ci(deps): bump conda-incubator/setup-miniconda from 3 to 4

Bumps [conda-incubator/setup-miniconda](https://github.com/conda-incubator/setup-miniconda) from 3 to 4.
- [Release notes](https://github.com/conda-incubator/setup-miniconda/releases)
- [Changelog](https://github.com/conda-incubator/setup-miniconda/blob/main/CHANGELOG.md)
- [Commits](https://github.com/conda-incubator/setup-miniconda/compare/v3...v4)

---
updated-dependencies:
- dependency-name: conda-incubator/setup-miniconda
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>

.cursor/skills/add-device/SKILL.md

@@ -71,22 +71,6 @@ from unilabos.registry.decorators import action
 - `_` 开头的方法 → 不扫描
 - `@not_action` 标记的方法 → 排除
 
-### 参数文档 → JSON Schema 元数据
-
-在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
-
-```python
-"""
-Args:
-    param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
-"""
-```
-
-- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
-- `:` 后面的说明会写入 goal property 的 `description`。
-- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
-- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
-
 ### @topic_config — 状态属性配置
 
 ```python
@@ -121,27 +105,13 @@ import logging
 from typing import Any, Dict, Optional
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import action, device, not_action, topic_config
+from unilabos.registry.decorators import device, action, topic_config, not_action
 
-@device(
-    id="my_device",
-    category=["my_category"],
-    description="设备描述",
-    display_name="设备显示名",
-)
+@device(id="my_device", category=["my_category"], description="设备描述")
 class MyDevice:
-    """设备类说明。"""
-
     _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        """
-        初始化设备。
-
-        Args:
-            device_id[设备ID]: 设备实例 ID，默认使用 my_device。
-            config[设备配置]: 设备启动配置。
-        """
         self.device_id = device_id or "my_device"
         self.config = config or {}
         self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
@@ -163,13 +133,7 @@ class MyDevice:
 
     @action(description="执行操作")
     def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """
-        带 @action 装饰器 → 注册为 'my_action' 动作。
-
-        Args:
-            param[操作数值]: 操作使用的数值参数。
-            name[操作名称]: 操作名称或备注。
-        """
+        """带 @action 装饰器 → 注册为 'my_action' 动作"""
         return {"success": True}
 
     def get_info(self) -> Dict[str, Any]:

.github/workflows/ci-check.yml

@@ -25,7 +25,7 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true

.github/workflows/conda-pack-build.yml

@@ -70,7 +70,7 @@ jobs:
 
       - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true

.github/workflows/deploy-docs.yml

@@ -51,7 +51,7 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true

.github/workflows/multi-platform-build.yml

@@ -98,7 +98,7 @@ jobs:
 
       - name: Setup Miniconda
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniconda-version: 'latest'
           channels: conda-forge,robostack-staging,defaults

.github/workflows/unilabos-conda-build.yml

@@ -98,7 +98,7 @@ jobs:
 
       - name: Setup Miniconda
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniconda-version: 'latest'
           channels: conda-forge,robostack-staging,uni-lab,defaults

unilabos/devices/virtual/workbench.py

@@ -14,30 +14,20 @@ Virtual Workbench Device - 模拟工作台设备
 
 import logging
 import time
+from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
-from typing import Any, Dict, List, Optional, cast
 
 from typing_extensions import TypedDict
 
 from unilabos.registry.decorators import (
-    ActionInputHandle,
-    ActionOutputHandle,
-    DataSource,
-    NodeType,
-    action,
-    device,
-    not_action,
-    topic_config,
+    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
 )
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
-from unilabos.resources.resource_tracker import (
-    SampleUUIDsType,
-    LabSample,
-    ResourceTreeSet,
-)
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
+
 
 # ============ TypedDict 返回类型定义 ============
 
@@ -122,7 +112,6 @@ class HeatingStation:
 
 @device(
     id="virtual_workbench",
-    display_name="虚拟工作台",
     category=["virtual_device"],
     description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
 )
@@ -148,19 +137,7 @@ class VirtualWorkbench:
     HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
-    def __init__(
-        self,
-        device_id: Optional[str] = None,
-        config: Optional[Dict[str, Any]] = None,
-        **kwargs,
-    ):
-        """
-        初始化虚拟工作台。
-
-        Args:
-            device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
-            config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
-        """
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
             device_id = kwargs.pop("id")
@@ -174,13 +151,9 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(
-            self.config.get("arm_operation_time", self.ARM_OPERATION_TIME)
-        )
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
         self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(
-            self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
-        )
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
 
         # 机械臂状态和锁
         self._arm_lock = Lock()
@@ -189,8 +162,7 @@ class VirtualWorkbench:
 
         # 加热台状态
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i)
-            for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()
 
@@ -320,113 +292,45 @@ class VirtualWorkbench:
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
     @action(
-        always_free=True,
-        node_type=NodeType.MANUAL_CONFIRM,
-        placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
-        goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
-        feedback_interval=300,
+        always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
+            "assignee_user_ids": "unilabos_manual_confirm"
+        }, goal_default={
+            "timeout_seconds": 3600,
+            "assignee_user_ids": []
+        }, feedback_interval=300,
         handles=[
-            ActionInputHandle(
-                key="target_device",
-                data_type="device_id",
-                label="目标设备",
-                data_key="target_device",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="resource",
-                data_type="resource",
-                label="待转移资源",
-                data_key="resource",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="mount_resource",
-                data_type="resource",
-                label="目标孔位",
-                data_key="mount_resource",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="collector_mass",
-                data_type="collector_mass",
-                label="极流体质量",
-                data_key="collector_mass",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="active_material",
-                data_type="active_material",
-                label="活性物质含量",
-                data_key="active_material",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="capacity",
-                data_type="capacity",
-                label="克容量",
-                data_key="capacity",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="battery_system",
-                data_type="battery_system",
-                label="电池体系",
-                data_key="battery_system",
-                data_source=DataSource.HANDLE,
-            ),
+            ActionInputHandle(key="target_device", data_type="device_id",
+                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+
+            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
             # transfer使用
-            ActionOutputHandle(
-                key="target_device",
-                data_type="device_id",
-                label="目标设备",
-                data_key="target_device",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="resource",
-                data_type="resource",
-                label="待转移资源",
-                data_key="resource.@flatten",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="mount_resource",
-                data_type="resource",
-                label="目标孔位",
-                data_key="mount_resource.@flatten",
-                data_source=DataSource.EXECUTOR,
-            ),
+            ActionOutputHandle(key="target_device", data_type="device_id",
+                               label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
             # test使用
-            ActionOutputHandle(
-                key="collector_mass",
-                data_type="collector_mass",
-                label="极流体质量",
-                data_key="collector_mass",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="active_material",
-                data_type="active_material",
-                label="活性物质含量",
-                data_key="active_material",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="capacity",
-                data_type="capacity",
-                label="克容量",
-                data_key="capacity",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="battery_system",
-                data_type="battery_system",
-                label="电池体系",
-                data_key="battery_system",
-                data_source=DataSource.EXECUTOR,
-            ),
-        ],
+            ActionOutputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
+        ]
     )
     def manual_confirm(
         self,
@@ -439,156 +343,67 @@ class VirtualWorkbench:
         battery_system: List[str],
         timeout_seconds: int,
         assignee_user_ids: list[str],
-        **kwargs,
+        **kwargs
     ) -> dict:
         """
-        人工确认资源转移和扣电测试参数。
-
-        Args:
-            resource[待转移资源]: 需要人工确认的资源列表。
-            target_device[目标设备]: 资源要转移到的目标设备 ID。
-            mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
-            collector_mass[极流体质量]: 每个样品对应的极流体质量。
-            active_material[活性物质含量]: 每个样品对应的活性物质含量。
-            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
-            battery_system[电池体系]: 每个样品对应的电池体系名称。
-            timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
-            assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
-
-        Note:
-            修改的结果无效，是只读的。
+        timeout_seconds: 超时时间（秒），默认3600秒
+        collector_mass: 极流体质量
+        active_material: 活性物质含量
+        capacity: 克容量（mAh/g）
+        battery_system: 电池体系
+        修改的结果无效，是只读的
         """
-        resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
-        mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
+        resource = ResourceTreeSet.from_plr_resources(resource).dump()
+        mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
         kwargs.update(locals())
         kwargs.pop("kwargs")
         kwargs.pop("self")
-        kwargs["resource"] = resource_tree
-        kwargs["mount_resource"] = mount_resource_tree
-        kwargs.pop("resource_tree")
-        kwargs.pop("mount_resource_tree")
         return kwargs
 
     @action(
         description="转移物料",
         handles=[
-            ActionInputHandle(
-                key="target_device",
-                data_type="device_id",
-                label="目标设备",
-                data_key="target_device",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="resource",
-                data_type="resource",
-                label="待转移资源",
-                data_key="resource",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="mount_resource",
-                data_type="resource",
-                label="目标孔位",
-                data_key="mount_resource",
-                data_source=DataSource.HANDLE,
-            ),
-        ],
+            ActionInputHandle(key="target_device", data_type="device_id",
+                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="resource", data_type="resource",
+                               label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                               label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+        ]
     )
-    async def transfer(
-        self,
-        resource: List[ResourceSlot],
-        target_device: DeviceSlot,
-        mount_resource: List[ResourceSlot],
-    ):
-        """
-        转移资源到目标设备。
-
-        Args:
-            resource[待转移资源]: 待转移的资源列表。
