Merge remote-tracking branch 'origin/dev' into feature/organic-extraction

unilabos/registry/devices/hotel.yaml

@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
       type: object
   model:
     mesh: thermo_orbitor_rs2_hotel
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/devices/robot_arm.yaml

@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
       type: object
   model:
     mesh: arm_slider
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
     type: device
   version: 1.0.0
 robotic_arm.UR:

unilabos/registry/devices/virtual_device.yaml

@@ -3960,6 +3960,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical