Add Device Mock \_init_.py

Add Device MockSolenoidValve
Add Device MockVacuum
2026-02-10 09:45:11 +00:00 · 2025-06-05 15:37:24 +08:00 · 2025-06-05 15:36:53 +08:00 · 2025-06-05 15:12:35 +08:00 · 2025-06-05 14:08:30 +08:00 · 2025-06-05 13:47:10 +08:00
182 changed files with 20016 additions and 484 deletions
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,35 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is. The bug may results in:
+        - abnormal interruption of the program,
+        - systematic or randomized numerical error, or
+        - relatively low efficiency.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Browser [e.g. chrome, safari]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.
--- a/.github/ISSUE_TEMPLATE/feature_request.md
+++ b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
--- a/.gitignore
+++ b/.gitignore
@@ -6,6 +6,7 @@ __pycache__/
 .vscode
 *.py[cod]
 *$py.class
+service

 # C extensions
 *.so
@@ -229,6 +230,6 @@ CATKIN_IGNORE

 .DS_Store

-local_config.py
+/**/local_config.py

 *.graphml
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -0,0 +1,3 @@
+recursive-include unilabos/registry *.yaml
+recursive-include unilabos/app/web *.html
+recursive-include unilabos/app/web *.css
--- a/README.md
+++ b/README.md
@@ -1 +1,89 @@
-# Uni-Lab-OS
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# 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 Operating System is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+
+## Key Features
+
+- Multi-device integration management
+- Automated experimental workflows
+- Cloud connectivity capabilities
+- Flexible configuration system
+- Support for multiple experimental protocols
+
+## Documentation
+
+Detailed documentation can be found at:
+
+- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## Quick Start
+
+1. Configure Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+
+```bash
+# Create new environment
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+
+# Currently, you need to install the `unilabos_msgs` package
+# You can download the system-specific package from the Release page
+conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+
+# Install PyLabRobot and other prerequisites
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
+```
+
+2. Install Uni-Lab-OS:
+
+```bash
+# Clone the repository
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
+```
+
+3. Start Uni-Lab System:
+
+Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## Message Format
+
+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.
+
+## License
+
+This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+
+## Project Statistics
+
+### Stars Trend
+
+<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
+
+- 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
@@ -0,0 +1,89 @@
+<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 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。
+
+## 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://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## 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 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-0.9.1-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
+```
+
+2. 安装 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://readthedocs.dp.tech/Uni-Lab/v0.8.0/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/logo.png
+++ b/docs/logo.png
--- a/docs/user_guide/configuration.md
+++ b/docs/user_guide/configuration.md
@@ -18,7 +18,7 @@ Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵
 from dataclasses import dataclass

 # 配置类定义
-@dataclass
+
 class MQConfig:
    """MQTT 配置类"""
    lab_id: str = "YOUR_LAB_ID"
@@ -34,7 +34,7 @@ class 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
-@dataclass
+
 class MQConfig:
    """MQTT 配置类"""
    lab_id: str = "7AAEDBEA"  # 实验室唯一标识
@@ -46,9 +46,9 @@ class MQConfig:
    port: int = 8883
    
    # 可以直接提供证书文件路径
-    ca_file: str = "/path/to/ca.pem"
-    cert_file: str = "/path/to/cert.pem"
-    key_file: str = "/path/to/key.pem"
+    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 = ""
@@ -74,22 +74,18 @@ MQTT连接支持两种方式配置证书：
 配置ROS消息转换器需要加载的模块：

 ```python
-@dataclass
+
 class ROSConfig:
    """ROS模块配置"""
-    modules: list = None
-    
-    def __post_init__(self):
-        if self.modules is None:
-            self.modules = [
-                "std_msgs.msg",
-                "geometry_msgs.msg",
-                "control_msgs.msg",
-                "control_msgs.action",
-                "nav2_msgs.action",
-                "unilabos_msgs.msg",
-                "unilabos_msgs.action",
-            ]
+    modules = [
+        "std_msgs.msg",
+        "geometry_msgs.msg",
+        "control_msgs.msg",
+        "control_msgs.action",
+        "nav2_msgs.action",
+        "unilabos_msgs.msg",
+        "unilabos_msgs.action",
+    ]
 ```

 您可以根据需要添加其他ROS模块。
@@ -106,14 +102,7 @@ class ROSConfig:
 unilab --config path/to/your/config.py
 ```

-## 环境变量覆盖
-
-某些配置项可以通过环境变量进行覆盖，这在不同环境部署时特别有用：
-
-```bash
-# 设置环境变量覆盖配置
-export UNILAB_LAB_ID="YOUR_LAB_ID"
-export UNILAB_MQTT_BROKER="mqtt-broker-address"
+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

 # 启动Uni-Lab
 python -m unilabos.app.main --config path/to/your/config.py
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -6,7 +6,7 @@

 ```shell
 mamba env create -f unilabos-<YOUR_OS>.yaml
-mamba activate ilab
+mamba activate unilab
 ```

 其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.8.0
+  version: 0.9.1
 source:
  path: ../../unilabos_msgs
  folder: ros-humble-unilabos-msgs/src/work
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.8.0"
+  version: "0.9.1"

 source:
  path: ../..
--- a/setup.py
+++ b/setup.py
@@ -1,28 +1,18 @@
 from setuptools import setup, find_packages
-from glob import glob
-import os

 package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.8.0',
+    version='0.9.1',
    packages=find_packages(),
-    # data_files=[
-    #     ('share/ament_index/resource_index/packages',
-    #         ['resource/' + package_name]),
-    #     ('share/' + package_name, ['package.xml']),
-    #     # (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
-    #     # (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
-    #     # (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
-    #     # (os.path.join('share', package_name, 'config'), glob('config/*'))
-    # ],
+    include_package_data=True,
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='Junhan Chang',
    maintainer_email='changjh@pku.edu.cn',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='',
+    license='GPL v3',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
--- a/test/commands/resource_add.md
+++ b/test/commands/resource_add.md
@@ -0,0 +1,5 @@
+使用plr_test.json启动，将Well加入Plate中
+
+```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: [ '{}' ] }"
+```
--- a/test/experiments/HPLC.json
+++ b/test/experiments/HPLC.json
@@ -5,7 +5,7 @@
            "name": "HPLC",
            "parent": null,
            "type": "device",
-            "class": "hplc",
+            "class": "hplc.agilent",
            "position": {
                "x": 620.6111111111111,
                "y": 171,
@@ -19,8 +19,8 @@
        },
        {
            "id": "BottlesRack3",
-            "name": "Revvity上样盘3",
-            "parent": "Revvity",
+            "name": "上样盘3",
+            "parent": "HPLC",
            "type": "plate",
            "class": null,
            "position": {
--- a/test/experiments/MockChiller.json
+++ b/test/experiments/MockChiller.json
@@ -0,0 +1,29 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockChiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "power_on": false,  
+                "is_cooling": false,  
+                "is_heating": false  
+            }  
+        }  
+    ],  
+    "links": []  
+}
--- a/test/experiments/MockFilter.json
+++ b/test/experiments/MockFilter.json
@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockFilter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "filter_efficiency": 95.0,  
+                "flow_rate": 0.0,  
+                "pressure_drop": 0.0,  
+                "filter_life": 100.0,  
+                "power_on": false  
+            }  
+        }  
+    ],  
+    "links": []  
+}
--- a/test/experiments/MockHeater.json
+++ b/test/experiments/MockHeater.json
@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockHeater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "power_on": false,  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}
--- a/test/experiments/MockPump.json
+++ b/test/experiments/MockPump.json
@@ -0,0 +1,33 @@
+{  
+    "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",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "direction": "Forward",  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}
--- a/test/experiments/MockRotavap.json
+++ b/test/experiments/MockRotavap.json
@@ -0,0 +1,34 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockRotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "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/MockSeperator.json
+++ b/test/experiments/MockSeperator.json
@@ -0,0 +1,29 @@
+{
+    "nodes": [
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "MockSeparator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "power_state": "Off",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking"
+            }
+        }
+    ],
+    "links": []
+}
--- a/test/experiments/MockSolenoidValve.json
+++ b/test/experiments/MockSolenoidValve.json
@@ -0,0 +1,25 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockSolenoidValve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        }  
+    ],  
+    "links": []  
+}
--- a/test/experiments/MockStirrer.json
+++ b/test/experiments/MockStirrer.json
@@ -0,0 +1,34 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockStirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "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/MockVacuum.json
+++ b/test/experiments/MockVacuum.json
@@ -0,0 +1,31 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "MockVacuum",  
+            "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/plr_test.json
+++ b/test/experiments/plr_test.json
@@ -6679,8 +6679,7 @@
                "plate_well_11_3",
                "plate_well_11_4",
                "plate_well_11_5",
-                "plate_well_11_6",
-                "plate_well_11_7"
+                "plate_well_11_6"
            ],
            "parent": "deck",
            "type": "device",
@@ -10508,45 +10507,6 @@
                "pending_liquids": [],
                "liquid_history": []
            }
-        },
-        {
-            "id": "plate_well_11_7",
-            "name": "plate_well_11_7",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 109.87,
-                "y": 7.77,
-                "z": 3.03
-            },
-            "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": []
-            }
        }
    ],
    "links": []
--- a/test/experiments/plr_test_converted.json
+++ b/test/experiments/plr_test_converted.json
--- a/test/experiments/test.json
+++ b/test/experiments/test.json
@@ -4,13 +4,14 @@
            "id": "Gripper1",
            "name": "假夹爪",
            "children": [
+                "Plate1"
            ],
            "parent": null,
            "type": "device",
            "class": "gripper.mock",
            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
+                "x": 0,
+                "y": 0,
                "z": 0
            },
            "config": {
@@ -23,18 +24,120 @@
            "name": "Plate1",
            "children": [
            ],
-            "parent": null,
+            "parent": "Gripper1",
            "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
+            "class": "nest_96_wellplate_100ul_pcr_full_skirt",
            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
+                "x": 0,
+                "y": 0,
+                "z": 69
            },
            "config": {
            },
            "data": {
            }
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
        }
    ],
    "links": [
--- a/test/experiments/test_copy.json
+++ b/test/experiments/test_copy.json
@@ -0,0 +1,135 @@
+{
+    "nodes": [
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "data": {
+                    "children": [
+                        {
+                            "_resource_child_name": "deck",
+                            "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
+                        }
+                    ],
+                    "backend": {
+                        "type": "LiquidHandlerRvizBackend"
+                    }
+                }
+            },
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier"
+            ],
+            "parent": "PLR_STATION",
+            "type": "deck",
+            "class": "OTDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "OTDeck",
+                "with_trash": false,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+
+        {
+            "id": "teaching_carrier",
+            "name": "teaching_carrier",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier_A1"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "opentrons_96_filtertiprack_1000ul",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 69
+            },
+            "config": {
+                "type": "Resource",
+                "size_x": 127,
+                "size_y": 85,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": null,
+                "model": null
+            },
+            "data": {}
+        },
+        {
+            "id": "teaching_carrier_A1",
+            "name": "teaching_carrier_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "teaching_carrier",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.87,
+                "y": 70.77,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 6.86,
+                "size_y": 6.86,
+                "size_z": 10.67,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}
--- a/unilabos-linux-64.yaml
+++ b/unilabos-linux-64.yaml
@@ -56,6 +56,10 @@ dependencies:
  - ros-humble-moveit-servo
  # simulation
  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
  # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
--- a/unilabos-osx-64.yaml
+++ b/unilabos-osx-64.yaml
@@ -56,6 +56,10 @@ dependencies:
  # - ros-humble-moveit-servo
  # simulation
  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
  # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
--- a/unilabos-osx-arm64.yaml
+++ b/unilabos-osx-arm64.yaml
@@ -58,6 +58,10 @@ dependencies:
  - ros-humble-moveit-servo
  # simulation
  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
  # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
--- a/unilabos-win64.yaml
+++ b/unilabos-win64.yaml
@@ -56,6 +56,10 @@ dependencies:
  - ros-humble-moveit-servo
  # simulation
  - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
+  - ros-humble-tf-transformations
+  - transforms3d
  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
  # ilab equipments
-#  - ros-humble-unilabos-msgs
+  # ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
--- a/unilabos/app/backend.py
+++ b/unilabos/app/backend.py
@@ -7,11 +7,13 @@ from unilabos.utils import logger
 def start_backend(
    backend: str,
    devices_config: dict = {},
-    resources_config: dict = {},
+    resources_config: list = [],
    graph=None,
    controllers_config: dict = {},
    bridges=[],
    without_host: bool = False,
+    visual: str = "None",
+    resources_mesh_config: dict = {},
    **kwargs
 ):
    if backend == "ros":
@@ -29,7 +31,9 @@ def start_backend(
    
    backend_thread = threading.Thread(
        target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        name="backend_thread",
+        daemon=True,
    )
    backend_thread.start()
    logger.info(f"Backend {backend} started.")