-            target_device[目标设备]: 接收资源的目标设备 ID。
-            mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
-        """
-        future = ROS2DeviceNode.run_async_func(
-            self._ros_node.transfer_resource_to_another,
-            True,
+    async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
+        future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
             **{
                 "plr_resources": resource,
                 "target_device_id": target_device,
                 "target_resources": mount_resource,
                 "sites": [None] * len(mount_resource),
-            },
-        )
+            })
         result = await future
         return result
 
+
     @action(
         description="扣电测试启动",
         handles=[
-            ActionInputHandle(
-                key="resource",
-                data_type="resource",
-                label="待转移资源",
-                data_key="resource",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="mount_resource",
-                data_type="resource",
-                label="目标孔位",
-                data_key="mount_resource",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="collector_mass",
-                data_type="collector_mass",
-                label="极流体质量",
-                data_key="collector_mass",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="active_material",
-                data_type="active_material",
-                label="活性物质含量",
-                data_key="active_material",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="capacity",
-                data_type="capacity",
-                label="克容量",
-                data_key="capacity",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="battery_system",
-                data_type="battery_system",
-                label="电池体系",
-                data_key="battery_system",
-                data_source=DataSource.HANDLE,
-            ),
-        ],
+            ActionInputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+
+            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+        ]
     )
     async def test(
-        self,
-        resource: List[ResourceSlot],
-        mount_resource: List[ResourceSlot],
-        collector_mass: List[float],
-        active_material: List[float],
-        capacity: List[float],
-        battery_system: list[str],
+        self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot],  collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
     ):
-        """
-        启动扣电测试。
-
-        Args:
-            resource[待测试资源]: 需要进行扣电测试的资源列表。
-            mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
-            collector_mass[极流体质量]: 每个样品对应的极流体质量。
-            active_material[活性物质含量]: 每个样品对应的活性物质含量。
-            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
-            battery_system[电池体系]: 每个样品对应的电池体系名称。
-        """
         print(resource)
         print(mount_resource)
         print(collector_mass)
@@ -600,11 +415,16 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
         handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),  # noqa: E501
+            ActionOutputHandle(key="channel_1", data_type="workbench_material",
+                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_2", data_type="workbench_material",
+                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_3", data_type="workbench_material",
+                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_4", data_type="workbench_material",
+                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_5", data_type="workbench_material",
+                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
         ],
     )
     def prepare_materials(
@@ -617,9 +437,6 @@ class VirtualWorkbench:
 
         作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
         输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
-
-        Args:
-            count[物料数量]: 要生成的物料数量，默认生成 5 个。
         """
         materials = [i for i in range(1, count + 1)]
 
@@ -640,11 +457,7 @@ class VirtualWorkbench:
                 LabSample(
                     sample_uuid=sample_uuid,
                     oss_path="",
-                    extra=(
-                        {"material_uuid": content}
-                        if isinstance(content, str)
-                        else (content.serialize() if content else {})
-                    ),
+                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
                 )
                 for sample_uuid, content in sample_uuids.items()
             ],
@@ -654,27 +467,12 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
         handles=[
-            ActionInputHandle(
-                key="material_input",
-                data_type="workbench_material",
-                label="物料编号",
-                data_key="material_number",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionOutputHandle(
-                key="heating_station_output",
-                data_type="workbench_station",
-                label="加热台ID",
-                data_key="station_id",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="material_number_output",
-                data_type="workbench_material",
-                label="物料编号",
-                data_key="material_number",
-                data_source=DataSource.EXECUTOR,
-            ),
+            ActionInputHandle(key="material_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
+                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
+                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
         ],
     )
     def move_to_heating_station(
@@ -686,9 +484,6 @@ class VirtualWorkbench:
         将物料从An位置移动到加热台
 
         多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
-
-        Args:
-            material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
         """
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
@@ -751,8 +546,7 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content else {})
+                            if isinstance(content, str) else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -775,8 +569,7 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content else {})
+                            if isinstance(content, str) else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -788,34 +581,14 @@ class VirtualWorkbench:
         always_free=True,
         description="启动指定加热台的加热程序",
         handles=[
-            ActionInputHandle(
-                key="station_id_input",
-                data_type="workbench_station",
-                label="加热台ID",
-                data_key="station_id",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="material_number_input",
-                data_type="workbench_material",
-                label="物料编号",
-                data_key="material_number",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionOutputHandle(
-                key="heating_done_station",
-                data_type="workbench_station",
-                label="加热完成-加热台ID",
-                data_key="station_id",
-                data_source=DataSource.EXECUTOR,
-            ),
-            ActionOutputHandle(
-                key="heating_done_material",
-                data_type="workbench_material",
-                label="加热完成-物料编号",
-                data_key="material_number",
-                data_source=DataSource.EXECUTOR,
-            ),
+            ActionInputHandle(key="station_id_input", data_type="workbench_station",
+                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="material_number_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
+                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
+                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
         ],
     )
     def start_heating(
@@ -826,10 +599,6 @@ class VirtualWorkbench:
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
-
-        Args:
-            station_id[加热台ID]: 要启动加热的加热台编号。
-            material_number[物料编号]: 当前加热台上的物料编号。
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -846,8 +615,7 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content else {})
+                            if isinstance(content, str) else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -870,8 +638,7 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str)
-                                else (content.serialize() if content else {})
+                                if isinstance(content, str) else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -891,8 +658,7 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str)
-                                else (content.serialize() if content else {})
+                                if isinstance(content, str) else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -932,9 +698,7 @@ class VirtualWorkbench:
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
             if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(
-                    f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s"
-                )
+                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
                 last_countdown_log = time.time()
 
             if elapsed >= self.HEATING_TIME:
@@ -951,9 +715,7 @@ class VirtualWorkbench:
                 self._active_tasks[material_id]["status"] = "heating_completed"
 
         self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(
-            f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
-        )
+        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
 
         return {
             "success": True,
@@ -967,8 +729,7 @@ class VirtualWorkbench:
                     oss_path="",
                     extra=(
                         {"material_uuid": content}
-                        if isinstance(content, str)
-                        else (content.serialize() if content else {})
+                        if isinstance(content, str) else (content.serialize() if content else {})
                     ),
                 )
                 for sample_uuid, content in sample_uuids.items()
@@ -979,20 +740,10 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从加热台移动到输出位置Cn",
         handles=[
-            ActionInputHandle(
-                key="output_station_input",
-                data_type="workbench_station",
-                label="加热台ID",
-                data_key="station_id",
-                data_source=DataSource.HANDLE,
-            ),
-            ActionInputHandle(
-                key="output_material_input",
-                data_type="workbench_material",
-                label="物料编号",
-                data_key="material_number",
-                data_source=DataSource.HANDLE,
-            ),
+            ActionInputHandle(key="output_station_input", data_type="workbench_station",
+                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="output_material_input", data_type="workbench_material",
+                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
         ],
     )
     def move_to_output(
@@ -1003,10 +754,6 @@ class VirtualWorkbench:
     ) -> MoveToOutputResult:
         """
         将物料从加热台移动到输出位置Cn
-
-        Args:
-            station_id[加热台ID]: 已完成加热的加热台编号。
-            material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
         """
         output_number = material_number
 
@@ -1023,8 +770,7 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content else {})
+                            if isinstance(content, str) else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -1048,8 +794,7 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str)
-                                else (content.serialize() if content else {})
+                                if isinstance(content, str) else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -1069,8 +814,7 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str)
-                                else (content.serialize() if content else {})
+                                if isinstance(content, str) else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -1152,8 +896,7 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content else {})
