update workbench example

update aksk desc

print res query logs

Fix skills exec error with action type

Update Skills

Update Skills addr

Change uni-lab. to leap-lab.
Support unit in pylabrobot

Support async func.

change to leap-lab backend. Support feedback interval. Reduce cocurrent lags.

fix create_resource_with_slot

update unilabos_formulation & batch-submit-exp

scale multi exec thread up to 48

update handle creation api

fit cocurrent gap

add running status debounce

allow non @topic_config support

update skill

add placeholder keys

always free

提交实验技能

disable samples

correct sample demo ret value

新增试剂reagent

update registry

新增manual_confirm

add workstation creation skill

add virtual_sample_demo 样品追踪测试设备

add external devices param
fix registry upload missing type

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

unilabos/registry/ast_registry_scanner.py

@@ -139,6 +139,7 @@ def scan_directory(
     executor: ThreadPoolExecutor = None,
     exclude_files: Optional[set] = None,
     cache: Optional[Dict[str, Any]] = None,
+    include_files: Optional[List[Union[str, Path]]] = None,
 ) -> Dict[str, Any]:
     """
     Recursively scan .py files under *root_dir* for @device and @resource
@@ -164,6 +165,7 @@ def scan_directory(
         exclude_files: 要排除的文件名集合 (如 {"lab_resources.py"})
         cache: Mutable cache dict (``load_scan_cache()`` result). Hits are read
                from here; misses are written back so the caller can persist later.
+        include_files: 指定扫描的文件列表，提供时跳过目录递归收集，直接扫描这些文件。
     """
     if executor is None:
         raise ValueError("executor is required and must not be None")
@@ -175,7 +177,10 @@ def scan_directory(
         python_path = Path(python_path).resolve()
 
     # --- Collect files (depth/count limited) ---
-    py_files = _collect_py_files(root_dir, max_depth=max_depth, max_files=max_files, exclude_files=exclude_files)
+    if include_files is not None:
+        py_files = [Path(f).resolve() for f in include_files if Path(f).resolve().exists()]
+    else:
+        py_files = _collect_py_files(root_dir, max_depth=max_depth, max_files=max_files, exclude_files=exclude_files)
 
     cache_files: Dict[str, Any] = cache.get("files", {}) if cache else {}
 
@@ -674,14 +679,17 @@ def _resolve_name(name: str, import_map: Dict[str, str]) -> str:
     return name
 
 
+_DECORATOR_ENUM_CLASSES = frozenset({"Side", "DataSource", "NodeType"})
+
+
 def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
     """
     Resolve an attribute access like Side.NORTH or DataSource.HANDLE.
 
-    Returns a string like "NORTH" for enum values, or
-    "module.path:Class.attr" for imported references.
+    对于来自 ``unilabos.registry.decorators`` 的枚举类 (Side / DataSource / NodeType)，
+    直接返回枚举成员名 (如 ``"NORTH"`` / ``"HANDLE"`` / ``"MANUAL_CONFIRM"``)，
+    省去消费端二次 rsplit 解析。其它 import 仍返回完整模块路径。
     """
-    # Get the full dotted path
     parts = []
     current = node
     while isinstance(current, ast.Attribute):
@@ -691,21 +699,20 @@ def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
         parts.append(current.id)
 
     parts.reverse()
-    # parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"]
+    # parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] or ["NodeType", "MANUAL_CONFIRM"]
 
     if len(parts) >= 2:
         base = parts[0]
         attr = ".".join(parts[1:])
 
-        # If the base is an imported name, resolve it
+        if base in _DECORATOR_ENUM_CLASSES:
+            source = import_map.get(base, "")
+            if not source or _REGISTRY_DECORATOR_MODULE in source:
+                return parts[-1]
+
         if base in import_map:
             return f"{import_map[base]}.{attr}"
 
-        # For known enum-like patterns, return just the value
-        # e.g. Side.NORTH -> "NORTH"
-        if base in ("Side", "DataSource"):
-            return parts[-1]
-
     return ".".join(parts)
 
 
@@ -818,6 +825,7 @@ def _extract_class_body(
             action_args.setdefault("placeholder_keys", {})
             action_args.setdefault("always_free", False)
             action_args.setdefault("is_protocol", False)
+            action_args.setdefault("feedback_interval", 1.0)
             action_args.setdefault("description", "")
             action_args.setdefault("auto_prefix", False)
             action_args.setdefault("parent", False)

unilabos/registry/decorators.py

@@ -8,7 +8,7 @@ Usage:
         device, action, resource,
         InputHandle, OutputHandle,
         ActionInputHandle, ActionOutputHandle,
-        HardwareInterface, Side, DataSource,
+        HardwareInterface, Side, DataSource, NodeType,
     )
 
