bump version to 0.9.1

* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* 修复必须两次启动edge后端才有节点生成的bug
新增resources报送

* 新增延迟统计

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

.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.

.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.

.gitignore

@@ -6,6 +6,7 @@ __pycache__/
 .vscode
 *.py[cod]
 *$py.class
+service
 
 # C extensions
 *.so
@@ -229,6 +230,6 @@ CATKIN_IGNORE
 
 .DS_Store
 
-local_config.py
+/**/local_config.py
 
 *.graphml

MANIFEST.in

@@ -0,0 +1,3 @@
+recursive-include unilabos/registry *.yaml
+recursive-include unilabos/app/web *.html
+recursive-include unilabos/app/web *.css

README.md

@@ -1 +1,89 @@
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
 # Uni-Lab-OS
+
+<!-- Language switcher -->
+**English** | [中文](README_zh.md)
+
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+
+Uni-Lab Operating System is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+
+## Key Features
+
+- Multi-device integration management
+- Automated experimental workflows
+- Cloud connectivity capabilities
+- Flexible configuration system
+- Support for multiple experimental protocols
+
+## Documentation
+
+Detailed documentation can be found at:
+
+- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## Quick Start
+
+1. Configure Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+
+```bash
+# Create new environment
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+
+# Currently, you need to install the `unilabos_msgs` package
+# You can download the system-specific package from the Release page
+conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+
+# Install PyLabRobot and other prerequisites
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
+```
+
+2. Install Uni-Lab-OS:
+
+```bash
+# Clone the repository
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
+```
+
+3. Start Uni-Lab System:
+
+Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## Message Format
+
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
+
+## License
+
+This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+
+## Project Statistics
+
+### Stars Trend
+
+<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
+  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
+</a>
+
+## Contact Us
+
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -0,0 +1,89 @@
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# Uni-Lab-OS
+
+<!-- Language switcher -->
+[English](README.md) | **中文**
+
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+
+Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+
+## 核心特点
+
+- 多设备集成管理
+- 自动化实验流程
+- 云端连接能力
+- 灵活的配置系统
+- 支持多种实验协议
+
+## 文档
+
+详细文档可在以下位置找到:
+
+- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## 快速开始
+
+1. 配置Conda环境
+
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+
+```bash
+# 创建新环境
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+
+# 现阶段，需要安装 `unilabos_msgs` 包
+# 可以前往 Release 页面下载系统对应的包进行安装
+conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
+```
+
+2. 安装 Uni-Lab-OS:
+
+```bash
+# 克隆仓库
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
+```
+
+3. 启动 Uni-Lab 系统:
+
+请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## 消息格式
+
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+
+## 许可证
+
+此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+
+## 项目统计
+
+### Stars 趋势
+
+<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
+  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
+</a>
+
+## 联系我们
+
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 

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"
+    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"
+    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"
+    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
+    modules = [
-    
+        "std_msgs.msg",
-    def __post_init__(self):
+        "geometry_msgs.msg",
-        if self.modules is None:
+        "control_msgs.msg",
-            self.modules = [
+        "control_msgs.action",
-                "std_msgs.msg",
+        "nav2_msgs.action",
-                "geometry_msgs.msg",
+        "unilabos_msgs.msg",
-                "control_msgs.msg",
+        "unilabos_msgs.action",
-                "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
+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
-
-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"
 
 # 启动Uni-Lab
 python -m unilabos.app.main --config path/to/your/config.py

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`

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

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.8.0"
+  version: "0.9.1"
 
 source:
   path: ../..

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=[
+    include_package_data=True,
-    #     ('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/*'))
-    # ],
     install_requires=['setuptools'],
     zip_safe=True,
     maintainer='Junhan Chang',
     maintainer_email='changjh@pku.edu.cn',
-    description='TODO: Package description',
+    description='',
-    license='TODO: License declaration',
+    license='GPL v3',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [

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: [ '{}' ] }"
+```

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",
+            "name": "上样盘3",
-            "parent": "Revvity",
+            "parent": "HPLC",
             "type": "plate",
             "class": null,
             "position": {

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_6"
-                "plate_well_11_7"
             ],
             "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": []

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,
+                "x": 0,
-                "y": 171,
+                "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,
+                "x": 0,
-                "y": 171,
+                "y": 0,
-                "z": 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": [

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": [
+        
+    ]
+}

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

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

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

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

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.")

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}")
+    elif "command" in action_kwargs:
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
+        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)

unilabos/app/main.py

@@ -1,18 +1,22 @@
 import argparse
+import asyncio
+import json
 import os
 import signal
 import sys
-import json
+import threading
-import yaml
+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))
+unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
-if ilabos_dir not in sys.path:
+if unilabos_dir not in sys.path:
-    sys.path.append(ilabos_dir)
+    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
+    # 加载配置文件，优先加载config，然后从env读取
-    if args_dict.get("config"):
+    config_path = args_dict.get("config")
-        config_path = args_dict["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.app.web import http_client
-    from unilabos.web import start_server
+    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()
-
+    args_dict["resources_mesh_config"] = {}
-    start_backend(**args_dict)
+    # web visiualize 2D
-    start_server()
+    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__":

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")
+    job_id: str = Field(examples=["job_id"], description="goal uuid")
-    node_id: str = Field(examples=["sfsfsfeq"], description="node 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):

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.controler import job_add
-from unilabos.app.model import JobAddReq, JobAddResp
+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()
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
-        if not isok:
-            logger.error("[MQTT] on_connect ErrorHostNotInit")
-            return
 
-    def _on_message(self, client, userdata, msg):
+    def _on_message(self, client, userdata, msg) -> None:
-        logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+        # 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}")
 
@@ -156,7 +173,7 @@ class MQTTClient:
         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"]
+        self.client.publish(address, json.dumps(action_info), qos=2)
-        action_info["title"] = action_id
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
+
-        self.client.publish(address, action_data, qos=2)
+    def send_ping(self, ping_id: str, timestamp: float):
-        logger.debug(f"Action data published: address: {address}, {action_data}")
+        """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()

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.app.web.pages import setup_web_pages
-from unilabos.web.server import setup_server, start_server
+from unilabos.app.web.server import setup_server, start_server
-from unilabos.web.client import http_client
+from unilabos.app.web.client import http_client
-from unilabos.web.api import setup_api_routes
+from unilabos.app.web.api import setup_api_routes
 
 __all__ = [
     "setup_web_pages",  # 设置Web页面

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()

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()

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.app.web.utils.device_utils import get_registry_info
-from unilabos.web.utils.host_utils import get_host_node_info
+from unilabos.app.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.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
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
-                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)
-
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(

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.app.web.api import setup_api_routes
-from unilabos.web.pages import setup_web_pages
+from unilabos.app.web.pages import setup_web_pages
 
 # 创建FastAPI应用
 app = FastAPI(

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>
@@ -329,7 +333,12 @@
         <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>
@@ -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>
                                 

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:

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,
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
-            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "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"] = {
+        host_info["action_clients"][action_id] = get_action_info(client, full_name=action_id)
-            action_id: get_action_info(client, full_name=action_id)
-        }
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

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] = {
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
-                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:

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):

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
+    reactor_volume = 500.0
-    transfer_flowrate = flowrate = 2500.0
+    transfer_flowrate = flowrate = 2.5
     
     # 开启冷凝器
     pump_action_sequence.append({

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,
+    flowrate: float = 2.5,
-    transfer_flowrate: float = 500.0, 
+    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
+        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 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同）
+        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"

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,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "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,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "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,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "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,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "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,
+                        "volume": 250.0,
-                        "time": 250000.0 / flowrate,
+                        "time": 250.0 / flowrate,
                         # "transfer_flowrate": transfer_flowrate,
                     }
                 }

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 = ""
+    ca_file = ""  # 相对config.py所在目录的路径
-    cert_file = ""
+    cert_file = ""  # 相对config.py所在目录的路径
-    key_file = ""
+    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:
+        if len(MQConfig.ca_file) != 0:
-            MQConfig.ca_content = f.read()
+            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:
+        if len(MQConfig.ca_file) != 0:
-            MQConfig.cert_content = f.read()
+            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:
+        if len(MQConfig.ca_file) != 0:
-            MQConfig.key_content = f.read()
+            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")
+            logger.error(f"[ENV] 配置文件 {config_path} 不存在")
-            return
+            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:
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
-            import unilabos.config.local_config as local_config  # type: ignore
+        load_config(config_path)
-
-            _update_config_from_module(local_config)
-            logger.info("已加载默认配置 unilabos.config.local_config")
-        except ImportError:
-            pass

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"
+    }
+}

unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro

@@ -0,0 +1,210 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="opentrons_liquid_handler" 
+  params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}main_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name='${station_name}${device_name}main_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}first_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}second_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    
+    <link name='${station_name}${device_name}third_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='${station_name}${device_name}fourth_link'>
+      <visual>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
+          </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name='${station_name}${device_name}first_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}first_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 -1 0"/>
+      <limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}second_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}first_link"/>
+      <child link="${station_name}${device_name}second_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}third_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}third_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+    <joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
+      <parent link="${station_name}${device_name}second_link"/>
+      <child link="${station_name}${device_name}fourth_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
+    </joint>
+
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
+    </joint>
+    <joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
+      <origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
+    </joint>
+
+
+    <link name='${station_name}${device_name}socketTypeHEPAModule'/>
+    <joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
+      <parent link="${station_name}${device_name}main_link"/>
+      <child link="${station_name}${device_name}socketTypeHEPAModule"/>
+      <origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
+    </joint>
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json

@@ -0,0 +1,10 @@
+{
+    "private_param":
+    {
+
+    },
+    "public_param": 
+    {
+
+    }
+}

unilabos/device_mesh/devices/slide_w140/joint_config.json

@@ -0,0 +1,6 @@
+{
+    "slider_joint": {
+        "child":"slider",
+        "axis" : "x"
+    }
+}

unilabos/device_mesh/devices/slide_w140/macro_device.xacro

@@ -0,0 +1,136 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from slide.urdf                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
+
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="${-min_d}  0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}base_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}base_link">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
+        <mass value="0.88697"/>
+        <inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${station_name}${device_name}slider">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
+        <mass value="0.27913"/>
+        <inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slider_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slider"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="100" lower="0" upper="${length}" velocity="1"/>
+    </joint>
+    <link name="${station_name}${device_name}length">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
+        <mass value="0.050532"/>
+        <inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}length_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}length"/>
+    </joint>
+    <link name="${station_name}${device_name}slide_end">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
+        <mass value="0.055452"/>
+        <inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}slide_end_joint" type="fixed">
+      <origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
+      <parent link="${station_name}${device_name}base_link"/>
+      <child link="${station_name}${device_name}slide_end"/>
+    </joint>
+
+  </xacro:macro>
+</robot>

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
+    }
+}

unilabos/device_mesh/resource_visalization.py

@@ -0,0 +1,174 @@
+import os
+from pathlib import Path
+from launch import LaunchService
+from launch import LaunchDescription
+from launch_ros.actions import Node as nd
+import xacro
+from lxml import etree
+
+from unilabos.registry.registry import lab_registry
+
+
+class ResourceVisualization:
+    def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
+        """初始化资源可视化类
+        
+        该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
+        从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
+        
+        Args:
+            device (dict): 设备配置字典,包含设备的类型、位置等信息
+            resource (dict): 资源配置字典,包含资源的类型、位置等信息 
+            registry (dict): 注册表字典,包含设备和资源类型的注册信息
+            enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
+        """
+        self.launch_service = LaunchService()
+        self.launch_description = LaunchDescription()
+        self.resource_dict = resource
+        self.resource_model = {}
+        self.resource_type = ['deck', 'plate', 'container']
+        self.mesh_path = Path(__file__).parent.absolute()
+        self.enable_rviz = enable_rviz
+        registry = lab_registry
+
+        self.srdf_str = '''
+        <?xml version="1.0" encoding="UTF-8"?>
+        <robot name="minimal">
+
+        </robot>
+        '''
+        self.robot_state_str= '''<?xml version="1.0" ?>
+        <robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
+        <link name="world"/>
+        </robot>
+        '''
+        self.root = etree.fromstring(self.robot_state_str)
+                
+        xacro_uri = self.root.nsmap["xacro"]
+
+        # 遍历设备节点
+        for node in device.values():
+            if node['type'] == 'device' and node['class'] != '':
+                device_class = node['class']
+                # 检查设备类型是否在注册表中
+                if device_class not in registry.device_type_registry.keys():
+                    raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
+            elif node['type'] in self.resource_type:
+                # print(registry.resource_type_registry)
+                resource_class = node['class']
+                if resource_class not in registry.resource_type_registry.keys():
+                    raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
+                elif "model" in registry.resource_type_registry[resource_class].keys():
+                    model_config = registry.resource_type_registry[resource_class]['model']
+                    if model_config['type'] == 'resource':
+                        self.resource_model[node['id']] = {
+                            'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
+                            'mesh_tf': model_config['mesh_tf']}
+                        if 'children_mesh' in model_config:
+                            if model_config['children_mesh'] is not None:
+                                self.resource_model[f"{node['id']}_"] = {
+                                    'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
+                                    'mesh_tf': model_config['children_mesh_tf']
+                                }
+                    elif model_config['type'] == 'device':
+                        new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
+                        new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
+                        new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
+                        new_dev.set("parent_link", "world")
+                        new_dev.set("mesh_path", str(self.mesh_path))
+                        new_dev.set("device_name", node["id"]+"_")
+                        new_dev.set("station_name", node["parent"]+'_')
+                        new_dev.set("x",str(float(node["position"]["x"])/1000))
+                        new_dev.set("y",str(float(node["position"]["y"])/1000))
+                        new_dev.set("z",str(float(node["position"]["z"])/1000))
+                        if "rotation" in node["config"]:
+                            new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
+                    else:
+                        print("错误的注册表类型！")
+        re = etree.tostring(self.root, encoding="unicode")
+        doc = xacro.parse(re)
+        xacro.process_doc(doc)
+        self.urdf_str = doc.toxml()
+
+
+    def create_launch_description(self, urdf_str: str) -> LaunchDescription:
+        """
+        创建launch描述，包含robot_state_publisher和move_group节点
+
+        Args:
+            urdf_str: URDF文本
+
+        Returns:
+            LaunchDescription: launch描述对象
+        """
+
+        
+        # 解析URDF文件
+        robot_description = urdf_str
+
+        # 创建robot_state_publisher节点
+        robot_state_publisher = nd(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'use_sim_time': False
+            }]
+        )
+
+        # joint_state_publisher_node = nd(
+        #     package='joint_state_publisher_gui',  # 或 joint_state_publisher
+        #     executable='joint_state_publisher_gui',
+        #     name='joint_state_publisher',
+        #     output='screen'
+        # )
+        # 创建move_group节点
+        move_group = nd(
+            package='moveit_ros_move_group',
+            executable='move_group',
+            output='screen',
+            parameters=[{
+                'robot_description': robot_description,
+                'robot_description_semantic': self.srdf_str,
+                'capabilities': '',
+                'disable_capabilities': '',
+                'monitor_dynamics': False,
+                'publish_monitored_planning_scene': True,
+                'publish_robot_description_semantic': True,
+                'publish_planning_scene': True,
+                'publish_geometry_updates': True,
+                'publish_state_updates': True,
+                'publish_transforms_updates': True,
+            }]
+        )
+
+        # 将节点添加到launch描述中
+        self.launch_description.add_action(robot_state_publisher)
+        # self.launch_description.add_action(joint_state_publisher_node)
+        self.launch_description.add_action(move_group)
+
+        # 如果启用RViz,添加RViz节点
+        if self.enable_rviz:
+            rviz_node = nd(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
+                output='screen'
+            )
+            self.launch_description.add_action(rviz_node)
+
+        return self.launch_description
+
+    def start(self) -> None:
+        """
+        启动可视化服务
+
+        Args:
+            urdf_str: URDF文件路径
+        """
+        launch_description = self.create_launch_description(self.urdf_str)
+        self.launch_service.include_launch_description(launch_description)
+        self.launch_service.run()

unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json

@@ -0,0 +1,22 @@
+{
+    "fileName": "generic_labware_tube_10_75",
+    "related": [
+        "generic_labware_0.5ml_screw_cap_tube",
+        "generic_labware_0.5ml_tube_rack",
+        "generic_labware_12_well_plate",
+        "sarstedt_14x200mm_tube",
+        "sarstedt_18x200mm_tube",
+        "generic_labware_1ml_tube_rack",
+        "generic_labware_24_well_plate",
+        "generic_labware_2ml_screw_cap_tube",
+        "generic_labware_5ml_screw_cap_tube",
+        "generic_labware_6_well_plate",
+        "generic_labware_96_well_square",
+        "generic_labware_96_well_pcr_plate_round",
+        "generic_labware_framedtiprack",
+        "generic_labware_plate_lid",
+        "generic_labware_reservoir",
+        "generic_labware_tip_box",
+        "generic_labware_tube_10_75"
+    ]
+}

unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_labware_tube_10_75">
+    <link name='0_base_link'>
+        <visual name='visual'>
+            <geometry>
+                <mesh filename="meshes/0_base.stl"/>
+            </geometry>
+            <material name="clay" />
+        </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json

@@ -0,0 +1,86 @@
+{
+    "fileName": "tecan_nested_tip_rack",
+    "related": [
+        "tecan_techrom",
+        "tecan_holder_transfer_tool",
+        "tecan_fluent_9_grid_segment_cutout",
+        "tecan_fluent_centric_gripper",
+        "tecan_fluent_eccentric_gripper",
+        "tecan_evo100",
+        "tecan_fluent_mp_diti_nest_segment",
+        "tecan_fluent_4x100_trough",
+        "tecan_fluent_1080_extended",
+        "tecan_fluent_1_1_1000_trough",
+        "tecan_fluent_50ml_tube_runner_10_v2",
+        "tecan_fluent_15ml_tube_runner_16_v2",
+        "tecan_fluent_1_16_16_tube_runner",
+        "tecan_fluent_1.5ml_tube_runner_v2",
+        "tecan_fluent_1_24_10_tube_runner",
+        "tecan_fluent_1_24_13_tube_runner",
+        "tecan_fluent_3x320_reagent_trough_v2",
+        "tecan_fluent_32_tube_runner_v2",
+        "tecan_fluent_1_4_100_trough",
+        "tecan_fluent_2_grid_segment",
+        "tecan_fluent_2_4_100_trough_waste",
+        "tecan_fluent_3_grid_segment",
+        "tecan_fluent_nest_waste_segment_v2",
+        "tecan_fluent_320ml_reagent_trough",
+        "tecan_fluent_4_landscape_61mm_nest_segment",
+        "tecan_fluent_4_landscape_61mm_nest_segment_waste",
+        "tecan_fluent_4_landscape_7mm_nest_segment",
+        "tecan_fluent_4_landscape_7mm_nest_segment_waste",
+        "tecan_fluent_hotel_deck_4",
+        "tecan_fluent_480_extended",
+        "tecan_fluent_4x100_reagent_trough_v2",
+        "tecan_fluent_5_landscape_61mm_nest_segment",
+        "tecan_fluent_5_landscape_7mm_nest_segment",
+        "tecan_fluent_hotel_deck_5",
+        "tecan_fluent_6_grid_segment",
+        "tecan_fluent_nest_landscape_segment_v2",
+        "tecan_fluent_6_landscape_7mm_nest_segment",
+        "tecan_fluent_deck_segment_6_v2",
+        "tecan_fluent_fca_diti_segment_v2",
+        "tecan_fluent_6_nest_incubator",
+        "tecan_fluent_plate_nest",
+        "tecan_fluent_780_extended",
+        "tecan_fluent_plate_holder",
+        "tecan_fluent_8_grid_segment",
+        "tecan_fluent_8_grid_segment_evo",
+        "tecan_fluent_hotel_deck_9",
+        "tecan_carousel",
+        "tecan_carousel_stacker_10",
+        "tecan_carousel_stacker_25",
+        "tecan_carousel_stacker_6",
+        "tecan_fluent_coolheat_microplate_segment_v2",
+        "tecan_fluent_fca_diti_tray",
+        "tecan_fluent_trough_waste",
+        "tecan_fluent_id_left",
+        "tecan_fluent_id_middle",
+        "tecan_fluent_lower_6_grid_v2",
+        "tecan_fluent_mc384_nest",
+        "tecan_fluent_mca_44mm_nest",
+        "tecan_fluent_deck_segment_4_v2",
+        "tecan_fluent_mca_base_segment_384_v2",
+        "tecan_fluent_waste_module",
+        "tecan_fluent_reagent_block",
+        "tecan_fluent_tube_grippers",
+        "tecan_fluent_washstation_waste_v2",
+        "tecan_carrier_additive_trough_3_pce_max_100ml",
+        "tecan_carrier_384_well_mp_3_pos_accessible_roma",
+        "tecan_carrier_rack_3_diti_width_6",
+        "tecan_transport_box_diti_tray_1000ul",
+        "tecan_transport_box_diti_tray_200ul",
+        "tecan_magicprep_ngs_sample_deck",
+        "tecan_fluent_shelf_large",
+        "tecan_fluent_shelf_small",
+        "tecan_spacer_29_9_te_chrom",
+        "tecan_teshake_adapter_2",
+        "tecan_teshake_base",
+        "tecan_tevacs_base",
+        "tecan_tevacs_plate_park",
+        "tecan_tevacs_spacer",
+        "tecan_tevacs_vacuum",
+        "tecan_tip_box",
+        "tecan_nested_tip_rack"
+    ]
+}

unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tecan_nested_tip_rack">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/view_robot.rviz

@@ -0,0 +1,387 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1
+        - /TF1/Tree1
+        - /RobotModel1
+        - /PlanningScene1
+        - /PlanningScene1/Scene Geometry1
+        - /RobotState1
+        - /RobotState1/Links1
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+      Splitter Ratio: 0.5
+    Tree Height: 345
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: false
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: false
+      Value: false
+    - Attached Body Color: 150; 50; 150
+      Class: moveit_rviz_plugin/RobotState
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotState
+      Robot Alpha: 1
+      Robot Description: robot_description
+      Robot State Topic: display_robot_state
+      Show All Links: true
+      Show Highlights: true
+      Value: false
+      Visual Enabled: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 3x
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: ""
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.0284695625305176
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.29730814695358276
+        Y: 0.21228469908237457
+        Z: 0.20008830726146698
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.38979560136795044
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.06074193865060806
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1656
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2518
+  X: 385
+  Y: 120

unilabos/devices/agv/ur_arm_task.py

@@ -77,9 +77,6 @@ class UrArmTask():
                 if n > retry:
                     raise Exception('Can not connect to the arm info server!')
                 