--- a/unilabos/app/controler.py
+++ b/unilabos/app/controler.py
@@ -29,6 +29,8 @@ def job_add(req: JobAddReq) -> JobData:
    req.data['action'] = action_name
    if action_name == "execute_command_from_outer":
        action_kwargs = {"command": json.dumps(action_kwargs)}
-    print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
+    elif "command" in action_kwargs:
+        action_kwargs = action_kwargs["command"]
+    # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
+    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id, server_info=req.server_info)
    return JobData(jobId=req.job_id)
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -1,18 +1,22 @@
 import argparse
+import asyncio
+import json
 import os
 import signal
 import sys
-import json
-import yaml
+import threading
+import time
 from copy import deepcopy

+import yaml
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
-ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
-if ilabos_dir not in sys.path:
-    sys.path.append(ilabos_dir)
+unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
+if unilabos_dir not in sys.path:
+    sys.path.append(unilabos_dir)

-from unilabos.config.config import load_config, BasicConfig
+from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner


@@ -58,7 +62,28 @@ def parse_args():
        default=None,
        help="配置文件路径，支持.py格式的Python配置文件",
    )
-
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=8002,
+        help="信息页web服务的启动端口",
+    )
+    parser.add_argument(
+        "--disable_browser",
+        action='store_true',
+        help="是否在启动时关闭信息页",
+    )
+    parser.add_argument(
+        "--2d_vis",
+        action='store_true',
+        help="是否在pylabrobot实例启动时，同时启动可视化",
+    )
+    parser.add_argument(
+        "--visual",
+        choices=["rviz", "web", "disable"],
+        default="disable",
+        help="选择可视化工具: rviz, web",
+    )
    return parser.parse_args()


@@ -68,19 +93,28 @@ def main():
    args = parse_args()
    args_dict = vars(args)

-    # 加载配置文件 - 这里保持最先加载配置的逻辑
-    if args_dict.get("config"):
-        config_path = args_dict["config"]
+    # 加载配置文件，优先加载config，然后从env读取
+    config_path = args_dict.get("config")
+    if config_path is None:
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
+    if config_path:
        if not os.path.exists(config_path):
            print_status(f"配置文件 {config_path} 不存在", "error")
        elif not config_path.endswith(".py"):
            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
        else:
            load_config(config_path)
+    else:
+        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
+        load_config(config_path)

    # 设置BasicConfig参数
    BasicConfig.is_host_mode = not args_dict.get("without_host", False)
    BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    machine_name = os.popen("hostname").read().strip()
+    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
+    BasicConfig.machine_name = machine_name
+    BasicConfig.vis_2d_enable = args_dict["2d_vis"]

    from unilabos.resources.graphio import (
        read_node_link_json,
@@ -92,8 +126,8 @@ def main():
    from unilabos.app.mq import mqtt_client
    from unilabos.registry.registry import build_registry
    from unilabos.app.backend import start_backend
-    from unilabos.web import http_client
-    from unilabos.web import start_server
+    from unilabos.app.web import http_client
+    from unilabos.app.web import start_server

    # 显示启动横幅
    print_unilab_banner(args_dict)
@@ -101,6 +135,7 @@ def main():
    # 注册表
    build_registry(args_dict["registry_path"])

+    devices_and_resources = None
    if args_dict["graph"] is not None:
        import unilabos.resources.graphio as graph_res
        graph_res.physical_setup_graph = (
@@ -112,6 +147,7 @@ def main():
        args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
        # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
+
        args_dict["graph"] = graph_res.physical_setup_graph
    else:
        if args_dict["devices"] is None or args_dict["resources"] is None:
@@ -146,9 +182,29 @@ def main():
        signal.signal(signal.SIGINT, _exit)
        signal.signal(signal.SIGTERM, _exit)
        mqtt_client.start()
-
-    start_backend(**args_dict)
-    start_server()
+    args_dict["resources_mesh_config"] = {}
+    # web visiualize 2D
+    if args_dict["visual"] != "disable":
+        enable_rviz = args_dict["visual"] == "rviz"
+        if devices_and_resources is not None:
+            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
+            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+            args_dict["resources_mesh_config"] = resource_visualization.resource_model
+            start_backend(**args_dict)
+            server_thread = threading.Thread(target=start_server, kwargs=dict(
+                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
+            ))
+            server_thread.start()
+            asyncio.set_event_loop(asyncio.new_event_loop())
+            resource_visualization.start()
+            while True:
+                time.sleep(1)
+        else:
+            start_backend(**args_dict)
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
+    else:
+        start_backend(**args_dict)
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)


 if __name__ == "__main__":
--- a/unilabos/app/model.py
+++ b/unilabos/app/model.py
@@ -51,8 +51,9 @@ class Resp(BaseModel):
 class JobAddReq(BaseModel):
    device_id: str = Field(examples=["Gripper"], description="device id")
    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
-    job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
-    node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
+    job_id: str = Field(examples=["job_id"], description="goal uuid")
+    node_id: str = Field(examples=["node_id"], description="node uuid")
+    server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")


 class JobStepFinishReq(BaseModel):
--- a/unilabos/app/mq.py
+++ b/unilabos/app/mq.py
@@ -1,19 +1,24 @@
 import json
 import time
+import traceback
 import uuid

 import paho.mqtt.client as mqtt
-import ssl, base64, hmac
+import ssl
+import base64
+import hmac
 from hashlib import sha1
 import tempfile
 import os

 from unilabos.config.config import MQConfig
-from unilabos.app.controler import devices, job_add
-from unilabos.app.model import JobAddReq, JobAddResp
+from unilabos.app.controler import job_add
+from unilabos.app.model import JobAddReq
 from unilabos.utils import logger
 from unilabos.utils.type_check import TypeEncoder

+from paho.mqtt.enums import CallbackAPIVersion
+

 class MQTTClient:
    mqtt_disable = True
@@ -21,7 +26,8 @@ class MQTTClient:
    def __init__(self):
        self.mqtt_disable = not MQConfig.lab_id
        self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
-        self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
+        logger.info("[MQTT] Client_id: " + self.client_id)
+        self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
        self._setup_callbacks()

    def _setup_callbacks(self):
@@ -31,34 +37,45 @@ class MQTTClient:
        self.client.on_disconnect = self._on_disconnect

    def _on_log(self, client, userdata, level, buf):
-        logger.info(f"[MQTT] log: {buf}")
+        # logger.info(f"[MQTT] log: {buf}")
+        pass

    def _on_connect(self, client, userdata, flags, rc, properties=None):
        logger.info("[MQTT] Connected with result code " + str(rc))
        client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
-        isok, data = devices()
-        if not isok:
-            logger.error("[MQTT] on_connect ErrorHostNotInit")
-            return
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)

-    def _on_message(self, client, userdata, msg):
-        logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+    def _on_message(self, client, userdata, msg) -> None:
+        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
        try:
            payload_str = msg.payload.decode("utf-8")
            payload_json = json.loads(payload_str)
-            logger.debug(f"Topic: {msg.topic}")
-            logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
            if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                logger.debug("job_add", type(payload_json), payload_json)
+                if "data" not in payload_json:
+                    payload_json["data"] = {}
+                if "action" in payload_json:
+                    payload_json["data"]["action"] = payload_json.pop("action")
+                if "action_kwargs" in payload_json:
+                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
                job_req = JobAddReq.model_validate(payload_json)
                data = job_add(job_req)
-                return JobAddResp(data=data)
+                return
+            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
+                # 处理pong响应，通知HostNode
+                from unilabos.ros.nodes.presets.host_node import HostNode
+
+                host_instance = HostNode.get_instance(0)
+                if host_instance:
+                    host_instance.handle_pong_response(payload_json)
+                return

        except json.JSONDecodeError as e:
            logger.error(f"[MQTT] JSON 解析错误: {e}")
            logger.error(f"[MQTT] Raw message: {msg.payload}")
+            logger.error(traceback.format_exc())
        except Exception as e:
            logger.error(f"[MQTT] 处理消息时出错: {e}")
+            logger.error(traceback.format_exc())

    def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
        if rc != 0:
@@ -87,7 +104,7 @@ class MQTTClient:
            for temp_file in temp_files:
                try:
                    os.unlink(temp_file)
-                except:
+                except Exception as e:
                    pass

    def start(self):
@@ -142,7 +159,7 @@ class MQTTClient:
        if self.mqtt_disable:
            return
        status = {"data": device_status.get(device_id, {}), "device_id": device_id}
-        address = f"labs/{MQConfig.lab_id}/devices"
+        address = f"labs/{MQConfig.lab_id}/devices/"
        self.client.publish(address, json.dumps(status), qos=2)
        logger.critical(f"Device status published: address: {address}, {status}")

@@ -151,12 +168,12 @@ class MQTTClient:
            return
        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
        self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
-    
+
    def publish_registry(self, device_id: str, device_info: dict):
        if self.mqtt_disable:
            return
        address = f"labs/{MQConfig.lab_id}/registry/"
-        registry_data = json.dumps({device_id: device_info}, ensure_ascii = False, cls = TypeEncoder)
+        registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
        self.client.publish(address, registry_data, qos=2)
        logger.debug(f"Registry data published: address: {address}, {registry_data}")

@@ -164,11 +181,30 @@ class MQTTClient:
        if self.mqtt_disable:
            return
        address = f"labs/{MQConfig.lab_id}/actions/"
-        action_type_name = action_info["title"]
-        action_info["title"] = action_id
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
-        self.client.publish(address, action_data, qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_data}")
+        self.client.publish(address, json.dumps(action_info), qos=2)
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
+
+    def send_ping(self, ping_id: str, timestamp: float):
+        """发送ping消息到服务端"""
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/ping/"
+        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
+        self.client.publish(address, json.dumps(ping_data), qos=2)
+
+    def setup_pong_subscription(self):
+        """设置pong消息订阅"""
+        if self.mqtt_disable:
+            return
+        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
+        self.client.subscribe(pong_topic, 0)
+        logger.debug(f"Subscribed to pong topic: {pong_topic}")
+
+    def handle_pong(self, pong_data: dict):
+        """处理pong响应（这个方法会在收到pong消息时被调用）"""
+        logger.debug(f"Pong received: {pong_data}")
+        # 这里会被HostNode的ping-pong处理逻辑调用
+        pass


 mqtt_client = MQTTClient()
--- a/unilabos/app/web/init.py
+++ b/unilabos/app/web/init.py
@@ -4,10 +4,10 @@ Web UI 模块
 提供了UniLab系统的Web界面功能
 """

-from unilabos.web.pages import setup_web_pages
-from unilabos.web.server import setup_server, start_server
-from unilabos.web.client import http_client
-from unilabos.web.api import setup_api_routes
+from unilabos.app.web.pages import setup_web_pages