     @device(
@@ -73,6 +73,13 @@ class DataSource(str, Enum):
     EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
 
 
+class NodeType(str, Enum):
+    """动作的节点类型（用于区分 ILab 节点和人工确认节点等）"""
+
+    ILAB = "ILab"
+    MANUAL_CONFIRM = "manual_confirm"
+
+
 # ---------------------------------------------------------------------------
 # Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
 # ---------------------------------------------------------------------------
@@ -335,6 +342,8 @@ def action(
     description: str = "",
     auto_prefix: bool = False,
     parent: bool = False,
+    node_type: Optional["NodeType"] = None,
+    feedback_interval: Optional[float] = None,
 ):
     """
     动作方法装饰器
@@ -365,12 +374,21 @@ def action(
         description: 动作描述
         auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
         parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
+        node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。
+                   不填写时不写入注册表。
     """
 
     def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
+        import asyncio as _asyncio
+
+        if _asyncio.iscoroutinefunction(func):
+            @wraps(func)
+            async def wrapper(*args, **kwargs):
+                return await func(*args, **kwargs)
+        else:
+            @wraps(func)
+            def wrapper(*args, **kwargs):
+                return func(*args, **kwargs)
 
         # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
         resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
@@ -389,6 +407,10 @@ def action(
             "auto_prefix": auto_prefix,
             "parent": parent,
         }
+        if feedback_interval is not None:
+            meta["feedback_interval"] = feedback_interval
+        if node_type is not None:
+            meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
         wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
 
         # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
@@ -515,6 +537,38 @@ def clear_registry():
     _registered_resources.clear()
 
 
+# ---------------------------------------------------------------------------
+# 枚举值归一化
+# ---------------------------------------------------------------------------
+
+
+def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]:
+    """将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。
+
+    适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。
+
+    处理以下格式:
+      - "MANUAL_CONFIRM"  →  NodeType["MANUAL_CONFIRM"].value = "manual_confirm"
+      - "manual_confirm"  →  NodeType("manual_confirm").value = "manual_confirm"
+      - "HANDLE"          →  DataSource["HANDLE"].value = "handle"
+      - "NORTH"           →  Side["NORTH"].value = "NORTH"
+      - 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找
+    """
+    if not raw:
+        return None
+    raw_str = str(raw)
+    if "." in raw_str:
+        raw_str = raw_str.rsplit(".", 1)[-1]
+    try:
+        return enum_cls[raw_str].value
+    except KeyError:
+        pass
+    try:
+        return enum_cls(raw_str).value
+    except ValueError:
+        return raw_str
+
+
 # ---------------------------------------------------------------------------
 # topic_config / not_action / always_free 装饰器
 # ---------------------------------------------------------------------------