-        self.pose_data = {}
-        self.pose_file = 'C:\\auto\\unilabos\\unilabos\\devices\\agv\\pose.json'
-        self.reload_pose()
         self.dash_c.stop()
 
     def arm_init(self):

unilabos/devices/laiyu_add_solid/laiyu.py

@@ -0,0 +1,304 @@
+import serial
+import time
+import pandas as pd
+
+
+class Laiyu:
+    @property
+    def status(self) -> str:
+        return ""
+    
+
+    def __init__(self, port, baudrate=115200, timeout=0.5):
+        """
+        初始化串口参数，默认波特率115200，8位数据位、1位停止位、无校验
+        """
+        self.ser = serial.Serial(port, baudrate=baudrate, timeout=timeout)
+    
+    def calculate_crc(self, data: bytes) -> bytes:
+        """
+        计算Modbus CRC-16，返回低字节和高字节（little-endian）
+        """
+        crc = 0xFFFF
+        for pos in data:
+            crc ^= pos
+            for _ in range(8):
+                if crc & 0x0001:
+                    crc = (crc >> 1) ^ 0xA001
+                else:
+                    crc >>= 1
+        return crc.to_bytes(2, byteorder='little')
+    
+    def send_command(self, command: bytes) -> bytes:
+        """
+        构造完整指令帧（加上CRC校验），发送指令后一直等待设备响应，直至响应结束或超时（最大3分钟）
+        """
+        crc = self.calculate_crc(command)
+        full_command = command + crc
+        # 清空接收缓存
+        self.ser.reset_input_buffer()
+        self.ser.write(full_command)
+        print("发送指令：", full_command.hex().upper())  # 打印发送的指令帧
+        
+        # 持续等待响应，直到连续0.5秒没有新数据或超时（3分钟）
+        start_time = time.time()
+        last_data_time = time.time()
+        response = bytearray()
+        while True:
+            if self.ser.in_waiting > 0:
+                new_data = self.ser.read(self.ser.in_waiting)
+                response.extend(new_data)
+                last_data_time = time.time()
+            # 如果已有数据，并且0.5秒内无新数据，则认为响应结束
+            if response and (time.time() - last_data_time) > 0.5:
+                break
+            # 超过最大等待时间，退出循环
+            if time.time() - start_time > 180:
+                break
+            time.sleep(0.1)
+        return bytes(response)
+
+    def pick_powder_tube(self, int_input: int) -> bytes:
+        """
+        拿取粉筒指令：
+         - 功能码06
+         - 寄存器地址0x0037（取粉筒）
+         - 数据：粉筒编号（如1代表A，2代表B，以此类推）
+        示例：拿取A粉筒指令帧：01 06 00 37 00 01 + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x06
+        register_addr = 0x0037
+        # 数据部分：粉筒编号转换为2字节大端
+        data = int_input.to_bytes(2, byteorder='big')
+        command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
+        return self.send_command(command)
+    
+    def put_powder_tube(self, int_input: int) -> bytes:
+        """
+        放回粉筒指令：
+         - 功能码06
+         - 寄存器地址0x0038（放回粉筒）
+         - 数据：粉筒编号
+        示例：放回A粉筒指令帧：01 06 00 38 00 01 + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x06
+        register_addr = 0x0038
+        data = int_input.to_bytes(2, byteorder='big')
+        command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
+        return self.send_command(command)
+
+    def reset(self) -> bytes:
+        """
+        重置指令：
+         - 功能码   0x06
+         - 寄存器地址 0x0042 （示例中用了 00 42）
+         - 数据     0x0001
+        示例发送：01 06 00 42 00 01 E8 1E
+        """
+        slave_addr    = 0x01
+        function_code = 0x06
+        register_addr = 0x0042               # 对应示例中的 00 42
+        payload       = (0x0001).to_bytes(2, 'big')  # 重置命令
+
+        cmd = (
+            bytes([slave_addr, function_code])
+            + register_addr.to_bytes(2, 'big')
+            + payload
+        )
+        return self.send_command(cmd)
+
+
+    def move_to_xyz(self, x: float, y: float, z: float) -> bytes:
+        """
+        移动到指定位置指令：
+         - 功能码10（写多个寄存器）
+         - 寄存器起始地址0x0030
+         - 寄存器数量：3个（x,y,z）
+         - 字节计数：6
+         - 数据：x,y,z各2字节，单位为0.1mm（例如1mm对应数值10）
+        示例帧：01 10 00 30 00 03 06 00C8 02BC 02EE + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x10
+        register_addr = 0x0030
+        num_registers = 3
+        byte_count = num_registers * 2  # 6字节
+        
+        # 将mm转换为0.1mm单位（乘以10），转换为2字节大端表示
+        x_val = int(x * 10)
+        y_val = int(y * 10)
+        z_val = int(z * 10)
+        data = x_val.to_bytes(2, 'big') + y_val.to_bytes(2, 'big') + z_val.to_bytes(2, 'big')
+        
+        command = (bytes([slave_addr, function_code]) +
+                   register_addr.to_bytes(2, 'big') +
+                   num_registers.to_bytes(2, 'big') +
+                   byte_count.to_bytes(1, 'big') +
+                   data)
+        return self.send_command(command)
+    
+    def discharge(self, float_in: float) -> bytes:
+        """
+        出料指令：
+        - 使用写多个寄存器命令（功能码 0x10）
+        - 寄存器起始地址设为 0x0039
+        - 寄存器数量为 0x0002（两个寄存器：出料质量和误差范围）
+        - 字节计数为 0x04（每个寄存器2字节，共4字节）
+        - 数据：出料质量（单位0.1mg，例如10mg对应100，即0x0064）、误差范围固定为0x0005