+from unilabos.app.web.server import setup_server, start_server
+from unilabos.app.web.client import http_client
+from unilabos.app.web.api import setup_api_routes

 __all__ = [
    "setup_web_pages",  # 设置Web页面
--- a/unilabos/app/web/api.py
+++ b/unilabos/app/web/api.py
@@ -18,7 +18,7 @@ from unilabos.app.model import (
    JobPreintakeFinishReq,
    JobFinishReq,
 )
-from unilabos.web.utils.host_utils import get_host_node_info
+from unilabos.app.web.utils.host_utils import get_host_node_info

 # 创建API路由器
 api = APIRouter()
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -9,6 +9,7 @@ from typing import List, Dict, Any, Optional
 import requests
 from unilabos.utils.log import info
 from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.utils import logger


 class HTTPClient:
@@ -102,6 +103,30 @@ class HTTPClient:
        )
        return response

+    def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
+        """
+        上传文件到服务器
+
+        使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
+
+        Args:
+            file_path: 要上传的文件路径
+            scene: 上传场景，可选值为"user"或"models"，默认为"models"
+
+        Returns:
+            Response: API响应对象
+        """
+        with open(file_path, "rb") as file:
+            files = {"files": file}
+            logger.info(f"上传文件: {file_path} 到 {scene}")
+            response = requests.post(
+                f"{self.remote_addr}/api/account/file_upload/{scene}",
+                files=files,
+                headers={"Authorization": f"lab {self.auth}"},
+                timeout=30,  # 上传文件可能需要更长的超时时间
+            )
+        return response
+

 # 创建默认客户端实例
 http_client = HTTPClient()
--- a/unilabos/app/web/pages.py
+++ b/unilabos/app/web/pages.py
@@ -20,9 +20,9 @@ from unilabos.app.mq import mqtt_client
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.utils.log import error
 from unilabos.utils.type_check import TypeEncoder
-from unilabos.web.utils.device_utils import get_registry_info
-from unilabos.web.utils.host_utils import get_host_node_info
-from unilabos.web.utils.ros_utils import get_ros_node_info, update_ros_node_info
+from unilabos.app.web.utils.device_utils import get_registry_info
+from unilabos.app.web.utils.host_utils import get_host_node_info
+from unilabos.app.web.utils.ros_utils import get_ros_node_info, update_ros_node_info

 # 设置Jinja2模板环境
 template_dir = Path(__file__).parent / "templates"
@@ -92,19 +92,7 @@ def setup_web_pages(router: APIRouter) -> None:

            # 获取已加载的设备
            if lab_registry:
-                # 设备类型
-                for device_id, device_info in lab_registry.device_type_registry.items():
-                    msg = {
-                            "id": device_id,
-                            "name": device_info.get("name", "未命名"),
-                            "file_path": device_info.get("file_path", ""),
-                            "class_json": json.dumps(
-                                device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                            ),
-                        }
-                    mqtt_client.publish_registry(device_id, device_info)
-                    devices.append(msg)
-
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
                # 资源类型
                for resource_id, resource_info in lab_registry.resource_type_registry.items():
                    resources.append(
--- a/unilabos/app/web/server.py
+++ b/unilabos/app/web/server.py
@@ -13,8 +13,8 @@ from starlette.responses import Response

 from unilabos.utils.fastapi.log_adapter import setup_fastapi_logging
 from unilabos.utils.log import info, error
-from unilabos.web.api import setup_api_routes
-from unilabos.web.pages import setup_web_pages
+from unilabos.app.web.api import setup_api_routes
+from unilabos.app.web.pages import setup_web_pages

 # 创建FastAPI应用
 app = FastAPI(
--- a/unilabos/app/web/static/styles.css
+++ b/unilabos/app/web/static/styles.css
--- a/unilabos/app/web/templates/base.html
+++ b/unilabos/app/web/templates/base.html
--- a/unilabos/app/web/templates/home.html
+++ b/unilabos/app/web/templates/home.html
--- a/unilabos/app/web/templates/status.html
+++ b/unilabos/app/web/templates/status.html
@@ -96,17 +96,19 @@
            <tr>
                <th>设备ID</th>
                <th>命名空间</th>
+                <th>机器名称</th>
                <th>状态</th>
            </tr>
            {% for device_id, device_info in host_node_info.devices.items() %}
            <tr>
                <td>{{ device_id }}</td>
                <td>{{ device_info.namespace }}</td>
+                <td>{{ device_info.machine_name }}</td>
                <td><span class="status-badge online">{{ "在线" if device_info.is_online else "离线" }}</span></td>
            </tr>
            {% else %}
            <tr>
-                <td colspan="3" class="empty-state">没有发现已管理的设备</td>
+                <td colspan="4" class="empty-state">没有发现已管理的设备</td>
            </tr>
            {% endfor %}
        </table>
@@ -218,6 +220,7 @@
            <th>Device ID</th>
            <th>节点名称</th>
            <th>命名空间</th>
+            <th>机器名称</th>
            <th>状态项</th>
            <th>动作数</th>
        </tr>
@@ -227,6 +230,7 @@
            <td>{{ device_id }}</td>
            <td>{{ device_info.node_name }}</td>
            <td>{{ device_info.namespace }}</td>
+            <td>{{ device_info.machine_name|default("本地") }}</td>
            <td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
            <td>{{ ros_node_info.device_actions.get(device_id, {})|length }} <span class="toggle-indicator">▼</span></td>
        </tr>
@@ -329,8 +333,13 @@
        <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
            <td colspan="5">
                <div class="content-full">
-                    <pre>{{ device.class_json }}</pre>
-                    
+                    {% if device.class %}
+                        <pre>{{ device.class | tojson(indent=4) }}</pre>
+                    {% else %}
+                        <!-- 这里可以放占位内容，比如 -->
+                        <pre>// No data</pre>
+                    {% endif %}
+
                    {% if device.is_online %}
                    <div class="status-badge"><span class="online-status">在线</span></div>
                    {% endif %}
@@ -362,7 +371,12 @@
                                    <button class="copy-btn" onclick="copyToClipboard(this.previousElementSibling.textContent, event)">复制</button>
                                    <button class="debug-btn" onclick="toggleDebugInfo(this, event)">调试</button>
                                    <div class="debug-info" style="display:none;">
-                                        <pre>{{ action_info|tojson(indent=2) }}</pre>
+                                        {% if action_info %}
+                                            <pre>{{ action_info | tojson(indent=4) }}</pre>
+                                        {% else %}
+                                            <!-- 这里可以放占位内容，比如 -->
+                                            <pre>// No data</pre>
+                                        {% endif %}
                                    </div>
                                </div>
                                
--- a/unilabos/app/web/utils/init.py
+++ b/unilabos/app/web/utils/init.py
--- a/unilabos/app/web/utils/action_utils.py
+++ b/unilabos/app/web/utils/action_utils.py
@@ -8,7 +8,7 @@ import traceback
 from typing import Dict, Any, Type, TypedDict, Optional

 from rclpy.action import ActionClient, ActionServer
-from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString

 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
        for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
            slot_name, slot_type = slot_info
            type_info = goal_type.SLOT_TYPES[ind]
-            default_value = "unknown"
            if isinstance(type_info, UnboundedSequence):
                inner_type = type_info.value_type
                if isinstance(inner_type, NamespacedType):
@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
                    default_value = [get_ros_msg_instance_as_dict(type_class())]
                elif isinstance(inner_type, BasicType):
                    default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                elif isinstance(inner_type, UnboundedString):
+                    default_value = [""]
                else:
-                    default_value = "unknown"
+                    default_value = []
            elif isinstance(type_info, NamespacedType):
                cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
                type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
                default_value = get_ros_msg_instance_as_dict(type_class())
            elif isinstance(type_info, BasicType):
                default_value = get_default_value_for_ros_type(type_info.typename)
+            elif isinstance(type_info, UnboundedString):
+                default_value = ""
            else:
                type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
                if type_class is not None:
--- a/unilabos/app/web/utils/device_utils.py
+++ b/unilabos/app/web/utils/device_utils.py
--- a/unilabos/app/web/utils/host_utils.py
+++ b/unilabos/app/web/utils/host_utils.py
@@ -9,7 +9,7 @@ from typing import Dict, Any

 from unilabos.config.config import BasicConfig
 from unilabos.ros.nodes.presets.host_node import HostNode
-from unilabos.web.utils.action_utils import get_action_info
+from unilabos.app.web.utils.action_utils import get_action_info


 def get_host_node_info() -> Dict[str, Any]:
@@ -30,20 +30,19 @@ def get_host_node_info() -> Dict[str, Any]:
        return host_info
    host_info["available"] = True
    host_info["devices"] = {
-        device_id: {
+        edge_device_id: {
            "namespace": namespace,
-            "is_online": f"{namespace}/{device_id}" in host_node._online_devices,
-            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
+            "key": f"{namespace}/{edge_device_id}" if namespace.startswith("/") else f"/{namespace}/{edge_device_id}",
+            "machine_name": host_node.device_machine_names.get(edge_device_id, "未知"),
        }
-        for device_id, namespace in host_node.devices_names.items()
+        for edge_device_id, namespace in host_node.devices_names.items()
    }
    # 获取已订阅的主题
    host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
    # 获取动作客户端信息
    for action_id, client in host_node._action_clients.items():
-        host_info["action_clients"] = {
-            action_id: get_action_info(client, full_name=action_id)
-        }
+        host_info["action_clients"][action_id] = get_action_info(client, full_name=action_id)

    # 获取设备状态
    host_info["device_status"] = host_node.device_status
--- a/unilabos/app/web/utils/ros_utils.py
+++ b/unilabos/app/web/utils/ros_utils.py
@@ -7,11 +7,12 @@ ROS 工具函数模块
 import traceback
 from typing import Dict, Any

-from unilabos.web.utils.action_utils import get_action_info
+from unilabos.app.web.utils.action_utils import get_action_info

 # 存储 ROS 节点信息的全局变量
 ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}

+
 def get_ros_node_info() -> Dict[str, Any]:
    """获取 ROS 节点信息，包括设备节点、发布的状态和动作

@@ -35,6 +36,13 @@ def update_ros_node_info() -> Dict[str, Any]:

    try:
        from unilabos.ros.nodes.base_device_node import registered_devices
+        from unilabos.ros.nodes.presets.host_node import HostNode
+
+        # 尝试获取主机节点实例
+        host_node = HostNode.get_instance(0)
+        device_machine_names = {}
+        if host_node:
+            device_machine_names = host_node.device_machine_names

        for device_id, device_info in registered_devices.items():
            # 设备基本信息
@@ -42,6 +50,7 @@ def update_ros_node_info() -> Dict[str, Any]:
                "node_name": device_info["node_name"],
                "namespace": device_info["namespace"],
                "uuid": device_info["uuid"],
+                "machine_name": device_machine_names.get(device_id, "本地"),
            }

            # 设备话题（状态）信息
@@ -55,10 +64,7 @@ def update_ros_node_info() -> Dict[str, Any]:
            }

            # 设备动作信息
-            result["device_actions"][device_id] = {
-                k: get_action_info(v, k)
-                for k, v in device_info["actions"].items()
-            }
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
        # 更新全局变量
        ros_node_info = result
    except Exception as e:
--- a/unilabos/compile/clean_protocol.py
+++ b/unilabos/compile/clean_protocol.py
@@ -6,7 +6,7 @@ def generate_clean_protocol(
    G: nx.DiGraph, 
    vessel: str,  # Vessel to clean.
    solvent: str, # Solvent to clean vessel with.
