     疑似没有
-
-class StirProtocol(BaseModel):
-    stir_time: float
-    stir_speed: float               <Stir time="0.5 h" vessel="main_reactor"/>
-                                    <Stir event="A" time="30 min" vessel="main_reactor"/>
-                                    <Stir time_spec="several minutes" vessel="filter"/>
-    settling_time: float            测完了能跑✅
-
-class StartStirProtocol(BaseModel):
-    vessel: str
-    stir_speed: float               疑似没有
-    purpose: str
-
-class StopStirProtocol(BaseModel):
-    vessel: str                     疑似没有
-
-class TransferProtocol(BaseModel):
-    from_vessel: str
-    to_vessel: str
-    volume: float
-    amount: str = ""
-    time: float = 0
-    viscous: bool = False   
-    rinsing_solvent: str = ""
-    rinsing_volume: float = 0.0
-    rinsing_repeats: int = 0
-    solid: bool = False             这个protocol早该删掉了
-
-class CleanVesselProtocol(BaseModel):
-    vessel: str
-    solvent: str
-    volume: float
-    temp: float
-    repeats: int = 1                    <CleanVessel vessel="centrifuge"/>
-
-class DissolveProtocol(BaseModel):
-    vessel: str
-    solvent: str
-    volume: float       <Dissolve mass="2.9 g" mol="0.12 mol" reagent="magnesium" vessel="main_reactor"/>
-    amount: str = ""    <Dissolve mass="12.9 g" reagent="4-tert-butylbenzyl bromide" vessel="main_reactor"/>
-    temp: float = 25.0  <Dissolve solvent="diisopropyl ether" vessel="rotavap" volume="?"/>
-    time: float = 0.0   <Dissolve event="A" mass="?" reagent="pyridinone" vessel="main_reactor"/>
-    stir_speed: float = 0.0     测完了能跑✅
-
-class FilterThroughProtocol(BaseModel):
-    from_vessel: str
-    to_vessel: str
-    filter_through: str
-    eluting_solvent: str = ""
-    eluting_volume: float = 0.0                 疑似没有
-    eluting_repeats: int = 0
-    residence_time: float = 0.0
-
-class RunColumnProtocol(BaseModel):
-    from_vessel: str
-    to_vessel: str              <RunColumn Rf="?" column="column" from_vessel="rotavap" pct1="40 %" pct2="50 %" solvent1="ethyl acetate" solvent2="hexane" to_vessel="rotavap"/>
-    column: str                 测完了能跑✅
-
-class WashSolidProtocol(BaseModel):
-    vessel: str
-    solvent: str
-    volume: float
-    filtrate_vessel: str = ""   <WashSolid repeats="4" solvent="water" vessel="main_reactor" volume="400 mL"/>
-    temp: float = 25.0          <WashSolid filtrate_vessel="rotavap" solvent="formic acid" vessel="main_reactor" volume="?"/>
-    stir: bool = False          <WashSolid solvent="acetone" vessel="rotavap" volume="5 mL"/>
-                                <WashSolid solvent="ethyl alcohol" vessel="main_reactor" volume_spec="small volume"/>
-                                <WashSolid filtrate_vessel="rotavap" mass="10 g" solvent="toluene" vessel="separator"/>
-                                <WashSolid repeats_spec="several" solvent="water" vessel="main_reactor" volume="?"/>
-    stir_speed: float = 0.0     测完了能跑✅
-    time: float = 0.0
-    repeats: int = 1
-
-class AdjustPHProtocol(BaseModel):
-    vessel: str = Field(..., description="目标容器")
-    ph_value: float = Field(..., description="目标pH值")  # 改为 ph_value
-    reagent: str = Field(..., description="酸碱试剂名称")
-    # 移除其他可选参数，使用默认值                                                   <新写的，没问题>
-
-class ResetHandlingProtocol(BaseModel):
-    solvent: str = Field(..., description="溶剂名称")                               <新写的，没问题>
-
-class DryProtocol(BaseModel):
-    compound: str = Field(..., description="化合物名称")                            <新写的，没问题>
-    vessel: str = Field(..., description="目标容器")
-
-class RecrystallizeProtocol(BaseModel):
-    ratio: str = Field(..., description="溶剂比例（如 '1:1', '3:7'）")
-    solvent1: str = Field(..., description="第一种溶剂名称")                        <新写的，没问题>
-    solvent2: str = Field(..., description="第二种溶剂名称")
-    vessel: str = Field(..., description="目标容器")
-    volume: float = Field(..., description="总体积 (mL)")
-
-class HydrogenateProtocol(BaseModel):
-    temp: str = Field(..., description="反应温度（如 '45 °C'）")
-    time: str = Field(..., description="反应时间（如 '2 h'）")                          <新写的，没问题>
-    vessel: str = Field(..., description="反应容器")
-
-    还差
-    <dissolve>
-    <separate>
-    <CleanVessel vessel="centrifuge"/>
-
-
-单位修复：
-    evaporate
-    heatchill
-    recrysitallize
-    stir
-    wash solid
--- a/test/experiments/comprehensive_protocol/comprehensive_slim.json
+++ b/test/experiments/comprehensive_protocol/comprehensive_slim.json
--- a/test/experiments/comprehensive_protocol/comprehensive_station.json
+++ b/test/experiments/comprehensive_protocol/comprehensive_station.json
--- a/test/experiments/dispensing_station_bioyond.json
+++ b/test/experiments/dispensing_station_bioyond.json
@@ -1,60 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "dispensing_station_bioyond",
-            "name": "dispensing_station_bioyond",
-            "children": [
-                "Bioyond_Dispensing_Deck"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "dispensing_station.bioyond",
-            "config": {
-                "config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44388"
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Dispensing_Deck",
-                        "_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": {}
-        },
-        {
-            "id": "Bioyond_Dispensing_Deck",
-            "name": "Bioyond_Dispensing_Deck",
-            "sample_id": null,
-            "children": [],
-            "parent": "dispensing_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerPreparationStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerPreparationStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}
--- a/test/experiments/laiyu_liquid.json
+++ b/test/experiments/laiyu_liquid.json
@@ -1,148 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "laiyu_liquid_station",
-            "name": "LaiYu液体处理工作站",
-            "children": [
-                "module_1_8tubes",
-                "module_2_96well_deep", 
-                "module_3_beaker",
-                "module_4_96well_tips"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "laiyu_liquid",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "total_modules": 4,
-                "total_wells": 201,
-                "safety_margin": {
-                    "x": 5.0,
-                    "y": 5.0,
-                    "z": 5.0
-                },
-                "protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
-            },
-            "data": {
-                "status": "Ready",
-                "version": "1.0"
-            }
-        },
-        {
-            "id": "module_1_8tubes",
-            "name": "8管位置模块",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
-            "position": {
-                "x": 100,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "tube_rack",
-                "wells_count": 8,
-                "well_diameter": 29.0,
-                "well_depth": 117.0,
-                "well_volume": 77000.0,
-                "well_shape": "circular",
-                "layout": "2x4"
-            },
-            "data": {
-                "max_volume": 77000.0,
-                "current_volume": 0.0,
-                "wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
-            }
-        },
-        {
-            "id": "module_2_96well_deep",
-            "name": "96深孔板",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
-            "position": {
-                "x": 300,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "96_well_deep_plate",
-                "wells_count": 96,
-                "well_diameter": 8.2,
-                "well_depth": 39.4,
-                "well_volume": 2080.0,
-                "well_shape": "circular",
-                "layout": "8x12"
-            },
-            "data": {
-                "max_volume": 2080.0,
-                "current_volume": 0.0,
-                "plate_type": "deep_well"
-            }
-        },
-        {
-            "id": "module_3_beaker",
-            "name": "敞口玻璃瓶",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 500,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "beaker_holder",
-                "wells_count": 1,
-                "well_diameter": 85.0,
-                "well_depth": 120.0,
-                "well_volume": 500000.0,
-                "well_shape": "circular",
-                "supported_containers": ["250ml", "500ml", "1000ml"]
-            },
-            "data": {
-                "max_volume": 500000.0,
-                "current_volume": 0.0,
-                "container_type": "beaker",
-                "wells": ["A1"]
-            }
-        },
-        {
-            "id": "module_4_96well_tips",
-            "name": "96吸头架",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "tip_rack",
-            "position": {
-                "x": 700,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "tip_rack",
-                "wells_count": 96,
-                "well_diameter": 8.2,
-                "well_depth": 60.0,
-                "well_volume": 6000.0,
-                "well_shape": "circular",
-                "layout": "8x12",
-                "tip_type": "standard"
-            },
-            "data": {
-                "max_volume": 6000.0,
-                "current_volume": 0.0,
-                "tip_capacity": "1000μL",
-                "tips_available": 96
-            }
-        }
-    ],
-    "links": []
-}
--- a/test/experiments/mock_devices/mock_all.json
+++ b/test/experiments/mock_devices/mock_all.json
@@ -1,314 +0,0 @@
-{
-    "nodes": [
-        {  
-            "id": "MockChiller1",  
-            "name": "模拟冷却器",  
-            "children": [
-                "MockContainerForChiller1"
-            ],
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_chiller",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "current_temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "status": "Idle",  
-                "is_cooling": false,  
-                "is_heating": false,
-                "vessel": "",
-                "purpose": ""
-            }  
-        },
-        {
-            "id": "MockContainerForChiller1",
-            "name": "模拟容器",
-            "type": "container",
-            "parent": "MockChiller1",
-            "position": {
-                "x": 5,
-                "y": 0,
-                "z": 0
-            },
-            "data": {
-                "liquid_type": "CuCl2",
-                "liquid_volume": "100"
-            },
-            "children": []
-        },
-        {  
-            "id": "MockFilter1",  
-            "name": "模拟过滤器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_filter",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "is_filtering": false,  
-                "flow_rate": 0.0,
-                "filter_life": 100.0,
-                "vessel": "",
-                "filtrate_vessel": "",
-                "filtered_volume": 0.0,
-                "target_volume": 0.0,
-                "progress": 0.0,
-                "stir": false,
-                "stir_speed": 0.0,
-                "temperature": 25.0,
-                "continue_heatchill": false
-            }  
-        },
-        {  
-            "id": "MockHeater1",  
-            "name": "模拟加热器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_heater",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "current_temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "status": "Idle",  
-                "is_heating": false,  
-                "heating_power": 0.0,  
-                "max_temperature": 300.0,
-                "vessel": "Unknown",
-                "purpose": "Unknown",
-                "stir": false,
-                "stir_speed": 0.0
-            }  
-        },
-        {  
-            "id": "MockPump1",  
-            "name": "模拟泵设备",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_pump",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",
-                "current_device": "MockPump1",
-                "pump_state": "Stopped",  
-                "flow_rate": 0.0,  
-                "target_flow_rate": 0.0,  
-                "pressure": 0.0,  
-                "total_volume": 0.0,  
-                "max_flow_rate": 100.0,  
-                "max_pressure": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "transfer_volume": 0.0,
-                "amount": "",
-                "transfer_time": 0.0,
-                "is_viscous": false,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "is_solid": false,
-                "time_spent": 0.0,
-                "time_remaining": 0.0
-            }  
-        },
-        {  
-            "id": "MockRotavap1",  
-            "name": "模拟旋转蒸发器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_rotavap",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "rotate_state": "Stopped",  
-                "rotate_time": 0.0,  
-                "rotate_speed": 0.0,  
-                "pump_state": "Stopped",  
-                "pump_time": 0.0,  
-                "vacuum_level": 1013.25,  
-                "temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "success": "True"  
-            }  
-        },
-        {
-            "id": "MockSeparator1",
-            "name": "模拟分离器",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "mock_separator",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "port": "MOCK"
-            },
-            "data": {
-                "status": "Idle",
-                "settling_time": 0.0,
-                "valve_state": "Closed",
-                "shake_time": 0.0,
-                "shake_status": "Not Shaking",
-                "current_device": "MockSeparator1",
-                "purpose": "",
-                "product_phase": "",
-                "from_vessel": "",
-                "separation_vessel": "",
-                "to_vessel": "",
-                "waste_phase_to_vessel": "",
-                "solvent": "",
-                "solvent_volume": 0.0,
-                "through": "",
-                "repeats": 1,
-                "stir_time": 0.0,
-                "stir_speed": 0.0,
-                "time_spent": 0.0,
-                "time_remaining": 0.0
-            }
-        },
-        {  
-            "id": "MockSolenoidValve1",  
-            "name": "模拟电磁阀",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_solenoid_valve",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "valve_status": "Closed"  
-            }  
-        },
-        {  
-            "id": "MockStirrer1NEW",  
-            "name": "模拟搅拌器(new)",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_stirrer_new",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",
-                "vessel": "",
-                "purpose": "",
-                "stir_speed": 0.0,  
-                "target_stir_speed": 0.0,  
-                "stir_state": "Stopped",
-                "stir_time": 0.0,
-                "settling_time": 0.0,
-                "progress": 0.0,
-                "max_stir_speed": 2000.0
-            }  
-        },
-        {  
-            "id": "MockStirrer1",  
-            "name": "模拟搅拌器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_stirrer",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",   
-                "stir_speed": 0.0,  
-                "target_stir_speed": 0.0,  
-                "stir_state": "Stopped",  
-                "temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "heating_state": "Off",  
-                "heating_power": 0.0,  
-                "max_stir_speed": 2000.0,  
-                "max_temperature": 300.0  
-            }  
-        },
-        {  
-            "id": "MockVacuum1",  
-            "name": "模拟真空泵",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_vacuum",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "power_state": "Off",  
-                "pump_state": "Stopped",  
-                "vacuum_level": 1013.25,  
-                "target_vacuum": 50.0,  
-                "pump_speed": 0.0,  
-                "pump_efficiency": 95.0,  
-                "max_pump_speed": 100.0  
-            }  
-        }
-    ],
-    "links": []
-}
--- a/test/experiments/mock_devices/mock_chiller.json
+++ b/test/experiments/mock_devices/mock_chiller.json
@@ -1,30 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockChiller1",  
-            "name": "模拟冷却器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_chiller",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "current_temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "status": "Idle",  
-                "is_cooling": false,  
-                "is_heating": false,
-                "vessel": "",
-                "purpose": ""
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_filter.json
+++ b/test/experiments/mock_devices/mock_filter.json
@@ -1,36 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockFilter1",  
-            "name": "模拟过滤器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_filter",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "is_filtering": false,  
-                "flow_rate": 0.0,
-                "filter_life": 100.0,
-                "vessel": "",
-                "filtrate_vessel": "",
-                "filtered_volume": 0.0,
-                "target_volume": 0.0,
-                "progress": 0.0,
-                "stir": false,
-                "stir_speed": 0.0,
-                "temperature": 25.0,
-                "continue_heatchill": false
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_heater.json
+++ b/test/experiments/mock_devices/mock_heater.json
@@ -1,33 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockHeater1",  
-            "name": "模拟加热器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_heater",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "current_temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "status": "Idle",  