+        示例发送帧：01 10 00 39 0002 04 00640005 + CRC
+        """
+        mass = float_in
+        slave_addr = 0x01
+        function_code = 0x10            # 修改为写多个寄存器的功能码
+        start_register = 0x0039         # 寄存器起始地址
+        quantity = 0x0002               # 寄存器数量
+        byte_count = 0x04               # 字节数：2寄存器*2字节=4
+        mass_val = int(mass * 10)       # 质量转换，单位0.1mg
+        error_margin = 5                # 固定误差范围，0x0005
+
+        command = (bytes([slave_addr, function_code]) +
+                start_register.to_bytes(2, 'big') +
+                quantity.to_bytes(2, 'big') +
+                byte_count.to_bytes(1, 'big') +
+                mass_val.to_bytes(2, 'big') +
+                error_margin.to_bytes(2, 'big'))
+        return self.send_command(command)
+
+
+    '''
+    示例：这个是标智96孔板的坐标转换，但是不同96孔板的坐标可能不同
+    所以需要根据实际情况进行修改
+    '''
+
+    def move_to_plate(self, string):
+        #只接受两位数的str，比如a1，a2，b1，b2
+        # 解析位置字符串
+        if len(string) != 2 and len(string) != 3:
+            raise ValueError("Invalid plate position")
+        if not string[0].isalpha() or not string[1:].isdigit():
+            raise ValueError("Invalid plate position")
+        a = string[0]  # 字母部分s
+        b = string[1:]  # 数字部分
+
+        if a.isalpha():
+            a = ord(a.lower()) - ord('a') + 1
+        else:
+            print('1')
+            raise ValueError("Invalid plate position")
+        a = int(a)
+        b = int(b)
+        # max a = 8, max b = 12, 否则报错
+        if a > 8 or b > 12:
+            print('2')
+            raise ValueError("Invalid plate position")
+        # 计算移动到指定位置的坐标
+        #  a=1, x=3.0; a=12, x=220.0
+        #  b=1, y=62.0; b=8, y=201.0
+        # z = 110.0
+        x = float((b-1) * (220-4.0)/11 + 4.0)
+        y = float((a-1) * (201.0-62.0)/7 + 62.0)
+        z = 110.0
+        # 移动到指定位置
+        resp_move = self.move_to_xyz(x, y, z)
+        print("移动位置响应：", resp_move.hex().upper())
+        # 打印移动到指定位置的坐标
+        print(f"移动到位置：{string}，坐标：x={x:.2f}, y={y:.2f}, z={z:.2f}")
+        return resp_move
+
+    def add_powder_tube(self, powder_tube_number, target_tube_position, compound_mass):
+        # 拿取粉筒
+        resp_pick = self.pick_powder_tube(powder_tube_number)
+        print("拿取粉筒响应：", resp_pick.hex().upper())
+        time.sleep(1)
+        # 移动到指定位置
+        self.move_to_plate(target_tube_position)
+        time.sleep(1)
+        # 出料，设定质量
+        resp_discharge = self.discharge(compound_mass)
+        print("出料响应：", resp_discharge.hex().upper())
+        # 使用modbus协议读取实际出料质量
+        # 样例 01 06 00 40 00 64 89 F5，其中 00 64 是实际出料质量，换算为十进制为100，代表10 mg
+        # 从resp_discharge读取实际出料质量
+        # 提取字节4和字节5的两个字节
+        actual_mass_raw = int.from_bytes(resp_discharge[4:6], byteorder='big')
+        # 根据说明，将读取到的数据转换为实际出料质量（mg），这里除以10，例如：0x0064 = 100，转换后为10 mg
+        actual_mass_mg = actual_mass_raw / 10
+        print(f"孔位{target_tube_position}，实际出料质量：{actual_mass_mg}mg")
+        time.sleep(1)
+        # 放回粉筒
+        resp_put = self.put_powder_tube(powder_tube_number)
+        print("放回粉筒响应：", resp_put.hex().upper())
+        print(f"放回粉筒{powder_tube_number}")
+        resp_reset = self.reset()
+        return actual_mass_mg
+
+
+
+'''
+样例：对单个粉筒进行称量
+'''
+
+modbus = Laiyu(port="COM25") 
+
+mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
+print(f"实际出料质量：{mass_test}mg")
+
+
+'''
+样例: 对一份excel文件记录的化合物进行称量
+'''
+
+excel_file = r"C:\auto\laiyu\test1.xlsx"
+# 定义输出文件路径，用于记录实际加样多少
+output_file = r"C:\auto\laiyu\test_output.xlsx"
+
+# 定义物料名称和料筒位置关系
+compound_positions = {
+    'XPhos': '1',
+    'Cu(OTf)2': '2',
+    'CuSO4': '3',
+    'PPh3': '4',
+}
+
+# read excel file
+# excel_file = r"C:\auto\laiyu\test.xlsx"
+df = pd.read_excel(excel_file, sheet_name='Sheet1')
+# 读取Excel文件中的数据
+# 遍历每一行数据
+for index, row in df.iterrows():
+    # 获取物料名称和质量
+    copper_name = row['copper']
+    copper_mass = row['copper_mass']
+    ligand_name = row['ligand']
+    ligand_mass = row['ligand_mass']
+    target_tube_position = row['position']
+    # 获取物料位置 from compound_positions
+    copper_position = compound_positions.get(copper_name)
+    ligand_position = compound_positions.get(ligand_name)
+    # 判断物料位置是否存在
+    if copper_position is None:
+        print(f"物料位置不存在：{copper_name}")
+        continue
+    if ligand_position is None:
+        print(f"物料位置不存在：{ligand_name}")
+        continue
+    # 加铜
+    copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
+    time.sleep(1)
+    # 加配体
+    ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
+    time.sleep(1)
+    # 保存至df
+    df.at[index, 'copper_actual_mass'] = copper_actual_mass
+    df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
+
+# 保存修改后的数据到新的Excel文件
+df.to_excel(output_file, index=False)
+print(f"已保存到文件：{output_file}")
+
+# 关闭串口
+modbus.ser.close()
+print("串口已关闭")
+