+                            if isinstance(content, str) else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()

unilabos/registry/ast_registry_scanner.py

@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
 
 MAX_SCAN_DEPTH = 10      # 最大目录递归深度
 MAX_SCAN_FILES = 1000    # 最大扫描文件数量
-_CACHE_VERSION = 2       # 缓存格式版本号，格式变更时递增
+_CACHE_VERSION = 1       # 缓存格式版本号，格式变更时递增
 
 # 合法的装饰器来源模块
 _REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
@@ -258,6 +258,8 @@ def scan_directory(
     }
 
 
+
+
 # ---------------------------------------------------------------------------
 # File-level parsing
 # ---------------------------------------------------------------------------
@@ -359,7 +361,6 @@ def _parse_file(
                     "actions": class_body.get("actions", {}),
                     "status_properties": class_body.get("status_properties", {}),
                     "init_params": class_body.get("init_params", []),
-                    "init_docstring": class_body.get("init_docstring"),
                     "auto_methods": class_body.get("auto_methods", {}),
                     "import_map": import_map,
                 }
@@ -496,6 +497,7 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
     return import_map
 
 
+
 # ---------------------------------------------------------------------------
 # Decorator finding & argument extraction
 # ---------------------------------------------------------------------------
@@ -766,7 +768,6 @@ def _extract_class_body(
         "actions": {},          # method_name -> action_info
         "status_properties": {},  # prop_name -> status_info
         "init_params": [],      # [{"name": ..., "type": ..., "default": ...}, ...]
-        "init_docstring": None,
         "auto_methods": {},     # method_name -> method_info (no @action decorator)
     }
 
@@ -779,7 +780,6 @@ def _extract_class_body(
         # --- __init__ ---
         if method_name == "__init__":
             result["init_params"] = _extract_method_params(item, import_map)
-            result["init_docstring"] = ast.get_docstring(item)
             continue
 
         # --- Skip private/dunder ---

unilabos/registry/devices/Qone_nmr.yaml

@@ -51,18 +51,14 @@ Qone_nmr:
               properties:
                 check_interval:
                   default: 60
-                  description: 检查间隔时间（秒），默认60秒
                   type: string
                 expected_count:
                   default: 1
-                  description: 期望生成的.nmr文件数量，默认1个
                   type: string
                 monitor_dir:
-                  description: 要监督的目录路径，如果未指定则使用self.monitor_directory
                   type: string
                 stability_checks:
                   default: 3
-                  description: 文件大小稳定性检查次数，默认3次
                   type: string
               required: []
               type: object
@@ -89,14 +85,11 @@ Qone_nmr:
             goal:
               properties:
                 output_dir:
-                  description: 输出目录（如果未指定，使用self.output_directory）
                   type: string
                 string_list:
-                  description: 字符串列表
                   type: string
                 txt_encoding:
                   default: utf-8
-                  description: 文件编码
                   type: string
               required:
               - string_list
@@ -158,13 +151,6 @@ Qone_nmr:
               additionalProperties: false
               properties:
                 string:
-                  description: '包含多个字符串的输入数据，支持两种格式：
-
-                    1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
-
-                    2. 换行分隔：如 "A 1 B 2 C 3
-
-                    X 10 Y 20 Z 30"'
                   type: string
               title: StrSingleInput_Goal
               type: object

unilabos/registry/devices/bioyond_cell.yaml

@@ -491,17 +491,14 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
-                  description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
                   items:
                     type: string
                   type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
-                  description: 物料类型ID
                   type: string
                 warehouse_name:
                   default: 粉末加样头堆栈
-                  description: 目标仓库名（用于取位置信息）
                   type: string
               required: []
               type: object
@@ -530,16 +527,12 @@ bioyond_cell:
             goal:
               properties:
                 location_name_or_id:
-                  description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
                   type: string
                 material_name:
-                  description: 物料名称（会优先匹配配置模板）。
                   type: string
                 type_id:
-                  description: 物料类型 ID（若为空则尝试从配置推断）。
                   type: string
                 warehouse_name:
-                  description: 需要入库的仓库名称；若为空则仅创建不入库。
                   type: string
               required:
               - material_name
@@ -668,20 +661,15 @@ bioyond_cell:
             goal:
               properties:
                 board_type:
-                  description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
                   type: string
                 bottle_type:
-                  description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
                   type: string
                 location_code:
-                  description: 库位编号，例如 "A01"
                   type: string
                 name:
-                  description: 物料名称
                   type: string
                 warehouse_name:
                   default: 手动堆栈
-                  description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
                   type: string
               required:
               - name
@@ -1968,19 +1956,19 @@ bioyond_cell:
               properties:
                 source_wh_id:
                   default: 3a19debc-84b4-0359-e2d4-b3beea49348b
-                  description: 来源仓库 Id (默认为3号仓库)
+                  description: 来源仓库ID
                   type: string
                 source_x:
                   default: 1
-                  description: 来源位置 X 坐标