-                "is_heating": false,  
-                "heating_power": 0.0,  
-                "max_temperature": 300.0,
-                "vessel": "Unknown",
-                "purpose": "Unknown",
-                "stir": false,
-                "stir_speed": 0.0
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_pump.json
+++ b/test/experiments/mock_devices/mock_pump.json
@@ -1,44 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockPump1",  
-            "name": "模拟泵设备",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_pump",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",
-                "current_device": "MockPump1",
-                "pump_state": "Stopped",  
-                "flow_rate": 0.0,  
-                "target_flow_rate": 0.0,  
-                "pressure": 0.0,  
-                "total_volume": 0.0,  
-                "max_flow_rate": 100.0,  
-                "max_pressure": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "transfer_volume": 0.0,
-                "amount": "",
-                "transfer_time": 0.0,
-                "is_viscous": false,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "is_solid": false,
-                "time_spent": 0.0,
-                "time_remaining": 0.0
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_rotavap.json
+++ b/test/experiments/mock_devices/mock_rotavap.json
@@ -1,33 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockRotavap1",  
-            "name": "模拟旋转蒸发器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_rotavap",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "rotate_state": "Stopped",  
-                "rotate_time": 0.0,  
-                "rotate_speed": 0.0,  
-                "pump_state": "Stopped",  
-                "pump_time": 0.0,  
-                "vacuum_level": 1013.25,  
-                "temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "success": "True"  
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_separator.json
+++ b/test/experiments/mock_devices/mock_separator.json
@@ -1,43 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "MockSeparator1",
-            "name": "模拟分离器",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "mock_separator",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "port": "MOCK"
-            },
-            "data": {
-                "status": "Idle",
-                "settling_time": 0.0,
-                "valve_state": "Closed",
-                "shake_time": 0.0,
-                "shake_status": "Not Shaking",
-                "current_device": "MockSeparator1",
-                "purpose": "",
-                "product_phase": "",
-                "from_vessel": "",
-                "separation_vessel": "",
-                "to_vessel": "",
-                "waste_phase_to_vessel": "",
-                "solvent": "",
-                "solvent_volume": 0.0,
-                "through": "",
-                "repeats": 1,
-                "stir_time": 0.0,
-                "stir_speed": 0.0,
-                "time_spent": 0.0,
-                "time_remaining": 0.0
-            }
-        }
-    ],
-    "links": []
-}
--- a/test/experiments/mock_devices/mock_solenoid_valve.json
+++ b/test/experiments/mock_devices/mock_solenoid_valve.json
@@ -1,25 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockSolenoidValve1",  
-            "name": "模拟电磁阀",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_solenoid_valve",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "valve_status": "Closed"  
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_stirrer.json
+++ b/test/experiments/mock_devices/mock_stirrer.json
@@ -1,33 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockStirrer1",  
-            "name": "模拟搅拌器",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_stirrer",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",   
-                "stir_speed": 0.0,  
-                "target_stir_speed": 0.0,  
-                "stir_state": "Stopped",  
-                "temperature": 25.0,  
-                "target_temperature": 25.0,  
-                "heating_state": "Off",  
-                "heating_power": 0.0,  
-                "max_stir_speed": 2000.0,  
-                "max_temperature": 300.0  
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_stirrer_new.json
+++ b/test/experiments/mock_devices/mock_stirrer_new.json
@@ -1,33 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockStirrer1COPY",  
-            "name": "模拟搅拌器(Copy)",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_stirrer_new",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",
-                "vessel": "",
-                "purpose": "",
-                "stir_speed": 0.0,  
-                "target_stir_speed": 0.0,  
-                "stir_state": "Stopped",
-                "stir_time": 0.0,
-                "settling_time": 0.0,
-                "progress": 0.0,
-                "max_stir_speed": 2000.0
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_devices/mock_vacuum.json
+++ b/test/experiments/mock_devices/mock_vacuum.json
@@ -1,31 +0,0 @@
-{  
-    "nodes": [  
-        {  
-            "id": "MockVacuum1",  
-            "name": "模拟真空泵",  
-            "children": [],  
-            "parent": null,  
-            "type": "device",  
-            "class": "mock_vacuum",  
-            "position": {  
-                "x": 620.6111111111111,  
-                "y": 171,  
-                "z": 0  
-            },  
-            "config": {  
-                "port": "MOCK"  
-            },  
-            "data": {  
-                "status": "Idle",  
-                "power_state": "Off",  
-                "pump_state": "Stopped",  
-                "vacuum_level": 1013.25,  
-                "target_vacuum": 50.0,  
-                "pump_speed": 0.0,  
-                "pump_efficiency": 95.0,  
-                "max_pump_speed": 100.0  
-            }  
-        }  
-    ],  
-    "links": []  
-}
--- a/test/experiments/mock_protocol/addteststation.json
+++ b/test/experiments/mock_protocol/addteststation.json
@@ -1,376 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "AddTestStation",
-            "name": "添加试剂测试工作站",
-            "children": [
-                "transfer_pump",
-                "multiway_valve", 
-                "stirrer",
-                "flask_reagent1",
-                "flask_reagent2",
-                "flask_reagent3",
-                "flask_reagent4",
-                "reactor",
-                "flask_waste",
-                "flask_rinsing",
-                "flask_buffer"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump",
-            "name": "注射器泵",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "multiway_valve",
-            "name": "八通阀门",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "device",
-            "class": "virtual_multiway_valve",
-            "position": {
-                "x": 420,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "positions": 8
-            },
-            "data": {
-                "status": "Idle",
-                "current_position": 1
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "搅拌器",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 720,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_reagent1",
-            "name": "试剂瓶1 (甲醇)",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "甲醇",
-                        "volume": 800.0,
-                        "concentration": "99.9%"
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_reagent2",
-            "name": "试剂瓶2 (乙醇)",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 180,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "乙醇",
-                        "volume": 750.0,
-                        "concentration": "95%"
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_reagent3",
-            "name": "试剂瓶3 (丙酮)",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 260,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "丙酮",
-                        "volume": 900.0,
-                        "concentration": "99.5%"
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_reagent4",
-            "name": "试剂瓶4 (二氯甲烷)",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 340,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "二氯甲烷",
-                        "volume": 850.0,
-                        "concentration": "99.8%"
-                    }
-                ]
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 720,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_waste",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 3000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_rinsing",
-            "name": "冲洗液瓶",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "去离子水",
-                        "volume": 800.0,