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -0,0 +1,355 @@
+from __future__ import annotations
+
+from typing import List, Sequence, Optional, Literal, Union, Iterator
+
+import asyncio
+import time
+
+from pylabrobot.liquid_handling import LiquidHandler
+from pylabrobot.resources import (
+    Resource,
+    TipRack,
+    Container,
+    Coordinate,
+    Well
+)
+
+class LiquidHandlerAbstract(LiquidHandler):
+    """Extended LiquidHandler with additional operations."""
+
+    # ---------------------------------------------------------------
+    # REMOVE LIQUID --------------------------------------------------
+    # ---------------------------------------------------------------
+
+    async def remove_liquid(
+        self,
+        vols: List[float],
+        sources: Sequence[Container],
+        waste_liquid: Optional[Container] = None,
+        *,
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
+        delays: Optional[List[int]] = None,
+        is_96_well: Optional[bool] = False,
+        top: Optional[List(float)] = None,
+        none_keys: List[str] = []
+    ):
+        """A complete *remove* (aspirate → waste) operation."""
+        trash = self.deck.get_trash_area()
+        try:
+            if is_96_well:
+                pass # This mode is not verified
+            else:
+                if len(vols) != len(sources):
+                    raise ValueError("Length of `vols` must match `sources`.")
+
+                for src, vol in zip(sources, vols):
+                    self.move_to(src, dis_to_top=top[0] if top else 0)
+                    tip = next(self.current_tip)
+                    await self.pick_up_tips(tip)
+                    await self.aspirate(
+                        resources=[src],
+                        vols=[vol],
+                        use_channels=use_channels, # only aspirate96 used, default to None
+                        flow_rates=[flow_rates[0]] if flow_rates else None,
+                        offsets=[offsets[0]] if offsets else None,
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
+                        blow_out_air_volume=blow_out_air_volume[0] if blow_out_air_volume else None,
+                        spread=spread,
+                    )
+                    await self.custom_delay(seconds=delays[0] if delays else 0)
+                    await self.dispense(
+                        resources=waste_liquid,
+                         vols=[vol],
+                         use_channels=use_channels,
+                         flow_rates=[flow_rates[1]] if flow_rates else None,
+                         offsets=[offsets[1]] if offsets else None,
+                         liquid_height=[liquid_height[1]] if liquid_height else None,
+                         blow_out_air_volume=blow_out_air_volume[1] if blow_out_air_volume else None,
+                         spread=spread,
+                     )
+                    await self.discard_tips() # For now, each of tips is discarded after use
+
+        except Exception as e:
+            raise RuntimeError(f"Liquid removal failed: {e}") from e
+
+    # ---------------------------------------------------------------
+    # ADD LIQUID -----------------------------------------------------
+    # ---------------------------------------------------------------
+
+    async def add_liquid(
+        self,
+        asp_vols: Union[List[float], float],
+        dis_vols: Union[List[float], float],
+        reagent_sources: Sequence[Container],
+        targets: Sequence[Container],
+        *,
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
+        is_96_well: bool = False,
+        delays: Optional[List[int]] = None,
+        mix_time: Optional[int] = None,
+        mix_vol: Optional[int] = None,
+        mix_rate: Optional[int] = None,
+        mix_liquid_height: Optional[float] = None,
+        none_keys: List[str] = []
+    ):
+        """A complete *add* (aspirate reagent → dispense into targets) operation."""
+
+        try:
+            if is_96_well:
+                pass # This mode is not verified.
+            else:
+                if len(asp_vols) != len(targets):
+                    raise ValueError("Length of `vols` must match `targets`.")
+                tip = next(self.current_tip)
+                await self.pick_up_tips(tip)
+
+                for _ in range(len(targets)):
+                    await self.aspirate(
+                        resources=reagent_sources,
+                        vols=[asp_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[flow_rates[0]] if flow_rates else None,
+                        offsets=[offsets[0]] if offsets else None,
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
+                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
+                        spread=spread
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[0])
+                    await self.dispense(
+                        resources=[targets[_]],
+                        vols=[dis_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[flow_rates[1]] if flow_rates else None,
+                        offsets=[offsets[1]] if offsets else None,
+                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
+                        liquid_height=[liquid_height[1]] if liquid_height else None,
+                        spread=spread,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.mix(
+                        targets=targets[_],
+                        mix_time=mix_time,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None)
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.touch_tip(targets[_])
+                await self.discard_tips()
+
+        except Exception as e:
+            raise RuntimeError(f"Liquid addition failed: {e}") from e
+
+    # ---------------------------------------------------------------
+    # TRANSFER LIQUID ------------------------------------------------
+    # ---------------------------------------------------------------
+    async def transfer_liquid(
+        self,
+        asp_vols: Union[List[float], float],
+        dis_vols: Union[List[float], float],
+        sources: Sequence[Container],
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        *,
+        use_channels: Optional[List[int]] = None,
+        asp_flow_rates: Optional[List[Optional[float]]] = None,
+        dis_flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        touch_tip: bool = False,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Literal["wide", "tight", "custom"] = "wide",
+        is_96_well: bool = False,
+        mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
+        mix_times: Optional[List(int)] = None,
+        mix_vol: Optional[int] = None,
+        mix_rate: Optional[int] = None,
+        mix_liquid_height: Optional[float] = None,
+        delays: Optional[List[int]] = None,
+        none_keys: List[str] = []
+    ):
+        """Transfer liquid from each *source* well/plate to the corresponding *target*.
+
+        Parameters
+        ----------
+        asp_vols, dis_vols
+            Single volume (µL) or list matching the number of transfers.
+        sources, targets
+            Same‑length sequences of containers (wells or plates). In 96‑well mode
+            each must contain exactly one plate.
+        tip_racks
+            One or more TipRacks providing fresh tips.
+        is_96_well
+            Set *True* to use the 96‑channel head.
+        """
+
+        try:
+            # ------------------------------------------------------------------
+            # 96‑channel head mode
+            # ------------------------------------------------------------------
+            if is_96_well:
+                pass # This mode is not verified
+            else:
+                if not (len(asp_vols) == len(sources) and len(dis_vols) == len(targets)):
+                    raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
+
+                tip_iter = self.iter_tips(tip_racks)
+                for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in (
+                        zip(sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates)):
+                    tip = next(tip_iter)
+                    await self.pick_up_tips(tip)
+                    # Aspirate from source
+                    await self.aspirate(
+                        resources=[src],
+                        vols=[asp_vol],
+                        use_channels=use_channels,
+                        flow_rates=[asp_flow_rate],
+                        offsets=offsets,
+                        liquid_height=liquid_height,
+                        blow_out_air_volume=blow_out_air_volume,
+                        spread=spread,
+                    )
+                    self.custom_delay(seconds=delays[0] if delays else 0)
+                    # Dispense into target
+                    await self.dispense(
+                        resources=[tgt],
+                        vols=[dis_vol],
+                        use_channels=use_channels,
+                        flow_rates=[dis_flow_rate],
+                        offsets=offsets,
+                        liquid_height=liquid_height,
+                        blow_out_air_volume=blow_out_air_volume,
+                        spread=spread,
+                    )
+                    await self.mix(
+                        targets=[tgt],
+                        mix_time=mix_times[0] if mix_times else None,
+                        mix_vol=mix_vol[0] if mix_vol else None,
+                        mix_rate=mix_rate[0] if mix_rate else None,
+                    )
+                    if touch_tip:
+                        await self.touch_tip(tgt)
+                    await self.discard_tips()
+
+        except Exception as exc:
+            raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
+
+# ---------------------------------------------------------------
+# Helper utilities
+# ---------------------------------------------------------------
+
+    async def custom_delay(self, seconds=0, msg=None):
+        """
+        seconds: seconds to wait
+        msg: information to be printed
+        """
+        if seconds != None and seconds > 0:
+            if msg:
+                print(f"Waiting time: {msg}")
+                print(f"Current time: {time.strftime('%H:%M:%S')}")
+                print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
+            await asyncio.sleep(seconds)
+            if msg:
+                print(f"Done: {msg}")
+                print(f"Current time: {time.strftime('%H:%M:%S')}")
+
+    async def touch_tip(self,
+                        targets: Sequence[Container],
+                        ):
+        """Touch the tip to the side of the well."""
+        await self.aspirate(
+            resources=[targets],
+            vols=[0],
+            use_channels=None,
+            flow_rates=None,
+            offsets=[Coordinate(x=-targets.get_size_x()/2,y=0,z=0)],
+            liquid_height=None,
+            blow_out_air_volume=None
+        )
+        #await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
+        await self.aspirate(
+            resources=[targets],
+            vols=[0],
+            use_channels=None,
+            flow_rates=None,
+            offsets=[Coordinate(x=targets.get_size_x()/2,y=0,z=0)],
+            liquid_height=None,
+            blow_out_air_volume=None
+        )
+
+    async def mix(
+        self,
+        targets: Sequence[Container],
+        mix_time: int = None,
+        mix_vol: Optional[int] = None,
+        height_to_bottom: Optional[float] = None,
+        offsets: Optional[Coordinate] = None,
+        mix_rate: Optional[float] = None,
+        none_keys: List[str] = []
+    ):
+        if mix_time is None: # No mixing required
+            return
+        """Mix the liquid in the target wells."""
+        for _ in range(mix_time):
+            await self.aspirate(
+                resources=[targets],
+                vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
+                offsets=[offsets] if offsets else None,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
+            )
+            await self.custom_delay(seconds=1)
+            await self.dispense(
+                resources=[targets],
+                vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
+                offsets=[offsets] if offsets else None,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
+            )
+
+    def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
+        """Yield tips from a list of TipRacks one-by-one until depleted."""
+        for rack in tip_racks:
+            for tip in rack:
+                yield tip
+        raise RuntimeError("Out of tips!")
+
+    def set_tiprack(self, tip_racks: Sequence[TipRack]):
+        """Set the tip racks for the liquid handler."""
+        self.tip_racks = tip_racks
+        tip_iter = self.iter_tips(tip_racks)
+        self.current_tip = tip_iter
+
+    async def move_to(self, well: Well, dis_to_top: float = 0 , channel: int = 0):
+        """
+        Move a single channel to a specific well with a given z-height.
+
+        Parameters
+        ----------
+        well : Well
+            The target well.
+        dis_to_top : float
+            Height in mm to move to relative to the well top.
+        channel : int
+            Pipetting channel to move (default: 0).
+        """
+        await self.prepare_for_manual_channel_operation(channel=channel)
+        abs_loc = well.get_absolute_location()
+        well_height = well.get_absolute_size_z()
+        await self.move_channel_x(channel, abs_loc.x)
+        await self.move_channel_y(channel, abs_loc.y)
+        await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)
+