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

@@ -2804,6 +2804,203 @@ virtual_rotavap:
       - vacuum_pressure
       type: object
   version: 1.0.0
+virtual_sample_demo:
+  category:
+  - virtual_device
+  class:
+    action_value_mappings:
+      analyze_readings:
+        feedback: {}
+        goal:
+          readings: readings
+          samples: samples
+        goal_default:
+          readings: null
+          samples: null
+        handles:
+          input:
+          - data_key: readings
+            data_source: handle
+            data_type: sample_list
+            handler_key: readings_in
+            label: 测量读数
+          - data_key: samples
+            data_source: handle
+            data_type: sample_index
+            handler_key: samples_in
+            label: 样品索引
+          output:
+          - data_key: scores
+            data_source: executor
+            data_type: sample_list
+            handler_key: scores_out
+            label: 分析得分
+          - data_key: passed
+            data_source: executor
+            data_type: sample_list
+            handler_key: passed_out
+            label: 是否通过
+          - data_key: samples
+            data_source: executor
+            data_type: sample_index
+            handler_key: samples_result_out
+            label: 样品索引
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 对 split_and_measure 输出做二次分析，入参和出参都带 samples 列
+          properties:
+            feedback:
+              title: AnalyzeReadings_Feedback
+            goal:
+              properties:
+                readings:
+                  description: 测量读数（来自 split_and_measure）
+                  items:
+                    type: number
+                  type: array
+                samples:
+                  description: 每行归属的输入样品 index (0-based)
+                  items:
+                    type: integer
+                  type: array
+              required:
+              - readings
+              - samples
+              title: AnalyzeReadings_Goal
+              type: object
+            result:
+              title: AnalyzeReadings_Result
+              type: object
+          required:
+          - goal
+          title: analyze_readings参数
+          type: object
+        type: UniLabJsonCommandAsync
+      measure_samples:
+        feedback: {}
+        goal:
+          concentrations: concentrations
+        goal_default:
+          concentrations: null
+        handles:
+          output:
+          - data_key: concentrations
+            data_source: executor
+            data_type: sample_list
+            handler_key: concentrations_out
+            label: 浓度列表
+          - data_key: absorbance
+            data_source: executor
+            data_type: sample_list
+            handler_key: absorbance_out
+            label: 吸光度列表
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 模拟光度测量，入参出参等长
+          properties:
+            feedback:
+              title: MeasureSamples_Feedback
+            goal:
+              properties:
+                concentrations:
+                  description: 样品浓度列表
+                  items:
+                    type: number
+                  type: array
+              required:
+              - concentrations
+              title: MeasureSamples_Goal
+              type: object
+            result:
+              title: MeasureSamples_Result
+              type: object
+          required:
+          - goal
+          title: measure_samples参数
+          type: object
+        type: UniLabJsonCommandAsync
+      split_and_measure:
+        feedback: {}
+        goal:
+          split_count: split_count
+          volumes: volumes
+        goal_default:
+          split_count: 3
+          volumes: null
+        handles:
+          output:
+          - data_key: readings
+            data_source: executor
+            data_type: sample_list
+            handler_key: readings_out
+            label: 测量读数
+          - data_key: samples
+            data_source: executor
+            data_type: sample_index
+            handler_key: samples_out
+            label: 样品索引
+          - data_key: volumes
+            data_source: executor
+            data_type: sample_list
+            handler_key: volumes_out
+            label: 均分体积
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 均分样品后逐份测量，输出带 samples 列标注归属
+          properties:
+            feedback:
+              title: SplitAndMeasure_Feedback
+            goal:
+              properties:
+                split_count:
+                  default: 3
+                  description: 每个样品均分的份数
+                  type: integer
+                volumes:
+                  description: 样品体积列表
+                  items:
+                    type: number
+                  type: array
+              required:
+              - volumes
+              title: SplitAndMeasure_Goal
+              type: object
+            result:
+              title: SplitAndMeasure_Result
+              type: object
+          required:
+          - goal
+          title: split_and_measure参数
+          type: object
+        type: UniLabJsonCommandAsync
+    module: unilabos.devices.virtual.virtual_sample_demo:VirtualSampleDemo
+    status_types:
+      status: str
+    type: python
+  config_info: []
+  description: Virtual sample tracking demo device
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: object
+        device_id:
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+      required:
+      - status
+      type: object
+  version: 1.0.0
 virtual_separator:
   category:
   - virtual_device

unilabos/registry/registry.py

@@ -33,6 +33,8 @@ from unilabos.registry.decorators import (
     is_not_action,
     is_always_free,
     get_topic_config,
+    NodeType,
+    normalize_enum_value,
 )
 from unilabos.registry.utils import (
     ROSMsgNotFound,
@@ -112,7 +114,7 @@ class Registry:
     # 统一入口
     # ------------------------------------------------------------------
 
-    def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False):
+    def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False, external_only=False):
         """统一构建注册表入口。"""
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -123,24 +125,27 @@ class Registry:
         )
 
         # 1. AST 静态扫描 (快速, 无需 import)
-        self._run_ast_scan(devices_dirs, upload_registry=upload_registry)
+        self._run_ast_scan(devices_dirs, upload_registry=upload_registry, external_only=external_only)
 
         # 2. Host node 内置设备
         self._setup_host_node()
 
-        # 3. YAML 注册表加载 (兼容旧格式)
-        self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
-        for i, path in enumerate(self.registry_paths):
-            sys_path = path.parent
-            logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
-            sys.path.append(str(sys_path))
-            self.load_device_types(path, complete_registry=complete_registry)
-            if BasicConfig.enable_resource_load:
-                self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
-            else:
-                logger.warning(
-                    "[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
-                )
+        # 3. YAML 注册表加载 (兼容旧格式) — external_only 模式下跳过
+        if external_only:
+            logger.info("[UniLab Registry] external_only 模式: 跳过 YAML 注册表加载")
+        else:
+            self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
+            for i, path in enumerate(self.registry_paths):
+                sys_path = path.parent
+                logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
+                sys.path.append(str(sys_path))
+                self.load_device_types(path, complete_registry=complete_registry)
+                if BasicConfig.enable_resource_load:
+                    self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
+                else:
+                    logger.warning(
+                        "[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
+                    )
         self._startup_executor.shutdown(wait=True)
         self._startup_executor = None
         self._setup_called = True
@@ -156,9 +161,10 @@ class Registry:
         ast_entry = self.device_type_registry.get("host_node", {})
         ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {})
 