-                        "concentration": "纯净"
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_buffer",
-            "name": "缓冲液瓶",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "磷酸盐缓冲液",
-                        "volume": 700.0,
-                        "concentration": "0.1M, pH 7.4"
-                    }
-                ]
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump",
-            "target": "multiway_valve",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "syringe-port",
-                "multiway_valve": "multiway-valve-inlet"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_reagent1",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-1",
-                "flask_reagent1": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_reagent2",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-2",
-                "flask_reagent2": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_reagent3",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-3",
-                "flask_reagent3": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_reagent4",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-4",
-                "flask_reagent4": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-5",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_waste",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-6",
-                "flask_waste": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_rinsing",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-7",
-                "flask_rinsing": "top"
-            }
-        },
-        {
-            "source": "multiway_valve",
-            "target": "flask_buffer",
-            "type": "physical",
-            "port": {
-                "multiway_valve": "multiway-valve-port-8",
-                "flask_buffer": "top"
-            }
-        },
-        {
-            "source": "stirrer",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer": "stirrer-vessel",
-                "reactor": "bottom"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/centrifugeteststation.json
+++ b/test/experiments/mock_protocol/centrifugeteststation.json
@@ -1,271 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "CentrifugeTestStation",
-            "name": "离心机测试工作站",
-            "children": [
-                "pump_add",
-                "flask_1",
-                "flask_2", 
-                "flask_3",
-                "reactor",
-                "stirrer",
-                "centrifuge_1",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "CentrifugeProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "pump_add",
-            "name": "pump_add",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "device",
-            "class": "virtual_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 25.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "stirrer",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "centrifuge_1",
-            "name": "离心机",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "device",
-            "class": "virtual_centrifuge",
-            "position": {
-                "x": 800,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_speed": 15000.0,
-                "max_temp": 40.0,
-                "min_temp": 4.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_1",
-            "name": "样品瓶1",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_2",
-            "name": "样品瓶2",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_3",
-            "name": "缓冲液瓶",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "CentrifugeTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "stirrer",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer": "top",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_1",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "flask_1": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_2",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_2": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_3",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_3": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_air": "top"
-            }
-        },
-        {
-            "source": "centrifuge_1",
-            "target": "reactor",
-            "type": "logical",
-            "port": {
-                "centrifuge_1": "chamber",
-                "reactor": "vessel"
-            }
-        },
-        {
-            "source": "centrifuge_1",
-            "target": "flask_1",
-            "type": "logical",
-            "port": {
-                "centrifuge_1": "chamber",
-                "flask_1": "vessel"
-            }
-        },
-        {
-            "source": "centrifuge_1",
-            "target": "flask_2",
-            "type": "logical",
-            "port": {
-                "centrifuge_1": "chamber",
-                "flask_2": "vessel"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/cleanvesselteststation.json
+++ b/test/experiments/mock_protocol/cleanvesselteststation.json
@@ -1,362 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "CleanVesselTestStation",
-            "name": "容器清洗测试工作站",
-            "children": [
-                "transfer_pump_cleaner",
-                "heatchill_1",
-                "flask_water",
-                "flask_ethanol",
-                "flask_acetone",
-                "flask_waste",
-                "reactor",
-                "flask_buffer",
-                "flask_sample",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["CleanVesselProtocol", "TransferProtocol", "AddProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_cleaner",
-            "name": "清洗转移泵",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_volume": 0.0,
-                "max_volume": 50.0,
-                "transfer_rate": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "progress": 0.0,
-                "transferred_volume": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热冷却器",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 150.0,
-                "min_temp": -20.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_temp": 25.0,
-                "target_temp": 25.0,
-                "vessel": "",
-                "purpose": "",
-                "progress": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "水溶剂瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "water",
-                        "volume": 1500.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇溶剂瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethanol",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮溶剂瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "acetone",
-                        "volume": 1800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_waste",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "residue",
-                        "volume": 50.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_buffer",
-            "name": "缓冲液瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "buffer",
-                        "volume": 1000.0,
-                        "concentration": 10.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "CleanVesselTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_water",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "1",
-                "flask_water": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_ethanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "2",
-                "flask_ethanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_acetone",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "3",
-                "flask_acetone": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_waste",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "4",
-                "flask_waste": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "5",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_buffer",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "6",
-                "flask_buffer": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "7",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_cleaner",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "transfer_pump_cleaner": "8",
-                "flask_air": "top"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "flask_sample": "bottom"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/dissolveteststation.json
+++ b/test/experiments/mock_protocol/dissolveteststation.json
@@ -1,343 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "DissolveTestStation",
-            "name": "溶解测试工作站",
-            "children": [
-                "transfer_pump_1",
-                "heatchill_1",
-                "stirrer_1",
-                "flask_water",
-                "flask_ethanol",
-                "flask_dmso",
-                "reactor",
-                "flask_sample",
-                "flask_buffer"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["DissolveProtocol", "TransferProtocol", "HeatChillProtocol", "StirProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_volume": 0.0,
-                "max_volume": 50.0,
-                "transfer_rate": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "progress": 0.0,
-                "transferred_volume": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热冷却器",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 150.0,
-                "min_temp": -20.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_temp": 25.0,
-                "target_temp": 25.0,
-                "vessel": "",
-                "purpose": "",
-                "progress": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "stirrer_1",
-            "name": "搅拌器",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 750.1111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "水溶剂瓶",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "water",
-                        "volume": 1500.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇溶剂瓶",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethanol",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_dmso",
-            "name": "DMSO溶剂瓶",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "dmso",
-                        "volume": 800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "solid_sample",
-                        "volume": 10.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer",
-            "name": "缓冲液瓶",
-            "children": [],
-            "parent": "DissolveTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "buffer",
-                        "volume": 1000.0,
-                        "concentration": 10.0
-                    }
-                ]
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_water",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "1",
-                "flask_water": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_ethanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "2",
-                "flask_ethanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_dmso",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "3",
-                "flask_dmso": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "4",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "5",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_buffer",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "6",
-                "flask_buffer": "top"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "flask_sample": "bottom"
-            }
-        },
-        {
-            "source": "stirrer_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer_1": "stir_rod",
-                "reactor": "center"
-            }
-        },
-        {
-            "source": "stirrer_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "stirrer_1": "stir_rod",
-                "flask_sample": "center"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/filterteststation.json
+++ b/test/experiments/mock_protocol/filterteststation.json
@@ -1,270 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "FilterTestStation",
-            "name": "过滤器测试工作站",
-            "children": [
-                "pump_add",
-                "flask_sample",
-                "flask_filtrate", 
-                "flask_buffer",
-                "reactor",
-                "stirrer",
-                "filter_1",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "FilterProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "pump_add",
-            "name": "pump_add",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "device",
-            "class": "virtual_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 25.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "stirrer",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "filter_1",
-            "name": "过滤器",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "device",
-            "class": "virtual_filter",
-            "position": {
-                "x": 800,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_filtrate",
-            "name": "滤液瓶",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer",
-            "name": "缓冲液瓶",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "FilterTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "stirrer",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer": "top",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_filtrate",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_filtrate": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_buffer",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_buffer": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_air": "top"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "reactor",
-            "type": "logical",
-            "port": {
-                "filter_1": "input",
-                "reactor": "vessel"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "flask_sample",
-            "type": "logical",
-            "port": {
-                "filter_1": "input",
-                "flask_sample": "vessel"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "flask_filtrate",
-            "type": "logical",
-            "port": {
-                "filter_1": "output",
-                "flask_filtrate": "vessel"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/filterthroughteststation.json
+++ b/test/experiments/mock_protocol/filterthroughteststation.json
@@ -1,388 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "FilterThroughTestStation",
-            "name": "过滤通过测试工作站",
-            "children": [
-                "transfer_pump_1",
-                "filter_1",
-                "flask_ethanol",
-                "flask_water",
-                "flask_methanol",
-                "reactor",
-                "collection_flask",
-                "waste_flask",
-                "flask_sample",
-                "flask_celite",
-                "flask_silica"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["FilterThroughProtocol", "TransferProtocol", "FilterProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_volume": 0.0,
-                "max_volume": 50.0,
-                "transfer_rate": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "progress": 0.0,
-                "transferred_volume": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "filter_1",
-            "name": "过滤器",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "device",
-            "class": "virtual_filter",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle",
-                "filter_state": "Ready",
-                "current_temp": 25.0,
-                "target_temp": 25.0,
-                "max_temp": 100.0,
-                "stir_speed": 0.0,
-                "max_stir_speed": 1000.0,
-                "filtered_volume": 0.0,
-                "progress": 0.0,
-                "message": ""
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇溶剂瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethanol",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "水溶剂瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "water",
-                        "volume": 1800.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇溶剂瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "methanol",
-                        "volume": 800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "crude_product",
-                        "volume": 200.0,
-                        "concentration": 80.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "collection_flask",
-            "name": "收集瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_flask",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "sample_mixture",
-                        "volume": 100.0,
-                        "concentration": 50.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_celite",
-            "name": "硅藻土容器",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 150,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "celite",
-                        "volume": 50.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_silica",
-            "name": "硅胶容器",
-            "children": [],
-            "parent": "FilterThroughTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 300,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "silica",
-                        "volume": 30.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_ethanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "1",
-                "flask_ethanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_water",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "2",
-                "flask_water": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_methanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "3",
-                "flask_methanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "4",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "collection_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "5",
-                "collection_flask": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "waste_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "6",
-                "waste_flask": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "7",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "collection_flask",
-            "type": "physical",
-            "port": {
-                "filter_1": "filter_element",
-                "collection_flask": "top"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "filter_1": "filter_element",
-                "reactor": "top"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/heatchillteststation.json
+++ b/test/experiments/mock_protocol/heatchillteststation.json
@@ -1,262 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "HeatChillTestStation",
-            "name": "加热冷却测试工作站",
-            "children": [
-                "pump_add",
-                "flask_sample",
-                "flask_buffer1", 
-                "flask_buffer2",
-                "reactor",
-                "stirrer",
-                "heatchill_1",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "pump_add",
-            "name": "pump_add",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "device",
-            "class": "virtual_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 25.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "stirrer",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热冷却器",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 800,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 200.0,
-                "min_temp": -80.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer1",
-            "name": "缓冲液瓶1",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer2",
-            "name": "缓冲液瓶2",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "HeatChillTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "stirrer",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer": "top",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_buffer1",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_buffer1": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_buffer2",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_buffer2": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_air": "top"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "reactor",
-            "type": "logical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "reactor": "vessel"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "flask_sample",
-            "type": "logical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "flask_sample": "vessel"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/runcolumnteststation.json
+++ b/test/experiments/mock_protocol/runcolumnteststation.json
@@ -1,412 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "RunColumnTestStation",
-            "name": "柱层析测试工作站",
-            "children": [
-                "transfer_pump_1",
-                "column_1",
-                "flask_sample",
-                "flask_hexane",
-                "flask_ethyl_acetate",
-                "flask_methanol",
-                "collection_flask_1",
-                "collection_flask_2",
-                "collection_flask_3",
-                "waste_flask",
-                "reactor"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["RunColumnProtocol", "TransferProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_volume": 0.0,
-                "max_volume": 50.0,
-                "transfer_rate": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "progress": 0.0,
-                "transferred_volume": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "column_1",
-            "name": "柱层析设备",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "device",
-            "class": "virtual_column",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_flow_rate": 5.0,
-                "column_length": 30.0,
-                "column_diameter": 2.5
-            },
-            "data": {
-                "status": "Idle",
-                "column_state": "Ready",
-                "current_flow_rate": 0.0,
-                "max_flow_rate": 5.0,
-                "column_length": 30.0,
-                "column_diameter": 2.5,
-                "processed_volume": 0.0,
-                "progress": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "crude_mixture",
-                        "volume": 200.0,
-                        "concentration": 70.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_hexane",
-            "name": "正己烷洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "hexane",
-                        "volume": 1500.0,
-                        "concentration": 99.8
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_ethyl_acetate",
-            "name": "乙酸乙酯洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethyl_acetate",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇洗脱剂",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "methanol",
-                        "volume": 800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "collection_flask_1",
-            "name": "收集瓶1",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 750,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_flask_2",
-            "name": "收集瓶2",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 900,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "collection_flask_3",
-            "name": "收集瓶3",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1050,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_flask",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1200,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "RunColumnTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "reaction_mixture",
-                        "volume": 300.0,
-                        "concentration": 85.0
-                    }
-                ]
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "1",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_hexane",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "2",
-                "flask_hexane": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_ethyl_acetate",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "3",
-                "flask_ethyl_acetate": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_methanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "4",
-                "flask_methanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "column_1",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "5",
-                "column_1": "inlet"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "collection_flask_1",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "6",
-                "collection_flask_1": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "collection_flask_2",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "7",
-                "collection_flask_2": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "collection_flask_3",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "8",
-                "collection_flask_3": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "waste_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "9",
-                "waste_flask": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "10",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "column_1",
-            "target": "collection_flask_1",
-            "type": "physical",
-            "port": {
-                "column_1": "outlet",
-                "collection_flask_1": "top"
-            }
-        },
-        {
-            "source": "column_1",
-            "target": "collection_flask_2",
-            "type": "physical",
-            "port": {
-                "column_1": "outlet",
-                "collection_flask_2": "top"
-            }
-        },
-        {
-            "source": "column_1",
-            "target": "collection_flask_3",
-            "type": "physical",
-            "port": {
-                "column_1": "outlet",
-                "collection_flask_3": "top"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/stirteststation.json
+++ b/test/experiments/mock_protocol/stirteststation.json
@@ -1,250 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "StirTestStation",
-            "name": "搅拌测试工作站",
-            "children": [
-                "pump_add",
-                "flask_sample",
-                "flask_buffer1", 
-                "flask_buffer2",
-                "reactor",
-                "stirrer",
-                "flask_waste",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "pump_add",
-            "name": "添加泵",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "device",
-            "class": "virtual_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 25.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "搅拌器",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer1",
-            "name": "缓冲液瓶1",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_buffer2",
-            "name": "缓冲液瓶2",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_waste",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 3000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "空气瓶",
-            "children": [],
-            "parent": "StirTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "stirrer",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer": "top",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_buffer1",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_buffer1": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_buffer2",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_buffer2": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_waste",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "flask_waste": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_air": "top"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/transferteststation.json
+++ b/test/experiments/mock_protocol/transferteststation.json
@@ -1,249 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "TransferTestStation",
-            "name": "液体转移测试工作站",
-            "children": [
-                "transfer_pump",
-                "flask_source1",
-                "flask_source2",
-                "flask_target1",
-                "flask_target2",
-                "reactor",
-                "flask_waste",
-                "flask_rinsing"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["TransferProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump",
-            "name": "转移泵",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 5.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_source1",
-            "name": "源容器1",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_source2",
-            "name": "源容器2",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_target1",
-            "name": "目标容器1",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_target2",
-            "name": "目标容器2",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_waste",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_rinsing",
-            "name": "冲洗液瓶",
-            "children": [],
-            "parent": "TransferTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 950,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump",
-            "target": "flask_source1",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "inlet",
-                "flask_source1": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "flask_source2",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "inlet",
-                "flask_source2": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "flask_target1",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "outlet",
-                "flask_target1": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "flask_target2",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "outlet",
-                "flask_target2": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "outlet",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "flask_waste",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "outlet",
-                "flask_waste": "top"
-            }
-        },
-        {
-            "source": "transfer_pump",
-            "target": "flask_rinsing",
-            "type": "physical",
-            "port": {
-                "transfer_pump": "inlet",
-                "flask_rinsing": "top"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_protocol/washsolidteststation.json
+++ b/test/experiments/mock_protocol/washsolidteststation.json
@@ -1,494 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "WashSolidTestStation",
-            "name": "固体清洗测试工作站",
-            "children": [
-                "transfer_pump_1",
-                "heatchill_1",
-                "stirrer_1",
-                "filter_1",
-                "flask_ethanol",
-                "flask_water",
-                "flask_acetone",
-                "flask_methanol",
-                "reactor",
-                "collection_flask",
-                "waste_flask",
-                "flask_sample",
-                "filtrate_flask"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["WashSolidProtocol", "TransferProtocol", "FilterProtocol", "HeatChillProtocol", "StirProtocol"]
-            },
-            "data": {}
-        },
-        {
-            "id": "transfer_pump_1",
-            "name": "转移泵",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "device",
-            "class": "virtual_transfer_pump",
-            "position": {
-                "x": 520.6111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_volume": 50.0,
-                "transfer_rate": 10.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_volume": 0.0,
-                "max_volume": 50.0,
-                "transfer_rate": 10.0,
-                "from_vessel": "",
-                "to_vessel": "",
-                "progress": 0.0,
-                "transferred_volume": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "heatchill_1",
-            "name": "加热冷却器",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 650.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 150.0,
-                "min_temp": -20.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_temp": 25.0,
-                "target_temp": 25.0,
-                "vessel": "",
-                "purpose": "",
-                "progress": 0.0,
-                "current_status": "Ready"
-            }
-        },
-        {
-            "id": "stirrer_1",
-            "name": "搅拌器",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "device",
-            "class": "virtual_stirrer",
-            "position": {
-                "x": 750.1111111111111,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "filter_1",
-            "name": "过滤器",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "device",
-            "class": "virtual_filter",
-            "position": {
-                "x": 850.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "VIRTUAL",
-                "max_temp": 100.0,
-                "max_stir_speed": 1000.0
-            },
-            "data": {
-                "status": "Idle",
-                "filter_state": "Ready",
-                "current_temp": 25.0,
-                "target_temp": 25.0,
-                "max_temp": 100.0,
-                "stir_speed": 0.0,
-                "max_stir_speed": 1000.0,
-                "filtered_volume": 0.0,
-                "progress": 0.0,
-                "message": ""
-            }
-        },
-        {
-            "id": "flask_ethanol",
-            "name": "乙醇清洗剂",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 100,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "ethanol",
-                        "volume": 1500.0,
-                        "concentration": 99.5
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_water",
-            "name": "水清洗剂",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 250,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "water",
-                        "volume": 1800.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "丙酮清洗剂",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 400,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "acetone",
-                        "volume": 800.0,
-                        "concentration": 99.8
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_methanol",
-            "name": "甲醇清洗剂",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 550,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "methanol",
-                        "volume": 800.0,
-                        "concentration": 99.9
-                    }
-                ]
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "反应器",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "solid_product",
-                        "volume": 50.0,
-                        "concentration": 100.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "collection_flask",
-            "name": "收集瓶",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 850,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "waste_flask",
-            "name": "废液瓶",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_sample",
-            "name": "样品瓶",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1150,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 500.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "name": "crude_solid",
-                        "volume": 30.0,
-                        "concentration": 80.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "filtrate_flask",
-            "name": "滤液收集瓶",
-            "children": [],
-            "parent": "WashSolidTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1000,
-                "y": 300,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 1500.0
-            },
-            "data": {
-                "liquid": []
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_ethanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "1",
-                "flask_ethanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_water",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "2",
-                "flask_water": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_acetone",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "3",
-                "flask_acetone": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_methanol",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "4",
-                "flask_methanol": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "5",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "collection_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "6",
-                "collection_flask": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "waste_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "7",
-                "waste_flask": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "8",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "transfer_pump_1",
-            "target": "filtrate_flask",
-            "type": "physical",
-            "port": {
-                "transfer_pump_1": "9",
-                "filtrate_flask": "top"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "heatchill_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "heatchill_1": "heating_element",
-                "flask_sample": "bottom"
-            }
-        },
-        {
-            "source": "stirrer_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "stirrer_1": "stir_rod",
-                "reactor": "center"
-            }
-        },
-        {
-            "source": "stirrer_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "stirrer_1": "stir_rod",
-                "flask_sample": "center"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "filter_1": "filter_element",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "flask_sample",
-            "type": "physical",
-            "port": {
-                "filter_1": "filter_element",
-                "flask_sample": "top"
-            }
-        },
-        {
-            "source": "filter_1",
-            "target": "filtrate_flask",
-            "type": "physical",
-            "port": {
-                "filter_1": "filter_element",
-                "filtrate_flask": "top"
-            }
-        }
-    ]
-}
--- a/test/experiments/mock_reactor.json
+++ b/test/experiments/mock_reactor.json
@@ -14,8 +14,8 @@
            "type": "device",
            "class": "workstation",
            "position": {
-                "x": 0,
-                "y": 0,
+                "x": 620.6111111111111,
+                "y": 171,
                "z": 0
            },
            "config": {
@@ -30,17 +30,14 @@
            "children": [],
            "parent": "ReactorX",
            "type": "container",
-            "class": "container",
+            "class": null,
            "position": {
                "x": 698.1111111111111,
                "y": 428,
                "z": 0
            },
            "config": {
-                "max_volume": 5000.0,
-                "size_x": 200.0,
-                "size_y": 200.0,
-                "size_z": 200.0
+                "max_volume": 5000.0
            },
            "data": {
                "liquid": [
@@ -74,7 +71,7 @@
            "type": "device",
            "class": "solenoid_valve.mock",
            "position": {
-                "x": 780,
+                "x": 620.6111111111111,
                "y": 171,
                "z": 0
            },
@@ -92,7 +89,7 @@
            "type": "device",
            "class": "vacuum_pump.mock",
            "position": {
-                "x": 500,
+                "x": 620.6111111111111,
                "y": 171,
                "z": 0
            },
@@ -110,7 +107,7 @@
            "type": "device",
            "class": "gas_source.mock",
            "position": {
-                "x": 900,
+                "x": 620.6111111111111,
                "y": 171,
                "z": 0
            },
@@ -122,39 +119,39 @@
    ],
    "links": [
        {
-            "source": "vacuum_valve",
-            "target": "reactor",
-            "type": "fluid",
+            "source": "reactor",
+            "target": "vacuum_valve",
+            "type": "physical",
            "port": {
                "reactor": "top",
-                "vacuum_valve": "out"
+                "vacuum_valve": "1"
            }
        },
        {
-            "source": "gas_valve",
-            "target": "reactor",
-            "type": "fluid",
+            "source": "reactor",
+            "target": "gas_valve",
+            "type": "physical",
            "port": {
                "reactor": "top",
-                "gas_valve": "out"
+                "gas_valve": "1"
            }
        },
        {
            "source": "vacuum_pump",
            "target": "vacuum_valve",
-            "type": "fluid",
+            "type": "physical",
            "port": {
                "vacuum_pump": "out",
-                "vacuum_valve": "in"
+                "vacuum_valve": "0"
            }
        },
        {
            "source": "gas_source",
            "target": "gas_valve",
-            "type": "fluid",
+            "type": "physical",
            "port": {
                "gas_source": "out",
-                "gas_valve": "in"
+                "gas_valve": "0"
            }
        }
    ]
--- a/test/experiments/plr_test_converted.json
+++ b/test/experiments/plr_test_converted.json
--- a/test/experiments/plr_test_converted_slim.json
+++ b/test/experiments/plr_test_converted_slim.json
--- a/test/experiments/prcxi_9300.json
+++ b/test/experiments/prcxi_9300.json
--- a/test/experiments/prcxi_9320.json
+++ b/test/experiments/prcxi_9320.json
--- a/test/experiments/prcxi_9320_visual.json
+++ b/test/experiments/prcxi_9320_visual.json
--- a/test/experiments/reaction_station_bioyond.json
+++ b/test/experiments/reaction_station_bioyond.json
@@ -1,69 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "reaction_station_bioyond",
-            "name": "reaction_station_bioyond",
-            "parent": null,
-            "children": [
-                "Bioyond_Deck"
-            ],
-            "type": "device",
-            "class": "reaction_station.bioyond",
-            "config": {
-                "bioyond_config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44402",
-                    "workflow_mappings": {
-                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-                        "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",
-                        "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"
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
-                    }
-                },
-                "protocol_type": []
-            },
-            "data": {}
-        },
-        {
-            "id": "Bioyond_Deck",
-            "name": "Bioyond_Deck",
-            "sample_id": null,
-            "children": [
-            ],
-            "parent": "reaction_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerReactionStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerReactionStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Junhan Chang	4b30b8021f	fix: remove dirty actions	2025-05-28 23:23:57 +08:00
Xuwznln	344e91bce3	修复port输入	2025-05-28 16:09:24 +08:00
Xuwznln	7b8638aa03	Merge branch 'main' into 24-high-level-liquidhandler	2025-05-19 17:24:13 +08:00
Xuwznln	1ca7d4912b	Merge branch 'main' into 24-high-level-liquidhandler	2025-05-16 19:44:53 +08:00
wznln	c04202c6e0	complete require packages msg converter support array string implements create resource logic	2025-05-15 02:47:45 +08:00
wznln	93c40e236f	fix registry typo	2025-05-15 01:14:57 +08:00
wznln	460f7dd322	fix slot_on_deck	2025-05-15 00:16:03 +08:00
wznln	e5d977e884	fix device_id	2025-05-15 00:03:28 +08:00
wznln	02425f89e9	add missing action clients	2025-05-14 23:57:37 +08:00
wznln	139fc2158c	remove wrongly debug msg from others	2025-05-14 23:53:13 +08:00
wznln	32b50c2680	remove wrongly debug msg from others	2025-05-14 23:52:26 +08:00
wznln	9d2d70c804	easy resource creation logic	2025-05-14 23:52:01 +08:00
wznln	6eac72ed27	add easy resource creation	2025-05-14 23:30:17 +08:00
wznln	9b4daf8e82	resource create from outer easy	2025-05-14 23:19:32 +08:00
wznln	6795b49e6d	change liquidhandler name	2025-05-14 22:39:40 +08:00
wznln	1461e61648	remove default behavior for visualization	2025-05-14 22:37:42 +08:00
Xuwznln	4355135c80	Dev Sync (#25 ) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>	2025-05-14 22:36:41 +08:00
Junhan Chang	63c6fe8427	remove default values	2025-05-14 22:29:07 +08:00
Junhan Chang	83c765f0ab	unify liquid_handler definition	2025-05-14 22:14:14 +08:00