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -0,0 +1,208 @@
+import copy
+import rclpy
+import json
+import time
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.action import ActionServer
+from sensor_msgs.msg import JointState
+from unilabos_msgs.action import SendCmd
+from rclpy.action.server import ServerGoalHandle
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from tf_transformations import quaternion_from_euler
+from tf2_ros import TransformBroadcaster, Buffer, TransformListener 
+
+
+class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
+    def __init__(self,device_id:str, joint_config:dict, lh_id:str,resource_tracker, rate=50):
+        super().__init__(
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings={},
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=resource_tracker,  
+        )  
+
+        # joint_config_dict = {
+        #     "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
+        #         }
+        #     }
+        # }
+
+        self.j_msg          = JointState()
+        self.lh_id          = lh_id
+        # self.j_msg.name     = joint_names
+        self.joint_config   = joint_config
+        self.j_msg.position = [0.0 for i in range(len(joint_config['joint_names']))]
+        self.j_msg.name     = [f"{self.lh_id}_{x}" for x in joint_config['joint_names']]
+        # self.joint_config   = joint_config_dict
+        # self.j_msg.position = [0.0 for i in range(len(joint_config_dict['joint_names']))]
+        # self.j_msg.name     = [f"{self.lh_id}_{x}" for x in joint_config_dict['joint_names']]
+        self.rate           = rate
+        self.tf_buffer      = Buffer()
+        self.tf_listener    = TransformListener(self.tf_buffer, self)
+        self.j_pub          = self.create_publisher(JointState,'/joint_states',10)
+        self.create_timer(0.02,self.lh_joint_pub_callback)
+        self.j_action       = ActionServer(
+            self,
+            SendCmd,
+            "joint",
+            self.lh_joint_action_callback,
+            result_timeout=5000
+        )
+
+    def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
+        """Move a single joint
+
+        Args:
+            command: A JSON-formatted string that includes joint_name, speed, position
+
+                    joint_name (str): The name of the joint to move
+                    speed (float): The speed of the movement, speed > 0
+                    position (float): The position to move to
+
+        Returns:
+            None
+        """
+        result = SendCmd.Result()
+        cmd_str = str(goal_handle.request.command).replace('\'','\"')
+        # goal_handle.execute()
+
+        try:
+            cmd_dict = json.loads(cmd_str)
+            self.move_joints(**cmd_dict)
+            result.success = True
+            goal_handle.succeed()
+            
+        except Exception as e:
+            print(e)
+            goal_handle.abort()
+            result.success = False
+
+        return result
+    def inverse_kinematics(self, x, y, z, 
+                           x_joint:dict, 
+                           y_joint:dict, 
+                           z_joint:dict   ):
+        """
+        将x、y、z坐标转换为对应关节的位置
+        
+        Args:
+            x (float): x坐标
+            y (float): y坐标
+            z (float): z坐标
+            x_joint (dict): x轴关节配置，包含plus和offset
+            y_joint (dict): y轴关节配置，包含plus和offset
+            z_joint (dict): z轴关节配置，包含plus和offset
+            
+        Returns:
+            dict: 关节名称和对应位置的字典
+        """
+        joint_positions = copy.deepcopy(self.j_msg.position)
+        
+        # 处理x轴关节
+        for joint_name, config in x_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = x * config["factor"] + config["offset"]
+            
+        # 处理y轴关节
+        for joint_name, config in y_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = y * config["factor"] + config["offset"]
+            
+        # 处理z轴关节
+        for joint_name, config in z_joint.items():
+            index = self.j_msg.name.index(f"{self.lh_id}_{joint_name}")
+            joint_positions[index] = z * config["factor"] + config["offset"]
+            
+        
+        return joint_positions
+
+
+    def move_joints(self, resource_name, link_name, speed, x_joint=None, y_joint=None, z_joint=None):
+        
+        transform = self.tf_buffer.lookup_transform(
+                    link_name,
+                    resource_name,
+                    rclpy.time.Time()
+                )
+        x,y,z = transform.transform.translation.x, transform.transform.translation.y, transform.transform.translation.z
+        if x_joint is None:
+            x_joint_config = next(iter(self.joint_config['x'].items()))
+        elif x_joint in self.joint_config['x']:
+            x_joint_config = self.joint_config['x'][x_joint]
+        else:
+            raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
+        if y_joint is None:
+            y_joint_config = next(iter(self.joint_config['y'].items()))
+        elif y_joint in self.joint_config['y']:
+            y_joint_config = self.joint_config['y'][y_joint]
+        else:
+            raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
+        if z_joint is None:
+            z_joint_config = next(iter(self.joint_config['z'].items()))
+        elif z_joint in self.joint_config['z']:
+            z_joint_config = self.joint_config['z'][z_joint]
+        else:
+            raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
+        joint_positions_target = self.inverse_kinematics(x,y,z,x_joint_config,y_joint_config,z_joint_config)
+
+        loop_flag = 0
+
+
+        while loop_flag < len(self.joint_config['joint_names']):
+            loop_flag = 0
+            for i in range(len(self.joint_config['joint_names'])):
+                distance = joint_positions_target[i] - self.j_msg.position[i]
+                if distance == 0:
+                    loop_flag += 1
+                    continue
+                minus_flag = distance/abs(distance)
+                if abs(distance) > speed/self.rate:
+                    self.j_msg.position[i] += minus_flag * speed/self.rate
+                else :
+                    self.j_msg.position[i] = joint_positions_target[i]
+                    loop_flag += 1
+                    
+
+            # 发布关节状态
+            self.lh_joint_pub_callback()
+            time.sleep(1/self.rate)
+
+
+    def lh_joint_pub_callback(self):
+        self.j_msg.header.stamp = self.get_clock().now().to_msg()
+        self.j_pub.publish(self.j_msg)
+
+def main():
+
+    pass
+
+if __name__ == '__main__':
+    main()