-        # 取出 AST 生成的 auto-method entries, 补充特定覆写
+        # 取出 AST 生成的 action entries, 补充特定覆写
         test_latency_action = ast_actions.get("auto-test_latency", {})
         test_resource_action = ast_actions.get("auto-test_resource", {})
+        manual_confirm_action = ast_actions.get("manual_confirm", {})
         test_resource_action["handles"] = {
             "input": [
                 {
@@ -231,9 +237,12 @@ class Registry:
                             "parent": "unilabos_nodes",
                             "class_name": "unilabos_class",
                         },
+                        "always_free": True,
+                        "feedback_interval": 300.0,
                     },
                     "test_latency": test_latency_action,
                     "auto-test_resource": test_resource_action,
+                    "manual_confirm": manual_confirm_action,
                 },
                 "init_params": {},
             },
@@ -253,7 +262,7 @@ class Registry:
     # AST 静态扫描
     # ------------------------------------------------------------------
 
-    def _run_ast_scan(self, devices_dirs=None, upload_registry=False):
+    def _run_ast_scan(self, devices_dirs=None, upload_registry=False, external_only=False):
         """
         执行 AST 静态扫描，从 Python 代码中提取 @device / @resource 装饰器元数据。
         无需 import 任何驱动模块，速度极快。
@@ -298,16 +307,30 @@ class Registry:
                 extra_dirs.append(d_path)
 
         # 主扫描
-        exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
-        scan_result = scan_directory(
-            scan_root, python_path=python_path, executor=self._startup_executor,
-            exclude_files=exclude_files, cache=ast_cache,
-        )
-        if exclude_files:
-            logger.info(
-                f"[UniLab Registry] 排除扫描文件: {exclude_files} "
-                f"(可通过 --extra_resource 启用加载)"
+        if external_only:
+            core_files = [
+                pkg_root / "ros" / "nodes" / "presets" / "host_node.py",
+                pkg_root / "resources" / "container.py",
+            ]
+            scan_result = scan_directory(
+                scan_root, python_path=python_path, executor=self._startup_executor,
+                cache=ast_cache, include_files=core_files,
             )
+            logger.info(
+                f"[UniLab Registry] external_only 模式: 仅扫描核心文件 "
+                f"({', '.join(f.name for f in core_files)})"
+            )
+        else:
+            exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
+            scan_result = scan_directory(
+                scan_root, python_path=python_path, executor=self._startup_executor,
+                exclude_files=exclude_files, cache=ast_cache,
+            )
+            if exclude_files:
+                logger.info(
+                    f"[UniLab Registry] 排除扫描文件: {exclude_files} "
+                    f"(可通过 --extra_resource 启用加载)"
+                )
 
         # 合并缓存统计
         total_stats = scan_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0})
@@ -807,8 +830,9 @@ class Registry:
             raw_handles = (action_args or {}).get("handles")
             handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
 
-            # placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
-            pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
+            # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
+            pk = detect_placeholder_keys(params)
+            pk.update((action_args or {}).get("placeholder_keys") or {})
 
             # 从方法返回值类型生成 result schema
             result_schema = None
@@ -830,6 +854,11 @@ class Registry:
             }
             if (action_args or {}).get("always_free") or method_info.get("always_free"):
                 entry["always_free"] = True
+            _fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            entry["feedback_interval"] = _fb_iv
+            nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
+            if nt:
+                entry["node_type"] = nt
             return action_name, entry
 
         # 1) auto- actions
@@ -950,10 +979,15 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
+                "placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
+            _fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            action_entry["feedback_interval"] = _fb_iv
+            nt = normalize_enum_value(action_args.get("node_type"), NodeType)
+            if nt:
+                action_entry["node_type"] = nt
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
@@ -1136,7 +1170,7 @@ class Registry:
             return Path(BasicConfig.working_dir) / "registry_cache.pkl"
         return None
 