-    volume: float = 25000.0, # Optional. Volume of solvent to clean vessel with.
+    volume: float = 25.0, # Optional. Volume of solvent to clean vessel with.
    temp: float = 25, # Optional. Temperature to heat vessel to while cleaning.
    repeats: int = 1, # Optional. Number of cleaning cycles to perform.
 ) -> list[dict]:
@@ -27,7 +27,7 @@ def generate_clean_protocol(
    from_vessel = f"flask_{solvent}"
    waste_vessel = f"waste_workup"
    
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
    
    # 生成泵操作的动作序列
    for i in range(repeats):
--- a/unilabos/compile/evaporate_protocol.py
+++ b/unilabos/compile/evaporate_protocol.py
@@ -24,8 +24,8 @@ def generate_evaporate_protocol(
    
    # 生成泵操作的动作序列
    pump_action_sequence = []
-    reactor_volume = 500000.0
-    transfer_flowrate = flowrate = 2500.0
+    reactor_volume = 500.0
+    transfer_flowrate = flowrate = 2.5
    
    # 开启冷凝器
    pump_action_sequence.append({
--- a/unilabos/compile/pump_protocol.py
+++ b/unilabos/compile/pump_protocol.py
@@ -7,7 +7,7 @@ def generate_pump_protocol(
    from_vessel: str, 
    to_vessel: str, 
    volume: float, 
-    flowrate: float = 500.0,
+    flowrate: float = 0.5,
    transfer_flowrate: float = 0, 
 ) -> list[dict]:
    """
@@ -141,11 +141,11 @@ def generate_pump_protocol_with_rinsing(
    time: float = 0,
    viscous: bool = False,
    rinsing_solvent: str = "air",
-    rinsing_volume: float = 5000.0,
+    rinsing_volume: float = 5.0,
    rinsing_repeats: int = 2,
    solid: bool = False,
-    flowrate: float = 2500.0,
-    transfer_flowrate: float = 500.0, 
+    flowrate: float = 2.5,
+    transfer_flowrate: float = 0.5, 
 ) -> list[dict]:
    """
    Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
@@ -159,11 +159,11 @@ def generate_pump_protocol_with_rinsing(
        time (float, optional): Time over which to perform the transfer (default is 0).
        viscous (bool, optional): Indicates if the fluid is viscous (default is False).
        rinsing_solvent (str, optional): The solvent to use for rinsing (default is "air").
-        rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5000.0).
+        rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5.0).
        rinsing_repeats (int, optional): The number of times to repeat rinsing (default is 2).
        solid (bool, optional): Indicates if the transfer involves a solid (default is False).
-        flowrate (float, optional): The flow rate for the transfer (default is 2500.0). 最终注入容器B时的流速
-        transfer_flowrate (float, optional): The flow rate for the transfer action (default is 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同）
+        flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速
+        transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同）
    
    Returns:
        list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
@@ -172,7 +172,7 @@ def generate_pump_protocol_with_rinsing(
        AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
    
    Examples:
-        pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 100.0, rinsing_solvent="water")
+        pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
    """
    air_vessel = "flask_air"
    waste_vessel = f"waste_workup"
--- a/unilabos/compile/separate_protocol.py
+++ b/unilabos/compile/separate_protocol.py
@@ -11,7 +11,7 @@ def generate_separate_protocol(
    to_vessel: str, # Vessel to send product phase to.
    waste_phase_to_vessel: str, # Optional. Vessel to send waste phase to.
    solvent: str, # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
-    solvent_volume: float = 50000, # Optional. Volume of solvent to add.
+    solvent_volume: float = 50, # Optional. Volume of solvent to add (mL).
    through: str = "", # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
    repeats: int = 1, # Optional. Number of separations to perform.
    stir_time: float = 30, # Optional. Time stir for after adding solvent, before separation of phases.
@@ -32,7 +32,7 @@ def generate_separate_protocol(
    
    # 生成泵操作的动作序列
    pump_action_sequence = []
-    reactor_volume = 500000.0
+    reactor_volume = 500.0
    waste_vessel = waste_phase_to_vessel
    
    # TODO：通过物料管理系统找到溶剂的容器
@@ -46,7 +46,7 @@ def generate_separate_protocol(
    separator_controller = f"{separation_vessel}_controller"
    separation_vessel_bottom = f"flask_{separation_vessel}"
    
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
    
    if from_vessel != separation_vessel:
        pump_action_sequence.append(
@@ -140,8 +140,8 @@ def generate_separate_protocol(
                    "action_kwargs": {
                        "from_vessel": separation_vessel_bottom,
                        "to_vessel": to_vessel,
-                        "volume": 250000.0,
-                        "time": 250000.0 / flowrate,
+                        "volume": 250.0,
+                        "time": 250.0 / flowrate,
                        # "transfer_flowrate": transfer_flowrate,
                    }
                }
@@ -164,8 +164,8 @@ def generate_separate_protocol(
                    "action_kwargs": {
                        "from_vessel": separation_vessel_bottom,
                        "to_vessel": waste_vessel,
-                        "volume": 250000.0,
-                        "time": 250000.0 / flowrate,
+                        "volume": 250.0,
+                        "time": 250.0 / flowrate,
                        # "transfer_flowrate": transfer_flowrate,
                    }
                }
@@ -179,8 +179,8 @@ def generate_separate_protocol(
                    "action_kwargs": {
                        "from_vessel": separation_vessel_bottom,
                        "to_vessel": waste_vessel,
-                        "volume": 250000.0,
-                        "time": 250000.0 / flowrate,
+                        "volume": 250.0,
+                        "time": 250.0 / flowrate,
                        # "transfer_flowrate": transfer_flowrate,
                    }
                }
@@ -203,8 +203,8 @@ def generate_separate_protocol(
                    "action_kwargs": {
                        "from_vessel": separation_vessel_bottom,
                        "to_vessel": to_vessel,
-                        "volume": 250000.0,
-                        "time": 250000.0 / flowrate,
+                        "volume": 250.0,
+                        "time": 250.0 / flowrate,
                        # "transfer_flowrate": transfer_flowrate,
                    }
                }
@@ -221,8 +221,8 @@ def generate_separate_protocol(
                    "action_kwargs": {
                        "from_vessel": to_vessel,
                        "to_vessel": separation_vessel,
-                        "volume": 250000.0,
-                        "time": 250000.0 / flowrate,
+                        "volume": 250.0,
+                        "time": 250.0 / flowrate,
                        # "transfer_flowrate": transfer_flowrate,
                    }
                }
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -12,6 +12,8 @@ class BasicConfig:
    config_path = ""
    is_host_mode = True  # 从registry.py移动过来
    slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    machine_name = "undefined"
+    vis_2d_enable = False


 # MQTT配置
@@ -28,9 +30,9 @@ class MQConfig:
    key_content = ""

    # 指定
-    ca_file = ""
-    cert_file = ""
-    key_file = ""
+    ca_file = ""  # 相对config.py所在目录的路径
+    cert_file = ""  # 相对config.py所在目录的路径
+    key_file = ""  # 相对config.py所在目录的路径


 # OSS上传配置
@@ -75,49 +77,106 @@ def _update_config_from_module(module):
        # 需要先判断是否为相对路径
        if MQConfig.ca_file.startswith("."):
            MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
-        with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
-            MQConfig.ca_content = f.read()
+        if len(MQConfig.ca_file) != 0:
+            with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
+                MQConfig.ca_content = f.read()
+        else:
+            logger.warning("Skipping CA file loading, ca_file is empty")
    if len(MQConfig.cert_content) == 0:
        # 需要先判断是否为相对路径
        if MQConfig.cert_file.startswith("."):
            MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
-        with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
-            MQConfig.cert_content = f.read()
+        if len(MQConfig.ca_file) != 0:
+            with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
+                MQConfig.cert_content = f.read()
+        else:
+            logger.warning("Skipping cert file loading, cert_file is empty")
    if len(MQConfig.key_content) == 0:
        # 需要先判断是否为相对路径
        if MQConfig.key_file.startswith("."):
            MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
-        with open(MQConfig.key_file, "r", encoding="utf-8") as f:
-            MQConfig.key_content = f.read()
+        if len(MQConfig.ca_file) != 0:
+            with open(MQConfig.key_file, "r", encoding="utf-8") as f:
+                MQConfig.key_content = f.read()
+        else:
+            logger.warning("Skipping key file loading, key_file is empty")
+
+
+def _update_config_from_env():
+    prefix = "UNILABOS."