+                  description: 来源位置X坐标
                   type: integer
                 source_y:
                   default: 1
-                  description: 来源位置 Y 坐标
+                  description: 来源位置Y坐标
                   type: integer
                 source_z:
                   default: 1
-                  description: 来源位置 Z 坐标
+                  description: 来源位置Z坐标
                   type: integer
               required: []
               type: object
@@ -2073,11 +2061,9 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
-                  description: 任务编号
                   type: string
                 timeout:
                   default: 36000
-                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2106,15 +2092,12 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
-                  description: 任务编号
                   type: string
                 poll_interval:
                   default: 0.5
-                  description: 轮询间隔（秒），默认 0.5 秒
                   type: number
                 timeout:
                   default: 36000
-                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2171,15 +2154,10 @@ bioyond_cell:
     config:
       properties:
         bioyond_config:
-          description: '从 JSON 文件加载的 bioyond 配置字典
-
-            包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
           type: object
         deck:
-          description: Deck 配置（可选，会从 JSON 中自动处理）
           type: string
         protocol_type:
-          description: 协议类型（可选）
           type: string
       required: []
       type: object

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -47,10 +47,8 @@ bioyond_dispensing_station:
             goal:
               properties:
                 report_request:
-                  description: WorkstationReportRequest 对象，包含任务完成信息
                   type: string
                 used_materials:
-                  description: 物料使用记录列表
                   type: string
               required:
               - report_request
@@ -104,7 +102,6 @@ bioyond_dispensing_station:
             goal:
               properties:
                 material_name:
-                  description: 物料名称
                   type: string
               required:
               - material_name
@@ -614,10 +611,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 target_device_id:
-                  description: 目标反应站设备ID(所有转移组使用同一个设备)
+                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
                   type: string
                 transfer_groups:
-                  description: '转移任务组列表,每组包含:'
+                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
                   type: array
               required:
               - target_device_id
@@ -697,13 +694,10 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
-          description: 配置字典,应包含material_type_mappings等配置
           type: object
         deck:
-          description: Deck对象
           type: string
         protocol_type:
-          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -150,15 +150,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力 (N)
+                  description: 电池压制力(N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁
+                  description: 是否忽略电池清洁步骤
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -166,29 +166,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积 (μL)
+                  description: 二次滴液第一次排液体积(μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
                   type: boolean
                 elec_num:
                   description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装的电池数
+                  description: 每瓶电解液组装电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量 (μL)
+                  description: 电解液吸液量(μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
                 gemopanshu:
                   default: 0
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
               required:
               - elec_num
@@ -308,13 +308,7 @@ coincellassemblyworkstation_device:
               properties:
                 material_search_enable:
                   default: false
-                  description: '是否启用物料搜寻功能。
-
-                    设备初始化后会弹出物料搜寻确认弹窗，
-
-                    此参数控制自动点击''是''（启用）或''否''（不启用）。
-
-                    默认为False（不启用物料搜寻）。'
+                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
                   type: boolean
               required: []
               type: object
@@ -553,15 +547,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力 (N)
+                  description: 电池压制力(N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁
+                  description: 是否忽略电池清洁步骤
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -569,29 +563,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积 (μL)
+                  description: 二次滴液第一次排液体积(μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
                   type: boolean
                 elec_num:
-                  description: 电解液瓶数
+                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装的电池数
+                  description: 每瓶电解液组装电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量 (μL)
+                  description: 电解液吸液量(μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -599,7 +593,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -607,7 +601,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
                 gemopanshu:
                   default: 0
@@ -619,7 +613,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
                   type: integer
               required:
               - elec_num

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -18,7 +18,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 degrees:
-                  description: 角度值
                   type: number
               required:
               - degrees
@@ -45,7 +44,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  description: 电机轴
                   type: object
               required:
               - axis
@@ -73,7 +71,6 @@ xyz_stepper_controller:
               properties:
                 enable:
                   default: true
