添加缺少物料："plate_well_G12",

Merge branch 'main' into pr/39
Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"
2026-02-04 13:25:13 +00:00 · 2025-06-08 00:45:25 +08:00 · 2025-06-07 23:49:33 +08:00 · 2025-06-07 22:52:59 +08:00 · 2025-06-07 22:52:03 +08:00 · 2025-06-07 22:51:03 +08:00
220 changed files with 19237 additions and 492 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 +230,7 @@ CATKIN_IGNORE

 .DS_Store

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

-*.graphml
+*.graphml
+unilabos/device_mesh/view_robot.rviz
--- 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 +1,93 @@
-# 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-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+
+## 🏆 Competition
+
+Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
+
+## 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 +1,93 @@
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# Uni-Lab-OS
+
+<!-- Language switcher -->
+[English](README.md) | **中文**
+
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+
+Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+
+## 🏆 比赛
+
+欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
+
+## 核心特点
+
+- 多设备集成管理
+- 自动化实验流程
+- 云端连接能力
+- 灵活的配置系统
+- 支持多种实验协议
+
+## 文档
+
+详细文档可在以下位置找到:
+
+- [在线文档](https://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/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/test/experiments/test_moveit.json
+++ b/test/experiments/test_moveit.json
@@ -0,0 +1,35 @@
+{
+    "nodes": [
+
+        {
+            "id": "benyao",
+            "name": "benyao",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "moveit.benyao_arm",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "moveit_type": "benyao_arm",
+                "joint_poses": {
+                    "arm": {
+                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
+                        "pick": [1.2, 0.0, 0.0, 0.0, 0.0]
+                    }
+                },
+                "device_config": {
+                }
+            },
+            "data": {
+            }
+        }
+    ],
+    "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/benyao_arm/config/initial_positions.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml
@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03
--- a/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml
@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
--- a/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
--- a/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
+++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}benyao_arm" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
+++ b/unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="benyao_arm_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/benyao_arm/config/move_group.json
+++ b/unilabos/device_mesh/devices/benyao_arm/config/move_group.json
@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}
--- a/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml
@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true
--- a/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml
@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner
--- a/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57
--- a/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml
@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
--- a/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
+++ b/unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
--- a/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
+++ b/unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
+
+  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${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 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.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://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.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://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.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://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.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://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.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://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.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://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
--- a/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
+++ b/unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
--- 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 +1,209 @@
+<?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 rx:=0 ry:=0 r:=0 mesh_path:=''">
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${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 rx:=0 ry:=0 r:=0" >
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${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/devices/thermo_orbitor_rs2_hotel/hotel.png
+++ b/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/hotel.png
--- a/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
+++ b/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
@@ -0,0 +1,59 @@
+<?xml version='1.0'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="thermo_orbitor_rs2_hotel" 
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
+          mesh_path:=''">
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${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 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'>
+      <visual name='visual'>
+        <origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
+        </geometry>
+        <material name="clay">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
+
+    <xacro:property name="delta" value="0.073" />
+    <xacro:macro name='platetargets' params='num'>
+      <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_${num}_60_1' type='fixed'>
+        <parent link="${station_name}${device_name}base_link"/>
+        <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+        <origin rpy="0 0 ${pi/2}" xyz="-0.002 0.011 ${(num - 1) * delta + 0.038}"/>
+      </joint>
+    </xacro:macro>
+
+    <xacro:platetargets num='1' />
+    <xacro:platetargets num='2' />
+    <xacro:platetargets num='3' />
+    <xacro:platetargets num='4' />
+    <xacro:platetargets num='5' />
+    <xacro:platetargets num='6' />
+    <xacro:platetargets num='7' />
+    <xacro:platetargets num='8' />
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meshes/hotel.glb
+++ b/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meshes/hotel.glb
--- a/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl
+++ b/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl
--- a/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meta.json
+++ b/unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meta.json
@@ -0,0 +1,10 @@
+{
+    "fileName": "thermo_orbitor_rs2_hotel",
+    "related": [
+        "thermo_skyline_stacker",
+        "thermo_cytomat2c_stacker_15",
+        "thermo_fisher_cytomat_stacker_16",
+        "thermo_cytomat2c_stacker_21",
+        "thermo_orbitor_rs2_hotel"
+    ]
+}
--- a/unilabos/device_mesh/devices/toyo_xyz/config/full_dev.urdf.xacro
+++ b/unilabos/device_mesh/devices/toyo_xyz/config/full_dev.urdf.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="full_dev">
+    <xacro:arg name="device_name" default=""/>
+    <xacro:arg name="mesh_path" default="/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh" />
+
+    <xacro:include filename="macro.ros2_control.xacro" />
+
+    <xacro:toyo_xyz_ros2_control device_name="$(arg device_name)" mesh_path="$(arg mesh_path)" />
+
+</robot>
--- a/unilabos/device_mesh/devices/toyo_xyz/config/initial_positions.yaml
+++ b/unilabos/device_mesh/devices/toyo_xyz/config/initial_positions.yaml
@@ -0,0 +1,6 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  slider1_joint: 0
+  slider2_joint: 0
+  slider3_joint: 0
--- a/unilabos/device_mesh/devices/toyo_xyz/config/joint_limits.yaml
+++ b/unilabos/device_mesh/devices/toyo_xyz/config/joint_limits.yaml
@@ -0,0 +1,25 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  slider1_joint:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  slider2_joint:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  slider3_joint:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
--- a/Show More
+++ b/Show More