unilabos/devices/zhida_hplc/possible_status.txt

@@ -0,0 +1,15 @@
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "RUN",
+  "message": "AcqTime:3.321049min Vial:1"
+}
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "NOTREADY",
+  "message": "AcqTime:0min Vial:1"
+}
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "PRERUN",
+  "message": "AcqTime:0min Vial:1"
+}

unilabos/devices/zhida_hplc/zhida.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import socket
+import json
+import base64
+import argparse
+import sys
+import time
+
+
+class ZhidaClient:
+    def __init__(self, host='192.168.1.47', port=5792, timeout=10.0):
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self.sock = None
+
+    def connect(self):
+        """建立 TCP 连接，并设置超时用于后续 recv/send。"""
+        self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
+        # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
+        self.sock.settimeout(self.timeout)
+
+    def close(self):
+        """关闭连接。"""
+        if self.sock:
+            self.sock.close()
+            self.sock = None
+
+    def _send_command(self, cmd: dict) -> dict:
+        """
+        发送一条命令，接收 raw bytes，直到能成功 json.loads。
+        """
+        if not self.sock:
+            raise ConnectionError("Not connected")
+
+        # 1) 发送 JSON 命令
+        payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
+        # 如果服务端需要换行分隔，也可以加上： payload += b'\n'
+        self.sock.sendall(payload)
+
+        # 2) 循环 recv，直到能成功解析完整 JSON
+        buffer = bytearray()
+        start = time.time()
+        while True:
+            try:
+                chunk = self.sock.recv(4096)
+                if not chunk:
+                    # 对端关闭
+                    break
+                buffer.extend(chunk)
+                # 尝试解码、解析
+                text = buffer.decode('utf-8', errors='strict')
+                try:
+                    return json.loads(text)
+                except json.JSONDecodeError:
+                    # 继续 recv
+                    pass
+            except socket.timeout:
+                raise TimeoutError("recv() timed out after {:.1f}s".format(self.timeout))
+            # 可选：防止死循环，整个循环时长超过 2×timeout 就报错
+            if time.time() - start > self.timeout * 2:
+                raise TimeoutError("No complete JSON received after {:.1f}s".format(time.time() - start))
+
+        raise ConnectionError("Connection closed before JSON could be parsed")
+
+# @property
+# def xxx() -> 类型:
+#     return xxxxxx
+
+# def send_command(self, ):
+#     self.xxx = dict[xxx]
+
+# 示例响应回复：
+# {
+#   "result": "RUN",
+#   "message": "AcqTime:3.321049min Vial:1"
+# }
+
+    @property
+    def status(self) -> dict:
+        return self._send_command({"command": "getstatus"})["result"]
+
+    # def get_status(self) -> dict:
+    #     print(self._send_command({"command": "getstatus"}))
+    #     return self._send_command({"command": "getstatus"})
+
+    def get_methods(self) -> dict:
+        return self._send_command({"command": "getmethods"})
+
+    def start(self, text) -> dict:
+        b64 = base64.b64encode(text.encode('utf-8')).decode('ascii')
+        return self._send_command({"command": "start", "message": b64})
+
+    def abort(self) -> dict:
+        return self._send_command({"command": "abort"})
+
+"""
+a,b,c
+1,2,4
+2,4,5
+"""
+
+client = ZhidaClient()
+# 连接
+client.connect()
+# 获取状态
+print(client.status)
+
+
+# 命令格式：python zhida.py <subcommand> [options]

unilabos/devices/zhida_hplc/zhida_test_1.csv

@@ -0,0 +1,2 @@
+SampleName,AcqMethod,RackCode,VialPos,SmplInjVol,OutputFile
+Sample001,1028-10ul-10min.M,CStk1-01,1,10,DataSET1

unilabos/registry/device_comms/modbus_ioboard.yaml

@@ -1,4 +1,5 @@
 io_snrd:
+  description: IO Board with 16 IOs
   class:
     module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
     type: python

unilabos/registry/device_comms/serial.yaml

@@ -1,6 +1,7 @@
 serial:
+  description: Serial communication interface, used when sharing same serial port for multiple devices
   class:
-    module: unilabos.ros.nodes.presets:ROS2SerialNode
+    module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
     type: ros2
   schema:
     properties: {}

unilabos/registry/devices/characterization_optic.yaml

@@ -1,5 +1,6 @@
 # 光学表征设备：红外、紫外可见、拉曼等
 raman_home_made:
+  description: Raman spectroscopy device
   class:
     module: unilabos.devices.raman_uv.home_made_raman:RamanObj
     type: python
@@ -18,6 +19,49 @@ raman_home_made:
       status:
         type: string
     required:
-      - status
+    - status
+    additionalProperties: false
+    type: object
+hplc.agilent:
+  description: HPLC device
+  class:
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    type: python
+    status_types:
+      device_status: String
+      could_run: Bool
+      driver_init_ok: Bool
+      is_running: Bool
+      finish_status: String
+      status_text: String
+    action_value_mappings:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      device_status:
+        type: string
+      could_run:
+        type: boolean
+      driver_init_ok:
+        type: boolean
+      is_running:
+        type: boolean
+      finish_status:
+        type: string
+      status_text:
+        type: string
+    required:
+    - device_status
+    - could_run
+    - driver_init_ok
+    - is_running
+    - finish_status
+    - status_text
     additionalProperties: false
     type: object

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -0,0 +1,56 @@
+laiyu_add_solid:
+  description: Laiyu Add Solid
+  class:
+    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
+    type: python
+    status_types: {}
+    action_value_mappings:
+      move_to_xyz:
+        type: Point3DSeparateInput
+        goal:
+          x: x
+          y: y
+          z: z
+        feedback: {}
+        result: {}
+      pick_powder_tube:
+        type: IntSingleInput
+        goal:
+          int_input: int_input
+        feedback: {}
+        result: {}
+      put_powder_tube:
+        type: IntSingleInput
+        goal:
+          int_input: int_input
+        feedback: {}
+        result: {}
+      reset:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      add_powder_tube:
+        type: SolidDispenseAddPowderTube
+        goal:
+          powder_tube_number: powder_tube_number
+          target_tube_position: target_tube_position
+          compound_mass: compound_mass
+        feedback: {}
+        result: 
+          actual_mass_mg: actual_mass_mg
+      move_to_plate:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+      discharge:
+        type: FloatSingleInput
+        goal:
+          float_input: float_input
+        feedback: {}
+        result: {}
+        
+  schema:
+    properties: {}

unilabos/registry/devices/liquid_handler.yaml

@@ -1,10 +1,96 @@
 liquid_handler:
+  description: Liquid handler device controlled by pylabrobot
   class:
-    module: pylabrobot.liquid_handling:LiquidHandler
+    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
     type: python
     status_types:
       name: String
     action_value_mappings:
+      remove:
+        type: LiquidHandlerRemove
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      add_liquid:
+        type: LiquidHandlerAdd
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      transfer_liquid:
+        type: LiquidHandlerTransfer
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      mix:
+        type: LiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      move_to:
+        type: LiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: { }
+        result: { }
       aspirate:
         type: LiquidHandlerAspirate
         goal:
@@ -162,11 +248,11 @@ liquid_handler:
   schema:
     type: object
     properties:
-      status:
+      name:
         type: string
         description: 液体处理仪器当前状态
     required:
-      - status
+    - name
     additionalProperties: false
 
 liquid_handler.revvity:
@@ -186,4 +272,3 @@ liquid_handler.revvity:
           status: status
         result:
           success: success
-    

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,6 +1,7 @@
 separator.homemade:
+  description: Separator device with homemade grbl controller
   class:
-    module: unilabos.devices.separator.homemade_grbl_conductivity:Separator_Controller
+    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
     type: python
     status_types:
       sensordata: Float64
@@ -11,7 +12,7 @@ separator.homemade:
         goal:
           stir_time: stir_time,
           stir_speed: stir_speed
-          settling_time": settling_time
+          settling_time: settling_time
         feedback:
           status: status
         result: 
@@ -39,6 +40,7 @@ separator.homemade:
     additionalProperties: false
 
 rotavap.one:
+  description: Rotavap device
   class:
     module: unilabos.devices.rotavap.rotavap_one:RotavapOne
     type: python

unilabos/registry/devices/pump_and_valve.yaml

@@ -1,7 +1,12 @@
 syringe_pump_with_valve.runze:
+  description: Runze Syringe pump with valve
   class:
     module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
     type: python
+    hardware_interface:
+      name: hardware_interface
+      read: send_command
+      write: send_command
   schema:
     type: object
     properties:
@@ -25,11 +30,13 @@ syringe_pump_with_valve.runze:
 
 
 solenoid_valve.mock:
+  description: Mock solenoid valve
   class:
     module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
     type: python
 
 solenoid_valve:
+  description: Solenoid valve
   class:
     module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
     type: python