-                  description: True为使能，False为失能
                   type: boolean
               required: []
               type: object
@@ -102,11 +99,9 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  description: 电机轴
                   type: object
                 enable:
                   default: true
-                  description: True为使能，False为失能
                   type: boolean
               required:
               - axis
@@ -157,7 +152,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  description: 电机轴
                   type: object
               required:
               - axis
@@ -189,21 +183,16 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度(rpm/s)
                   type: integer
                 axis:
-                  description: 电机轴
                   type: object
                 position:
-                  description: 目标位置(步数)
                   type: integer
                 precision:
                   default: 100
-                  description: 到位精度
                   type: integer
                 speed:
                   default: 5000
-                  description: 运行速度(rpm)
                   type: integer
               required:
               - axis
@@ -236,21 +225,16 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度
                   type: integer
                 axis:
-                  description: 电机轴
                   type: object
                 degrees:
-                  description: 目标角度（度）
                   type: number
                 precision:
                   default: 100
-                  description: 精度
                   type: integer
                 speed:
                   default: 5000
-                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -283,21 +267,16 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度
                   type: integer
                 axis:
-                  description: 电机轴
                   type: object
                 precision:
                   default: 100
-                  description: 精度
                   type: integer
                 revolutions:
-                  description: 目标圈数
                   type: number
                 speed:
                   default: 5000
-                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -330,20 +309,15 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
-                  description: 运行速度
                   type: integer
                 x:
-                  description: X轴目标位置
                   type: integer
                 y:
-                  description: Y轴目标位置
                   type: integer
                 z:
-                  description: Z轴目标位置
                   type: integer
               required: []
               type: object
@@ -376,20 +350,15 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
-                  description: 移动速度
                   type: integer
                 x_deg:
-                  description: X轴目标角度（度）
                   type: number
                 y_deg:
-                  description: Y轴目标角度（度）
                   type: number
                 z_deg:
-                  description: Z轴目标角度（度）
                   type: number
               required: []
               type: object
@@ -422,20 +391,15 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
-                  description: 移动速度
                   type: integer
                 x_rev:
-                  description: X轴目标圈数
                   type: number
                 y_rev:
-                  description: Y轴目标圈数
                   type: number
                 z_rev:
-                  description: Z轴目标圈数
                   type: number
               required: []
               type: object
@@ -463,7 +427,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 revolutions:
-                  description: 圈数
                   type: number
               required:
               - revolutions
@@ -493,13 +456,10 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
-                  description: 加速度(rpm/s)
                   type: integer
                 axis:
-                  description: 电机轴
                   type: object
                 speed:
-                  description: 运行速度(rpm)，正值正转，负值反转
                   type: integer
               required:
               - axis
@@ -527,7 +487,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
-                  description: 步数
                   type: integer
               required:
               - steps
@@ -554,7 +513,6 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
-                  description: 步数
                   type: integer
               required:
               - steps
@@ -606,11 +564,9 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  description: 电机轴
                   type: object
                 timeout:
                   default: 30.0
-                  description: 超时时间(秒)
                   type: number
               required:
               - axis
@@ -635,14 +591,11 @@ xyz_stepper_controller:
       properties:
         baudrate:
           default: 115200
-          description: 波特率
           type: integer
         port:
-          description: 串口端口名
           type: string
         timeout:
           default: 1.0
-          description: 通信超时时间
           type: number
       required:
       - port

unilabos/registry/devices/liquid_handler.yaml

@@ -510,11 +510,9 @@ liquid_handler:
             goal:
               properties:
                 msg:
-                  description: information to be printed
                   type: string
                 seconds:
                   default: 0
-                  description: seconds to wait
                   type: string
               required: []
               type: object
@@ -2965,22 +2963,15 @@ liquid_handler:
               additionalProperties: false
               properties:
                 channel:
-                  description: int
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 dis_to_top:
-                  description: 'float
-
-                    Height in mm to move to relative to the well top.'