+    for env_key, env_value in os.environ.items():
+        if not env_key.startswith(prefix):
+            continue
+        try:
+            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
+            class_field = key_path.upper().split(".", 1)
+            if len(class_field) != 2:
+                logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
+                continue
+
+            class_key, field_key = class_field
+            # 遍历 globals 找匹配类（不区分大小写）
+            matched_cls = None
+            for name, obj in globals().items():
+                if name.upper() == class_key and isinstance(obj, type):
+                    matched_cls = obj
+                    break
+
+            if matched_cls is None:
+                logger.warning(f"[ENV] 未找到类：{class_key}")
+                continue
+
+            # 查找类属性（不区分大小写）
+            matched_field = None
+            for attr in dir(matched_cls):
+                if attr.upper() == field_key:
+                    matched_field = attr
+                    break
+
+            if matched_field is None:
+                logger.warning(f"[ENV] 类 {matched_cls.__name__} 中未找到字段：{field_key}")
+                continue
+
+            current_value = getattr(matched_cls, matched_field)
+            attr_type = type(current_value)
+            if attr_type == bool:
+                value = env_value.lower() in ("true", "1", "yes")
+            elif attr_type == int:
+                value = int(env_value)
+            elif attr_type == float:
+                value = float(env_value)
+            else:
+                value = env_value
+            setattr(matched_cls, matched_field, value)
+            logger.info(f"[ENV] 设置 {matched_cls.__name__}.{matched_field} = {value}")
+        except Exception as e:
+            logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
+


 def load_config(config_path=None):
    # 如果提供了配置文件路径，从该文件导入配置
    if config_path:
+        _update_config_from_env()  # 允许config_path被env设定后读取
        BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
        if not os.path.exists(config_path):
-            logger.error(f"配置文件 {config_path} 不存在")
-            return
+            logger.error(f"[ENV] 配置文件 {config_path} 不存在")
+            exit(1)

        try:
            module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
            spec = importlib.util.spec_from_file_location(module_name, config_path)
            if spec is None:
-                logger.error(f"配置文件 {config_path} 错误")
+                logger.error(f"[ENV] 配置文件 {config_path} 错误")
                return
            module = importlib.util.module_from_spec(spec)
            spec.loader.exec_module(module)  # type: ignore
            _update_config_from_module(module)
-            logger.info(f"配置文件 {config_path} 加载成功")
+            logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
        except Exception as e:
-            logger.error(f"加载配置文件 {config_path} 失败: {e}")
+            logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
            traceback.print_exc()
            exit(1)
    else:
-        try:
-            import unilabos.config.local_config as local_config  # type: ignore
-
-            _update_config_from_module(local_config)
-            logger.info("已加载默认配置 unilabos.config.local_config")
-        except ImportError:
-            pass
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
+        load_config(config_path)
--- a/unilabos/device_mesh/init.py
+++ b/unilabos/device_mesh/init.py
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json
@@ -0,0 +1,18 @@
+{
+    "first_joint": {
+        "child":"first_link",
+        "axis" : "-y"
+    },
+    "second_joint": {
+        "child":"second_link",
+        "axis" : "-x"
+    },
+    "third_joint": {
+        "child":"third_link",
+        "axis" : "-z"
+    },
+    "fourth_joint": {
+        "child":"fourth_link",
+        "axis" : "-z"
+    }
+}
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
@@ -0,0 +1,210 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="opentrons_liquid_handler" 
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}main_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name='${station_name}${device_name}main_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}first_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}second_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}third_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}fourth_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name='${station_name}${device_name}first_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}first_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 -1 0"/>
+      <limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}second_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}first_link"/>
+      <child link="${station_name}${device_name}second_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}third_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}third_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}fourth_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
+    </joint>
+
+
+    <link name='${station_name}${device_name}socketTypeHEPAModule'/>
+    <joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeHEPAModule"/>
+      <origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
+    </joint>
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.fbx
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.fbx
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.stl
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.stl
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.fbx
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.fbx
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.stl
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.stl
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.fbx
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.fbx
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.stl
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.stl
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.fbx
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.fbx
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.stl
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.stl
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.fbx
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.fbx
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.stl
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.stl
--- a/unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json
@@ -0,0 +1,10 @@
+{
+    "private_param":
+    {
+
+    },
+    "public_param": 
+    {
+
+    }
+}
--- a/unilabos/device_mesh/devices/slide_w140/joint_config.json
+++ b/unilabos/device_mesh/devices/slide_w140/joint_config.json
@@ -0,0 +1,6 @@
+{
+    "slider_joint": {
+        "child":"slider",
+        "axis" : "x"
+    }
+}
--- a/unilabos/device_mesh/devices/slide_w140/macro_device.xacro
+++ b/unilabos/device_mesh/devices/slide_w140/macro_device.xacro
@@ -0,0 +1,136 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from slide.urdf                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="${-min_d}  0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}base_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}base_link">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
+        <mass value="0.88697"/>
+        <inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${station_name}${device_name}slider">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
+        <mass value="0.27913"/>
+        <inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slider_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slider"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="100" lower="0" upper="${length}" velocity="1"/>
+    </joint>
+    <link name="${station_name}${device_name}length">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
+        <mass value="0.050532"/>
+        <inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}length_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}length"/>
+    </joint>
+    <link name="${station_name}${device_name}slide_end">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
+        <mass value="0.055452"/>
+        <inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slide_end_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slide_end"/>
+    </joint>
+
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/slide_w140/meshes/base_link.STL
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/base_link.STL
--- a/unilabos/device_mesh/devices/slide_w140/meshes/base_link.fbx
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/base_link.fbx
--- a/unilabos/device_mesh/devices/slide_w140/meshes/length.STL
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/length.STL
--- a/unilabos/device_mesh/devices/slide_w140/meshes/length.fbx
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/length.fbx
--- a/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.STL
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.STL
--- a/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.fbx
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.fbx
--- a/unilabos/device_mesh/devices/slide_w140/meshes/slider.STL
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/slider.STL
--- a/unilabos/device_mesh/devices/slide_w140/meshes/slider.fbx
+++ b/unilabos/device_mesh/devices/slide_w140/meshes/slider.fbx
--- a/unilabos/device_mesh/devices/slide_w140/param_config.json
+++ b/unilabos/device_mesh/devices/slide_w140/param_config.json
@@ -0,0 +1,12 @@
+{
+    "private_param":
+    {
+        "min_d": 0.1 ,
+        "max_d": 0.1 ,
+        "slider_d": 0.14 
+    },
+    "public_param": 
+    {
+        "length" :0.1
+    }
+}
--- a/unilabos/device_mesh/resource_visalization.py
+++ b/unilabos/device_mesh/resource_visalization.py
@@ -0,0 +1,174 @@
+import os
+from pathlib import Path
+from launch import LaunchService
+from launch import LaunchDescription
+from launch_ros.actions import Node as nd
+import xacro
+from lxml import etree
+
+from unilabos.registry.registry import lab_registry
+
+
+class ResourceVisualization:
+    def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
+        """初始化资源可视化类
+        
+        该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
+        从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
+        
+        Args:
+            device (dict): 设备配置字典,包含设备的类型、位置等信息
+            resource (dict): 资源配置字典,包含资源的类型、位置等信息 
+            registry (dict): 注册表字典,包含设备和资源类型的注册信息
+            enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
+        """
+        self.launch_service = LaunchService()
+        self.launch_description = LaunchDescription()
+        self.resource_dict = resource
+        self.resource_model = {}
+        self.resource_type = ['deck', 'plate', 'container']
+        self.mesh_path = Path(__file__).parent.absolute()
+        self.enable_rviz = enable_rviz
+        registry = lab_registry
+
+        self.srdf_str = '''
+        <?xml version="1.0" encoding="UTF-8"?>
+        <robot name="minimal">
+
+        </robot>
+        '''
+        self.robot_state_str= '''<?xml version="1.0" ?>
+        <robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
+        <link name="world"/>
+        </robot>
+        '''
+        self.root = etree.fromstring(self.robot_state_str)
+                
+        xacro_uri = self.root.nsmap["xacro"]
+
+        # 遍历设备节点
+        for node in device.values():
+            if node['type'] == 'device' and node['class'] != '':
+                device_class = node['class']
+                # 检查设备类型是否在注册表中
+                if device_class not in registry.device_type_registry.keys():
+                    raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
+            elif node['type'] in self.resource_type:
+                # print(registry.resource_type_registry)
+                resource_class = node['class']
+                if resource_class not in registry.resource_type_registry.keys():
+                    raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
+                elif "model" in registry.resource_type_registry[resource_class].keys():
+                    model_config = registry.resource_type_registry[resource_class]['model']
+                    if model_config['type'] == 'resource':
+                        self.resource_model[node['id']] = {
+                            'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
+                            'mesh_tf': model_config['mesh_tf']}
+                        if 'children_mesh' in model_config:
+                            if model_config['children_mesh'] is not None:
+                                self.resource_model[f"{node['id']}_"] = {
+                                    'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
+                                    'mesh_tf': model_config['children_mesh_tf']
+                                }
+                    elif model_config['type'] == 'device':
+                        new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
+                        new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
+                        new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
+                        new_dev.set("parent_link", "world")
+                        new_dev.set("mesh_path", str(self.mesh_path))
+                        new_dev.set("device_name", node["id"]+"_")
+                        new_dev.set("station_name", node["parent"]+'_')
+                        new_dev.set("x",str(float(node["position"]["x"])/1000))
+                        new_dev.set("y",str(float(node["position"]["y"])/1000))
+                        new_dev.set("z",str(float(node["position"]["z"])/1000))
+                        if "rotation" in node["config"]:
+                            new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
+                    else:
+                        print("错误的注册表类型！")
+        re = etree.tostring(self.root, encoding="unicode")
+        doc = xacro.parse(re)
+        xacro.process_doc(doc)
+        self.urdf_str = doc.toxml()
+
+
+    def create_launch_description(self, urdf_str: str) -> LaunchDescription:
+        """
+        创建launch描述，包含robot_state_publisher和move_group节点
+
+        Args:
+            urdf_str: URDF文本
+
+        Returns:
+            LaunchDescription: launch描述对象
+        """
+
+        
+        # 解析URDF文件
+        robot_description = urdf_str
+
+        # 创建robot_state_publisher节点