-    _CACHE_VERSION = 3
+    _CACHE_VERSION = 4
 
     def _load_config_cache(self) -> dict:
         import pickle
@@ -1534,9 +1568,9 @@ class Registry:
                 del resource_info["config_info"]
             if "file_path" in resource_info:
                 del resource_info["file_path"]
-            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
             resource_info["registry_type"] = "resource"
             resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
 
         for rid in skip_ids:
             data.pop(rid, None)
@@ -1861,6 +1895,9 @@ class Registry:
                         }
                         if v.get("always_free"):
                             entry["always_free"] = True
+                        old_node_type = old_cfg.get("node_type")
+                        if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]:
+                            entry["node_type"] = old_node_type
                         device_config["class"]["action_value_mappings"][action_key] = entry
 
                     device_config["init_param_schema"] = {}
@@ -2175,7 +2212,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False):
+def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
     """
     构建或获取Registry单例实例
     """
@@ -2189,7 +2226,7 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
             if path not in current_paths:
                 lab_registry.registry_paths.append(path)
 
-    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry)
+    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
 
     # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
     lab_registry.resolve_all_types()

unilabos/registry/resources/common/resource_container.yaml

@@ -17,7 +17,7 @@ hplc_plate:
     - 0
     - 0
     - 3.1416
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
   version: 1.0.0
 plate_96:
@@ -39,7 +39,7 @@ plate_96:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
   version: 1.0.0
 plate_96_high:
@@ -61,7 +61,7 @@ plate_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_96_high:
@@ -76,7 +76,7 @@ tiprack_96_high:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -92,7 +92,7 @@ tiprack_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_box:
@@ -107,7 +107,7 @@ tiprack_box:
   init_param_schema: {}
   model:
     children_mesh: tip/meshes/tip.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
     children_mesh_tf:
     - 0.0045
     - 0.0045
@@ -123,6 +123,6 @@ tiprack_box:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -11,7 +11,7 @@ bottle_container:
   init_param_schema: {}
   model:
     children_mesh: bottle/meshes/bottle.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
     children_mesh_tf:
     - 0.04
     - 0.04
@@ -27,7 +27,7 @@ bottle_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
   version: 1.0.0
 tube_container:
@@ -43,7 +43,7 @@ tube_container:
   init_param_schema: {}
   model:
     children_mesh: tube/meshes/tube.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
     children_mesh_tf:
     - 0.017
     - 0.017
@@ -59,6 +59,6 @@ tube_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -10,6 +10,6 @@ TransformXYZDeck:
   init_param_schema: {}
   model:
     mesh: liquid_transform_xyz
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -10,7 +10,7 @@ OTDeck:
   init_param_schema: {}
   model:
     mesh: opentrons_liquid_handler
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
   version: 1.0.0
 hplc_station:
@@ -25,6 +25,6 @@ hplc_station:
   init_param_schema: {}
   model:
     mesh: hplc_station
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:

unilabos/registry/utils.py

@@ -17,6 +17,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
 from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
 
 from unilabos.utils.cls_creator import import_class
+from unilabos.registry.decorators import Side, DataSource, normalize_enum_value
 
 _logger = logging.getLogger(__name__)
 
@@ -487,10 +488,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
             }
             side = h.get("side")
             if side:
-                if isinstance(side, str) and "." in side:
-                    val = side.rsplit(".", 1)[-1]
-                    side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
-                entry["side"] = side
+                entry["side"] = normalize_enum_value(side, Side) or side
             label = h.get("label")
             if label:
                 entry["label"] = label
@@ -499,10 +497,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
                 entry["data_key"] = data_key
             data_source = h.get("data_source")
             if data_source:
-                if isinstance(data_source, str) and "." in data_source:
-                    val = data_source.rsplit(".", 1)[-1]
-                    data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
-                entry["data_source"] = data_source
+                entry["data_source"] = normalize_enum_value(data_source, DataSource) or data_source
             description = h.get("description")
             if description:
                 entry["description"] = description
@@ -537,17 +532,12 @@ def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
             "data_type": h.get("data_type", ""),
             "label": h.get("label", ""),
         }
+        _FIELD_ENUM_MAP = {"side": Side, "data_source": DataSource}
         for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
             val = h.get(opt_key)
             if val is not None:
-                # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
-                # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
-                if (
-                    isinstance(val, str)
-                    and "." in val
-                    and opt_key not in ("io_type", "data_key")
-                ):
-                    val = val.rsplit(".", 1)[-1].lower()
+                if opt_key in _FIELD_ENUM_MAP:
+                    val = normalize_enum_value(val, _FIELD_ENUM_MAP[opt_key]) or val
                 entry[opt_key] = val
 
         # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)