+        robot_state_publisher = nd(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'use_sim_time': False
+            }]
+        )
+
+        # joint_state_publisher_node = nd(
+        #     package='joint_state_publisher_gui',  # 或 joint_state_publisher
+        #     executable='joint_state_publisher_gui',
+        #     name='joint_state_publisher',
+        #     output='screen'
+        # )
+        # 创建move_group节点
+        move_group = nd(
+            package='moveit_ros_move_group',
+            executable='move_group',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'robot_description_semantic': self.srdf_str,
+                'capabilities': '',
+                'disable_capabilities': '',
+                'monitor_dynamics': False,
+                'publish_monitored_planning_scene': True,
+                'publish_robot_description_semantic': True,
+                'publish_planning_scene': True,
+                'publish_geometry_updates': True,
+                'publish_state_updates': True,
+                'publish_transforms_updates': True,
+            }]
+        )
+
+        # 将节点添加到launch描述中
+        self.launch_description.add_action(robot_state_publisher)
+        # self.launch_description.add_action(joint_state_publisher_node)
+        self.launch_description.add_action(move_group)
+
+        # 如果启用RViz,添加RViz节点
+        if self.enable_rviz:
+            rviz_node = nd(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
+                output='screen'
+            )
+            self.launch_description.add_action(rviz_node)
+
+        return self.launch_description
+
+    def start(self) -> None:
+        """
+        启动可视化服务
+
+        Args:
+            urdf_str: URDF文件路径
+        """
+        launch_description = self.create_launch_description(self.urdf_str)
+        self.launch_service.include_launch_description(launch_description)
+        self.launch_service.run()
--- a/unilabos/device_mesh/resources/generic_labware_tube_10_75/0_base.png
+++ b/unilabos/device_mesh/resources/generic_labware_tube_10_75/0_base.png
--- a/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.glb
+++ b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.glb
--- a/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl
+++ b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl
--- a/unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json
+++ b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json
@@ -0,0 +1,22 @@
+{
+    "fileName": "generic_labware_tube_10_75",
+    "related": [
+        "generic_labware_0.5ml_screw_cap_tube",
+        "generic_labware_0.5ml_tube_rack",
+        "generic_labware_12_well_plate",
+        "sarstedt_14x200mm_tube",
+        "sarstedt_18x200mm_tube",
+        "generic_labware_1ml_tube_rack",
+        "generic_labware_24_well_plate",
+        "generic_labware_2ml_screw_cap_tube",
+        "generic_labware_5ml_screw_cap_tube",
+        "generic_labware_6_well_plate",
+        "generic_labware_96_well_square",
+        "generic_labware_96_well_pcr_plate_round",
+        "generic_labware_framedtiprack",
+        "generic_labware_plate_lid",
+        "generic_labware_reservoir",
+        "generic_labware_tip_box",
+        "generic_labware_tube_10_75"
+    ]
+}
--- a/unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro
+++ b/unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_labware_tube_10_75">
+    <link name='0_base_link'>
+        <visual name='visual'>
+            <geometry>
+                <mesh filename="meshes/0_base.stl"/>
+            </geometry>
+            <material name="clay" />
+        </visual>
+    </link>
+</robot>
--- a/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.glb
+++ b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.glb
--- a/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl
+++ b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl
--- a/unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json
+++ b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json
@@ -0,0 +1,86 @@
+{
+    "fileName": "tecan_nested_tip_rack",
+    "related": [
+        "tecan_techrom",
+        "tecan_holder_transfer_tool",
+        "tecan_fluent_9_grid_segment_cutout",
+        "tecan_fluent_centric_gripper",
+        "tecan_fluent_eccentric_gripper",
+        "tecan_evo100",
+        "tecan_fluent_mp_diti_nest_segment",
+        "tecan_fluent_4x100_trough",
+        "tecan_fluent_1080_extended",
+        "tecan_fluent_1_1_1000_trough",
+        "tecan_fluent_50ml_tube_runner_10_v2",
+        "tecan_fluent_15ml_tube_runner_16_v2",
+        "tecan_fluent_1_16_16_tube_runner",
+        "tecan_fluent_1.5ml_tube_runner_v2",
+        "tecan_fluent_1_24_10_tube_runner",
+        "tecan_fluent_1_24_13_tube_runner",
+        "tecan_fluent_3x320_reagent_trough_v2",
+        "tecan_fluent_32_tube_runner_v2",
+        "tecan_fluent_1_4_100_trough",
+        "tecan_fluent_2_grid_segment",
+        "tecan_fluent_2_4_100_trough_waste",
+        "tecan_fluent_3_grid_segment",
+        "tecan_fluent_nest_waste_segment_v2",
+        "tecan_fluent_320ml_reagent_trough",
+        "tecan_fluent_4_landscape_61mm_nest_segment",
+        "tecan_fluent_4_landscape_61mm_nest_segment_waste",
+        "tecan_fluent_4_landscape_7mm_nest_segment",
+        "tecan_fluent_4_landscape_7mm_nest_segment_waste",
+        "tecan_fluent_hotel_deck_4",
+        "tecan_fluent_480_extended",
+        "tecan_fluent_4x100_reagent_trough_v2",
+        "tecan_fluent_5_landscape_61mm_nest_segment",
+        "tecan_fluent_5_landscape_7mm_nest_segment",
+        "tecan_fluent_hotel_deck_5",
+        "tecan_fluent_6_grid_segment",
+        "tecan_fluent_nest_landscape_segment_v2",
+        "tecan_fluent_6_landscape_7mm_nest_segment",
+        "tecan_fluent_deck_segment_6_v2",
+        "tecan_fluent_fca_diti_segment_v2",
+        "tecan_fluent_6_nest_incubator",
+        "tecan_fluent_plate_nest",
+        "tecan_fluent_780_extended",
+        "tecan_fluent_plate_holder",
+        "tecan_fluent_8_grid_segment",
+        "tecan_fluent_8_grid_segment_evo",
+        "tecan_fluent_hotel_deck_9",
+        "tecan_carousel",
+        "tecan_carousel_stacker_10",
+        "tecan_carousel_stacker_25",
+        "tecan_carousel_stacker_6",
+        "tecan_fluent_coolheat_microplate_segment_v2",
+        "tecan_fluent_fca_diti_tray",
+        "tecan_fluent_trough_waste",
+        "tecan_fluent_id_left",
+        "tecan_fluent_id_middle",
+        "tecan_fluent_lower_6_grid_v2",
+        "tecan_fluent_mc384_nest",
+        "tecan_fluent_mca_44mm_nest",
+        "tecan_fluent_deck_segment_4_v2",
+        "tecan_fluent_mca_base_segment_384_v2",
+        "tecan_fluent_waste_module",
+        "tecan_fluent_reagent_block",
+        "tecan_fluent_tube_grippers",
+        "tecan_fluent_washstation_waste_v2",
+        "tecan_carrier_additive_trough_3_pce_max_100ml",
+        "tecan_carrier_384_well_mp_3_pos_accessible_roma",
+        "tecan_carrier_rack_3_diti_width_6",
+        "tecan_transport_box_diti_tray_1000ul",
+        "tecan_transport_box_diti_tray_200ul",
+        "tecan_magicprep_ngs_sample_deck",
+        "tecan_fluent_shelf_large",
+        "tecan_fluent_shelf_small",
+        "tecan_spacer_29_9_te_chrom",
+        "tecan_teshake_adapter_2",
+        "tecan_teshake_base",
+        "tecan_tevacs_base",
+        "tecan_tevacs_plate_park",
+        "tecan_tevacs_spacer",
+        "tecan_tevacs_vacuum",
+        "tecan_tip_box",
+        "tecan_nested_tip_rack"
+    ]
+}
--- a/unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro
+++ b/unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tecan_nested_tip_rack">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>
--- a/unilabos/device_mesh/resources/tecan_nested_tip_rack/plate.png
+++ b/unilabos/device_mesh/resources/tecan_nested_tip_rack/plate.png
--- a/unilabos/device_mesh/view_robot.rviz
+++ b/unilabos/device_mesh/view_robot.rviz
@@ -0,0 +1,387 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1
+        - /TF1/Tree1
+        - /RobotModel1
+        - /PlanningScene1
+        - /PlanningScene1/Scene Geometry1
+        - /RobotState1
+        - /RobotState1/Links1
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+      Splitter Ratio: 0.5
+    Tree Height: 345
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: false
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: false
+      Value: false
+    - Attached Body Color: 150; 50; 150
+      Class: moveit_rviz_plugin/RobotState
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotState
+      Robot Alpha: 1
+      Robot Description: robot_description
+      Robot State Topic: display_robot_state
+      Show All Links: true
+      Show Highlights: true
+      Value: false
+      Visual Enabled: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 3x
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: ""
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.0284695625305176
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.29730814695358276
+        Y: 0.21228469908237457
+        Z: 0.20008830726146698
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.38979560136795044
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.06074193865060806
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1656
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2518
+  X: 385
+  Y: 120
--- a/unilabos/devices/Mock/MockChiller/MockChiller.py
+++ b/unilabos/devices/Mock/MockChiller/MockChiller.py
@@ -0,0 +1,170 @@
+import time  
+import threading  
+  
+  
+class MockChiller:  
+    def __init__(self, port: str = "MOCK"):  
+        self.port = port  
+        self._current_temperature: float = 25.0  # 室温开始  
+        self._target_temperature: float = 25.0  
+        self._status: str = "Idle"  
+        self._is_cooling: bool = False  
+        self._is_heating: bool = False  
+        self._power_on: bool = False  
+          
+        # 模拟温度变化的线程  
+        self._temperature_thread = None  
+        self._running = False  
+      
+    @property  
+    def current_temperature(self) -> float:  
+        """当前温度 - 会被自动识别的设备属性"""  
+        return self._current_temperature  
+      
+    @property  
+    def target_temperature(self) -> float:  
+        """目标温度"""  
+        return self._target_temperature  
+      
+    @property  
+    def status(self) -> str:  
+        """设备状态 - 会被自动识别的设备属性"""  
+        return self._status  
+      
+    @property  
+    def power_on(self) -> bool:  
+        """电源状态"""  
+        return self._power_on  
+      
+    @property  
+    def is_cooling(self) -> bool:  
+        """是否正在冷却"""  
+        return self._is_cooling  
+      
+    @property  
+    def is_heating(self) -> bool:  
+        """是否正在加热"""  
+        return self._is_heating  
+      
+    def set_temperature(self, temperature: float):
+        """设置目标温度 - 需要在注册表添加的设备动作"""
+        if not self._power_on:
+            self._status = "Error: Power Off"
+            return False
+
+        # 将传入温度转换为 float，并限制在允许范围内
+        temperature = float(temperature)
+        self._target_temperature = temperature
+
+        # 立即更新状态
+        diff = self._target_temperature - self._current_temperature
+        if abs(diff) < 0.1:
+            self._status = "At Target Temperature"
+            self._is_cooling = False
+            self._is_heating = False
+        elif diff < 0:
+            self._status = "Cooling"
+            self._is_cooling = True
+            self._is_heating = False
+        else:
+            self._status = "Heating"
+            self._is_heating = True
+            self._is_cooling = False
+
+        # 启动温度控制
+        self._start_temperature_control()
+        return True
+      
+    def power_on_off(self, power_state: str):
+        """开关机控制"""
+        if power_state == "on":
+            self._power_on = True
+            # 不在这里直接设置状态和加热/制冷标志
+            self._start_temperature_control()
+        else:
+            self._power_on = False
+            self._status = "Power Off"
+            self._stop_temperature_control()
+            self._is_cooling = False
+            self._is_heating = False
+      
+    def _start_temperature_control(self):  
+        """启动温度控制线程"""
+        if self._power_on:  # 移除 not self._running 检查
+            self._running = True
+            if self._temperature_thread is None or not self._temperature_thread.is_alive():
+                self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
+                self._temperature_thread.daemon = True
+                self._temperature_thread.start() 
+      
+    def _stop_temperature_control(self):  
+        """停止温度控制"""  
+        self._running = False  
+        if self._temperature_thread:  
+            self._temperature_thread.join(timeout=1.0)  
+      
+    def _temperature_control_loop(self):
+        """温度控制循环 - 模拟真实冷却器的温度变化"""
+        while self._running and self._power_on:
+            temp_diff = self._target_temperature - self._current_temperature
+            
+            if abs(temp_diff) < 0.1:  # 将判断范围从0.5改小到0.1
+                self._status = "At Target Temperature"
+                self._is_cooling = False
+                self._is_heating = False
+            elif temp_diff < 0:  # 需要冷却
+                self._status = "Cooling"
+                self._is_cooling = True
+                self._is_heating = False
+                # 模拟冷却过程，每秒降低0.5度
+                self._current_temperature -= 0.5
+            else:  # 需要加热
+                self._status = "Heating"
+                self._is_heating = True
+                self._is_cooling = False
+                # 模拟加热过程，每秒升高0.3度
+                self._current_temperature += 0.3
+            
+            # 限制温度范围
+            self._current_temperature = max(-20.0, min(80.0, self._current_temperature))
+            
+            time.sleep(1.0)  # 每秒更新一次
+      
+    def emergency_stop(self):  
+        """紧急停止"""  
+        self._status = "Emergency Stop"  
+        self._stop_temperature_control()  
+        self._is_cooling = False  
+        self._is_heating = False  
+      
+    def get_status_info(self) -> dict:  
+        """获取完整状态信息"""  
+        return {  
+            "current_temperature": self._current_temperature,  
+            "target_temperature": self._target_temperature,  
+            "status": self._status,  
+            "power_on": self._power_on,  
+            "is_cooling": self._is_cooling,  
+            "is_heating": self._is_heating  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    chiller = MockChiller()  
+      
+    # 测试基本功能  
+    print("启动冷却器测试...")  
+    chiller.power_on_off("on")  
+    print(f"初始状态: {chiller.get_status_info()}")  
+      
+    # 设置目标温度为5度  
+    chiller.set_temperature(5.0)  
+      
+    # 模拟运行10秒  
+    for i in range(10):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 当前温度={chiller.current_temperature:.1f}°C, 状态={chiller.status}")  
+      
+    chiller.emergency_stop()  
+    print("测试完成")
--- a/unilabos/devices/Mock/MockChiller/init.py
+++ b/unilabos/devices/Mock/MockChiller/init.py
--- a/unilabos/devices/Mock/MockFilter/MockFilter.py
+++ b/unilabos/devices/Mock/MockFilter/MockFilter.py
@@ -0,0 +1,167 @@
+import time  
+import threading  
+  
+  
+class MockFilter:  
+    def __init__(self, port: str = "MOCK"):  
+        self.port = port  
+        self._status: str = "Idle"  
+        self._is_filtering: bool = False  
+        self._filter_efficiency: float = 95.0  # 过滤效率百分比  
+        self._flow_rate: float = 0.0  # 流速 L/min  
+        self._pressure_drop: float = 0.0  # 压降 Pa  
+        self._filter_life: float = 100.0  # 滤芯寿命百分比  
+        self._power_on: bool = False  
+          
+        # 模拟过滤过程的线程  
+        self._filter_thread = None  
+        self._running = False  
+      
+    @property  
+    def status(self) -> str:  
+        """设备状态 - 会被自动识别的设备属性"""  
+        return self._status  
+      
+    @property  
+    def is_filtering(self) -> bool:  
+        """是否正在过滤"""  
+        return self._is_filtering  
+      
+    @property  
+    def filter_efficiency(self) -> float:  
+        """过滤效率"""  
+        return self._filter_efficiency  
+      
+    @property  
+    def flow_rate(self) -> float:  
+        """流速"""  
+        return self._flow_rate  
+      
+    @property  
+    def pressure_drop(self) -> float:  
+        """压降"""  
+        return self._pressure_drop  
+      
+    @property  
+    def filter_life(self) -> float:  
+        """滤芯寿命"""  
+        return self._filter_life  
+      
+    @property  
+    def power_on(self) -> bool:  
+        """电源状态"""  
+        return self._power_on  
+      
+    def start_filtering(self, flow_rate: float = 1.0):  
+        """开始过滤 - 需要在注册表添加的设备动作"""  
+        if not self._power_on:  
+            self._status = "Error: Power Off"  
+            return False  
+              
+        self._flow_rate = flow_rate  
+        self._status = "Starting Filter"  
+        self._start_filter_process()  
+        return True  
+      
+    def stop_filtering(self):  
+        """停止过滤"""  
+        self._status = "Stopping Filter"  
+        self._stop_filter_process()  
+        self._flow_rate = 0.0  
+        self._is_filtering = False  
+        self._status = "Idle"  
+        return True  
+      
+    def power_on_off(self, power_state: str):  
+        """开关机控制"""  
+        if power_state == "on":
+            self._power_on = True
+            self._status = "Power On" 
+        else:  
+            self._power_on = False
+            self._status = "Power Off"  
+            self._stop_filter_process()  
+            self._is_filtering = False  
+            self._flow_rate = 0.0  
+      
+    def replace_filter(self):  
+        """更换滤芯"""  
+        self._filter_life = 100.0  
+        self._filter_efficiency = 95.0  
+        self._status = "Filter Replaced"  
+        return True  
+      
+    def _start_filter_process(self):  
+        """启动过滤过程线程"""  
+        if not self._running and self._power_on:  
+            self._running = True  
+            self._is_filtering = True  
+            self._filter_thread = threading.Thread(target=self._filter_loop)  
+            self._filter_thread.daemon = True  
+            self._filter_thread.start()  
+      
+    def _stop_filter_process(self):  
+        """停止过滤过程"""  
+        self._running = False  
+        if self._filter_thread:  
+            self._filter_thread.join(timeout=1.0)  
+      
+    def _filter_loop(self):  
+        """过滤过程循环 - 模拟真实过滤器的工作过程"""  
+        while self._running and self._power_on and self._is_filtering:  
+            self._status = "Filtering"  
+              
+            # 模拟滤芯磨损  
+            if self._filter_life > 0:  
+                self._filter_life -= 0.1  # 每秒减少0.1%寿命  
+                  
+            # 根据滤芯寿命调整效率和压降  
+            life_factor = self._filter_life / 100.0  
+            self._filter_efficiency = 95.0 * life_factor + 50.0 * (1 - life_factor)  
+            self._pressure_drop = 100.0 + (200.0 * (1 - life_factor))  # 压降随磨损增加  
+              
+            # 检查滤芯是否需要更换  
+            if self._filter_life <= 10.0:  
+                self._status = "Filter Needs Replacement"  
+              
+            time.sleep(1.0)  # 每秒更新一次  
+      
+    def emergency_stop(self):  
+        """紧急停止"""  
+        self._status = "Emergency Stop"  
+        self._stop_filter_process()  
+        self._is_filtering = False  
+        self._flow_rate = 0.0  
+      
+    def get_status_info(self) -> dict:  
+        """获取完整状态信息"""  
+        return {  
+            "status": self._status,  
+            "is_filtering": self._is_filtering,  
+            "filter_efficiency": self._filter_efficiency,  
+            "flow_rate": self._flow_rate,  
+            "pressure_drop": self._pressure_drop,  
+            "filter_life": self._filter_life,  
+            "power_on": self._power_on  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    filter_device = MockFilter()  
+      
+    # 测试基本功能  
+    print("启动过滤器测试...")  
+    filter_device.power_on_off("on")  
+    print(f"初始状态: {filter_device.get_status_info()}")  
+      
+    # 开始过滤  
+    filter_device.start_filtering(2.0)  
+      
+    # 模拟运行10秒  
+    for i in range(10):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 效率={filter_device.filter_efficiency:.1f}%, 寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}")  
+      
+    filter_device.emergency_stop()  
+    print("测试完成")
--- a/unilabos/devices/Mock/MockFilter/init.py
+++ b/unilabos/devices/Mock/MockFilter/init.py
--- a/unilabos/devices/Mock/MockHeater/MockHeater.py
+++ b/unilabos/devices/Mock/MockHeater/MockHeater.py
@@ -0,0 +1,199 @@
+import time  
+import threading  
+  
+  
+class MockHeater:  
+    def __init__(self, port: str = "MOCK"):  
+        self.port = port  
+        self._current_temperature: float = 25.0  # 室温开始  
+        self._target_temperature: float = 25.0  
+        self._status: str = "Idle"  
+        self._is_heating: bool = False  
+        self._power_on: bool = False  
+        self._heating_power: float = 0.0  # 加热功率百分比 0-100  
+        self._max_temperature: float = 300.0  # 最大加热温度  
+          
+        # 模拟加热过程的线程  
+        self._heating_thread = None  
+        self._running = False  
+      
+    @property  
+    def current_temperature(self) -> float:  
+        """当前温度 - 会被自动识别的设备属性"""  
+        return self._current_temperature  
+      
+    @property  
+    def target_temperature(self) -> float:  
+        """目标温度"""  
+        return self._target_temperature  
+      
+    @property  
+    def status(self) -> str:  
+        """设备状态 - 会被自动识别的设备属性"""  
+        return self._status  
+      
+    @property  
+    def power_on(self) -> bool:  
+        """电源状态"""  
+        return self._power_on  
+      
+    @property  
+    def is_heating(self) -> bool:  
+        """是否正在加热"""  
+        return self._is_heating  
+      
+    @property  
+    def heating_power(self) -> float:  
+        """加热功率百分比"""  
+        return self._heating_power  
+      
+    @property  
+    def max_temperature(self) -> float:  
+        """最大加热温度"""  
+        return self._max_temperature  
+      
+    def set_temperature(self, temperature: float):
+        """设置目标温度 - 需要在注册表添加的设备动作"""
+        try:
+            temperature = float(temperature)
+        except ValueError:
+            self._status = "Error: Invalid temperature value"
+            return False
+
+        if not self._power_on:
+            self._status = "Error: Power Off"
+            return False
+
+        if temperature > self._max_temperature:
+            self._status = f"Error: Temperature exceeds maximum ({self._max_temperature}°C)"
+            return False
+
+        self._target_temperature = temperature
+        self._status = "Setting Temperature"
+
+        # 启动加热控制
+        self._start_heating_control()
+        return True 
+      
+    def set_heating_power(self, power: float):
+        """设置加热功率"""
+        try:
+            power = float(power)
+        except ValueError:
+            self._status = "Error: Invalid power value"
+            return False
+
+        if not self._power_on:
+            self._status = "Error: Power Off"
+            return False
+
+        self._heating_power = max(0.0, min(100.0, power))  # 限制在0-100%
+        return True
+      
+    def power_on_off(self, power_state: str):
+        """开关机控制，接收字符串命令 "On" 或 "Off" """
+        power_state = power_state.capitalize()
+        if power_state not in ["On", "Off"]:
+            self._status = "Error: Invalid power state"
+            return "Error"
+        self._power_on = True if power_state == "On" else False
+        if self._power_on:
+            self._status = "Power On"
+            self._start_heating_control()
+        else:
+            self._status = "Power Off"
+            self._stop_heating_control()
+            self._is_heating = False
+            self._heating_power = 0.0
+        return "Success"
+      
+    def _start_heating_control(self):  
+        """启动加热控制线程"""  
+        if not self._running and self._power_on:  
+            self._running = True  
+            self._heating_thread = threading.Thread(target=self._heating_control_loop)  
+            self._heating_thread.daemon = True  
+            self._heating_thread.start()  
+      
+    def _stop_heating_control(self):  
+        """停止加热控制"""  
+        self._running = False  
+        if self._heating_thread:  
+            self._heating_thread.join(timeout=1.0)  
+      
+    def _heating_control_loop(self):  
+        """加热控制循环 - 模拟真实加热器的温度变化"""  
+        while self._running and self._power_on:  
+            temp_diff = self._target_temperature - self._current_temperature  
+              
+            if abs(temp_diff) < 0.5:  # 温度接近目标值  
+                self._status = "At Target Temperature"  
+                self._is_heating = False  
+                self._heating_power = 10.0  # 维持温度的最小功率  
+            elif temp_diff > 0:  # 需要加热  
+                self._status = "Heating"  
+                self._is_heating = True  
+                # 根据温差调整加热功率  
+                if temp_diff > 50:  
+                    self._heating_power = 100.0  
+                elif temp_diff > 20:  
+                    self._heating_power = 80.0  
+                elif temp_diff > 10:  
+                    self._heating_power = 60.0  
+                else:  
+                    self._heating_power = 40.0  
+                  
+                # 模拟加热过程，加热速度与功率成正比  
+                heating_rate = self._heating_power / 100.0 * 2.0  # 最大每秒升温2度  
+                self._current_temperature += heating_rate  
+            else:  # 目标温度低于当前温度，自然冷却  
+                self._status = "Cooling Down"  
+                self._is_heating = False  
+                self._heating_power = 0.0  
+                # 模拟自然冷却，每秒降低0.2度  
+                self._current_temperature -= 0.2  
+              
+            # 限制温度范围  
+            self._current_temperature = max(20.0, min(self._max_temperature, self._current_temperature))  
+              
+            time.sleep(1.0)  # 每秒更新一次  
+      
+    def emergency_stop(self):  
+        """紧急停止"""  
+        self._status = "Emergency Stop"  
+        self._stop_heating_control()  
+        self._is_heating = False  
+        self._heating_power = 0.0  
+      
+    def get_status_info(self) -> dict:  
+        """获取完整状态信息"""  
+        return {  
+            "current_temperature": self._current_temperature,  
+            "target_temperature": self._target_temperature,  
+            "status": self._status,  
+            "power_on": self._power_on,  
+            "is_heating": self._is_heating,  
+            "heating_power": self._heating_power,  
+            "max_temperature": self._max_temperature  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    heater = MockHeater()  
+      
+    # 测试基本功能  
+    print("启动加热器测试...")  
+    heater.power_on_off(True)  
+    print(f"初始状态: {heater.get_status_info()}")  
+      
+    # 设置目标温度为80度  
+    heater.set_temperature(80.0)  
+      
+    # 模拟运行15秒  
+    for i in range(15):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 当前温度={heater.current_temperature:.1f}°C, 功率={heater.heating_power:.1f}%, 状态={heater.status}")  
+      
+    heater.emergency_stop()  
+    print("测试完成")
--- a/unilabos/devices/Mock/MockHeater/init.py
+++ b/unilabos/devices/Mock/MockHeater/init.py
--- a/unilabos/devices/Mock/MockPump/MockPump.py
+++ b/unilabos/devices/Mock/MockPump/MockPump.py
@@ -0,0 +1,414 @@
+import time  
+import threading  
+  
+  
+class MockPump:  
+    """  
+    模拟泵设备类  
+      
+    这个类模拟了一个实验室泵设备的行为，包括流量控制、压力监测、  
+    运行状态管理等功能。所有的控制参数都使用字符串类型以提供更好的  
+    可读性和扩展性。  
+    """  
+      
+    def __init__(self, port: str = "MOCK"):  
+        """  
+        初始化MockPump实例  
+          
+        Args:  
+            port (str): 设备端口，默认为"MOCK"表示模拟设备  
+        """  
+        self.port = port  
+          
+        # 设备基本状态属性  
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped  
+        self._power_state: str = "Off"  # 电源状态：On, Off  
+        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused  
+          
+        # 流量相关属性  
+        self._flow_rate: float = 0.0  # 当前流速 (mL/min)  
+        self._target_flow_rate: float = 0.0  # 目标流速 (mL/min)  
+        self._max_flow_rate: float = 100.0  # 最大流速 (mL/min)  
+        self._total_volume: float = 0.0  # 累计流量 (mL)  
+          
+        # 压力相关属性  
+        self._pressure: float = 0.0  # 当前压力 (bar)  
+        self._max_pressure: float = 10.0  # 最大压力 (bar)  
+          
+        # 方向控制属性  
+        self._direction: str = "Forward"  # 泵方向：Forward, Reverse  
+          
+        # 运行控制线程  
+        self._pump_thread = None  
+        self._running = False  
+        self._thread_lock = threading.Lock()  
+      
+    # ==================== 状态属性 ====================  
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播  
+      
+    @property  
+    def status(self) -> str:  
+        return self._status  
+      
+    @property  
+    def power_state(self) -> str:  
+        return self._power_state  
+      
+    @property  
+    def pump_state(self) -> str:  
+        return self._pump_state  
+      
+    @property  
+    def flow_rate(self) -> float:  
+        return self._flow_rate  
+      
+    @property  
+    def target_flow_rate(self) -> float:  
+        return self._target_flow_rate  
+      
+    @property  
+    def pressure(self) -> float:  
+        return self._pressure  
+      
+    @property  
+    def total_volume(self) -> float:  
+        return self._total_volume  
+      
+    @property  
+    def direction(self) -> str:  
+        return self._direction  
+      
+    @property  
+    def max_flow_rate(self) -> float:  
+        return self._max_flow_rate  
+      
+    @property  
+    def max_pressure(self) -> float:  
+        return self._max_pressure  
+      
+    # ==================== 设备控制方法 ====================  
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令  
+      
+    def power_control(self, power_state: str = "On") -> str:  
+        """  
+        电源控制方法  
+          
+        Args:  
+            power_state (str): 电源状态，可选值："On", "Off"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if power_state not in ["On", "Off"]:  
+            self._status = "Error: Invalid power state"  
+            return "Error"  
+        
+        self._power_state = power_state  
+          
+        if power_state == "On":  
+            self._status = "Power On"  
+        else:  
+            self._status = "Power Off"  
+            # 关机时停止所有运行  
+            self.stop_pump()  
+              
+        return "Success"  
+      
+    def set_flow_rate(self, flow_rate: float) -> str:
+        """
+        设置目标流速
+
+        Args:
+            flow_rate (float): 目标流速 (mL/min)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        try:
+            flow_rate = float(flow_rate)
+        except ValueError:
+            self._status = "Error: Invalid flow rate"
+            return "Error"
+
+        if self._power_state != "On":
+            self._status = "Error: Power Off"
+            return "Error"
+
+        if flow_rate < 0 or flow_rate > self._max_flow_rate:
+            self._status = f"Error: Flow rate out of range (0-{self._max_flow_rate})"
+            return "Error"
+
+        self._target_flow_rate = flow_rate
+        self._status = "Setting Flow Rate"
+
+        # 如果设置了非零流速，自动启动泵
+        if flow_rate > 0:
+            # 自动切换泵状态为 "Running" 以触发操作循环
+            self._pump_state = "Running"
+            self._start_pump_operation()
+        else:
+            self.stop_pump()
+
+        return "Success"
+      
+    def start_pump(self) -> str:  
+        """  
+        启动泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        if self._target_flow_rate <= 0:  
+            self._status = "Error: No target flow rate set"  
+            return "Error"  
+          
+        self._pump_state = "Running"  
+        self._status = "Starting Pump"  
+        self._start_pump_operation()  
+          
+        return "Success"  
+      
+    def stop_pump(self) -> str:  
+        """  
+        停止泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._pump_state = "Stopped"  
+        self._status = "Stopping Pump"  
+        self._stop_pump_operation()  
+        self._flow_rate = 0.0  
+        self._pressure = 0.0  
+          
+        return "Success"  
+      
+    def pause_pump(self) -> str:  
+        """  
+        暂停泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._pump_state != "Running":  
+            self._status = "Error: Pump not running"  
+            return "Error"  
+          
+        self._pump_state = "Paused"  
+        self._status = "Pump Paused"  
+        self._stop_pump_operation()  
+          
+        return "Success"  
+      
+    def resume_pump(self) -> str:  
+        """  
+        恢复泵运行  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if self._pump_state != "Paused":  
+            self._status = "Error: Pump not paused"  
+            return "Error"  
+          
+        if self._power_state != "On":  
+            self._status = "Error: Power Off"  
+            return "Error"  
+          
+        self._pump_state = "Running"  
+        self._status = "Resuming Pump"  
+        self._start_pump_operation()  
+          
+        return "Success"  
+      
+    def set_direction(self, direction: str = "Forward") -> str:  
+        """  
+        设置泵方向  
+          
+        Args:  
+            direction (str): 泵方向，可选值："Forward", "Reverse"  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        if direction not in ["Forward", "Reverse"]:  
+            self._status = "Error: Invalid direction"  
+            return "Error"  
+          
+        # 如果泵正在运行，需要先停止  
+        was_running = self._pump_state == "Running"  
+        if was_running:  
+            self.stop_pump()  
+            time.sleep(0.5)  # 等待停止完成  
+          
+        self._direction = direction  
+        self._status = f"Direction set to {direction}"  
+          
+        # 如果之前在运行，重新启动  
+        if was_running:  
+            self.start_pump()  
+          
+        return "Success"  
+      
+    def reset_volume_counter(self) -> str:  
+        """  
+        重置累计流量计数器  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._total_volume = 0.0  
+        self._status = "Volume counter reset"  
+        return "Success"  
+      
+    def emergency_stop(self) -> str:  
+        """  
+        紧急停止  
+          
+        Returns:  
+            str: 操作结果状态 ("Success", "Error")  
+        """  
+        self._status = "Emergency Stop"  
+        self._pump_state = "Stopped"  
+        self._stop_pump_operation()  
+        self._flow_rate = 0.0  
+        self._pressure = 0.0  
+        self._target_flow_rate = 0.0  
+          
+        return "Success"  
+      
+    # ==================== 内部控制方法 ====================  
+      
+    def _start_pump_operation(self):  
+        """  
+        启动泵运行线程  
+          
+        这个方法启动一个后台线程来模拟泵的实际运行过程，  
+        包括流速控制、压力变化和累计流量计算。  
+        """  
+        with self._thread_lock:  
+            if not self._running and self._power_state == "On":  
+                self._running = True  
+                self._pump_thread = threading.Thread(target=self._pump_operation_loop)  
+                self._pump_thread.daemon = True  
+                self._pump_thread.start()  
+      
+    def _stop_pump_operation(self):  
+        """  
+        停止泵运行线程  
+          
+        安全地停止后台运行线程并等待其完成。  
+        """  
+        with self._thread_lock:  
+            self._running = False  
+            if self._pump_thread and self._pump_thread.is_alive():  
+                self._pump_thread.join(timeout=2.0)  
+      
+    def _pump_operation_loop(self):  
+        """  
+        泵运行主循环  
+          
+        这个方法在后台线程中运行，模拟真实泵的工作过程：  
+        1. 逐步调整流速到目标值  
+        2. 根据流速计算压力  
+        3. 累计流量统计  
+        4. 状态更新  
+        """  
+        while self._running and self._power_state == "On" and self._pump_state == "Running":  
+            try:  
+                # 模拟流速调节过程（逐步接近目标流速）  
+                flow_diff = self._target_flow_rate - self._flow_rate  
+                  
+                if abs(flow_diff) < 0.1:  # 流速接近目标值  
+                    self._flow_rate = self._target_flow_rate  
+                    self._status = "At Target Flow Rate"  
+                else:  
+                    # 模拟流速调节，每秒调整10%的差值  
+                    adjustment = flow_diff * 0.1  
+                    self._flow_rate += adjustment  
+                    self._status = "Adjusting Flow Rate"  
+                  
+                # 确保流速在合理范围内  
+                self._flow_rate = max(0.0, min(self._max_flow_rate, self._flow_rate))  
+                  
+                # 模拟压力变化（压力与流速成正比，加上一些随机波动）  
+                base_pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure  
+                pressure_variation = 0.1 * base_pressure * (time.time() % 1.0 - 0.5)  # ±5%波动  
+                self._pressure = max(0.0, base_pressure + pressure_variation)  
+                  
+                # 累计流量计算（每秒更新）  
+                if self._flow_rate > 0:  
+                    volume_increment = self._flow_rate / 60.0  # 转换为mL/s  
+                    if self._direction == "Reverse":  
+                        volume_increment = -volume_increment  
+                    self._total_volume += volume_increment  
+                  
+                # 压力保护检查  
+                if self._pressure > self._max_pressure * 0.95:  
+                    self._status = "Warning: High Pressure"  
+                  
+                # 等待1秒后继续下一次循环  
+                time.sleep(1.0)  
+                  
+            except Exception as e:  
+                self._status = f"Error in pump operation: {str(e)}"  
+                break  
+          
+        # 循环结束时的清理工作  
+        if self._pump_state == "Running":  
+            self._status = "Idle"
+    def get_status_info(self) -> dict:  
+        """  
+        获取完整的设备状态信息  
+          
+        Returns:  
+            dict: 包含所有设备状态的字典  
+        """  
+        return {  
+            "status": self._status,  
+            "power_state": self._power_state,  
+            "pump_state": self._pump_state,  
+            "flow_rate": self._flow_rate,  
+            "target_flow_rate": self._target_flow_rate,  
+            "pressure": self._pressure,  
+            "total_volume": self._total_volume,  
+            "direction": self._direction,  
+            "max_flow_rate": self._max_flow_rate,  
+            "max_pressure": self._max_pressure  
+        }  
+  
+  
+# 用于测试的主函数  
+if __name__ == "__main__":  
+    pump = MockPump()  
+      
+    # 测试基本功能  
+    print("启动泵设备测试...")  
+    pump.power_control("On")  
+    print(f"初始状态: {pump.get_status_info()}")  
+      
+    # 设置流速并启动  
+    pump.set_flow_rate(50.0)  
+    pump.start_pump()  
+      
+    # 模拟运行10秒  
+    for i in range(10):  
+        time.sleep(1)  
+        print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")  
+      
+    # 测试方向切换  
+    print("切换泵方向...")  
+    pump.set_direction("Reverse")  
+      
+    # 继续运行5秒  
+    for i in range(5):  
+        time.sleep(1)  
+        print(f"反向第{i+1}秒: 累计流量={pump.total_volume:.1f}mL, 方向={pump.direction}")  
+      
+    pump.emergency_stop()  
+    print("测试完成")
+    
--- a/unilabos/devices/Mock/MockPump/init.py
+++ b/unilabos/devices/Mock/MockPump/init.py
--- a/Show More
+++ b/Show More