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 well:
                   additionalProperties: false
-                  description: 'Well
-
-                    The target well.'
                   properties:
                     category:
                       type: string
@@ -4838,13 +4829,11 @@ liquid_handler:
     config:
       properties:
         backend:
-          description: Backend to use.
           type: object
         channel_num:
           default: 8
           type: integer
         deck:
-          description: Deck to use.
           type: object
         simulator:
           default: false
@@ -4894,17 +4883,14 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
-                  description: 液体输入槽列表
                   items:
                     type: integer
                   type: array
                 liquid_type:
-                  description: 液体类型列表
                   items:
                     type: string
                   type: array
                 liquid_volume:
-                  description: 液体体积列表
                   items:
                     type: integer
                   type: array
@@ -4915,7 +4901,6 @@ liquid_handler.biomek:
                     type: object
                   type: array
                 slot_on_deck:
-                  description: 甲板上的槽位
                   type: integer
               required:
               - resource_tracker
@@ -5051,27 +5036,20 @@ liquid_handler.biomek:
               additionalProperties: false
               properties:
                 none_keys:
-                  description: 需要设置为None的键列表
                   items:
                     type: string
                   type: array
                 protocol_author:
-                  description: 协议作者
                   type: string
                 protocol_date:
-                  description: 协议日期
                   type: string
                 protocol_description:
-                  description: 协议描述
                   type: string
                 protocol_name:
-                  description: 协议名称
                   type: string
                 protocol_type:
-                  description: 协议类型
                   type: string
                 protocol_version:
-                  description: 协议版本
                   type: string
               title: LiquidHandlerProtocolCreation_Goal
               type: object

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -87,7 +87,7 @@ neware_battery_test_system:
               properties:
                 filepath:
                   default: bts_status.json
-                  description: 输出文件路径
+                  description: 输出JSON文件路径
                   type: string
               required: []
               type: object
@@ -146,7 +146,7 @@ neware_battery_test_system:
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
+                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
                   type: integer
               required: []
               type: object
@@ -237,11 +237,11 @@ neware_battery_test_system:
             goal:
               properties:
                 csv_path:
-                  description: 输入CSV文件路径
+                  description: 输入CSV文件的绝对路径
                   type: string
                 output_dir:
                   default: .
-                  description: 输出目录，用于存储XML文件和备份，默认当前目录
+                  description: 输出目录（用于存储XML和备份文件），默认当前目录
                   type: string
               required:
               - csv_path
@@ -302,14 +302,14 @@ neware_battery_test_system:
             goal:
               properties:
                 backup_dir:
-                  description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
+                  description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
                   type: string
                 file_pattern:
                   default: '*'
-                  description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
+                  description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
                   type: string
                 oss_prefix:
-                  description: OSS 对象前缀，默认使用类初始化时的配置
+                  description: OSS对象路径前缀（默认使用self.oss_prefix）
                   type: string
               required: []
               type: object
@@ -336,25 +336,19 @@ neware_battery_test_system:
     config:
       properties:
         devtype:
-          description: 设备类型标识
           type: string
         ip:
-          description: TCP服务器IP地址
           type: string
         machine_id:
           default: 1
-          description: 机器ID
           type: integer
         oss_prefix:
           default: neware_backup
-          description: OSS对象路径前缀，默认"neware_backup"
           type: string
         oss_upload_enabled:
           default: false
-          description: 是否启用OSS上传功能，默认False
           type: boolean
         port:
-          description: TCP端口
           type: integer
         size_x:
           default: 50
@@ -366,7 +360,6 @@ neware_battery_test_system:
           default: 20
           type: number
         timeout:
-          description: 通信超时时间（秒）
           type: integer
       required: []
       type: object

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -207,12 +207,8 @@ separator.homemade:
             goal:
               properties:
                 condition:
-                  description: The condition to be monitored, either 'delta' or 'time'.
                   type: string
                 value:
-                  description: 'The threshold value for the condition.
-
-                    `delta > 0.05`, `time > 60`'
                   type: string
               required:
               - condition
@@ -309,17 +305,12 @@ separator.homemade:
                 event:
                   type: string
                 settling_time:
-                  description: The duration for which to settle after stirring, in
-                    seconds. Defaults to 10.
                   type: string
                 stir_speed:
-                  description: The speed of stirring, in RPM. Defaults to 300.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
-                  description: The duration for which to stir, in seconds. Defaults
-                    to 10.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number

unilabos/registry/devices/pump_and_valve.yaml

@@ -456,7 +456,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
-                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -482,7 +481,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
-                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -689,10 +687,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 max_velocity:
-                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
-                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position
@@ -1007,7 +1003,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
-                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1033,7 +1028,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
-                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1240,10 +1234,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 max_velocity:
-                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
-                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -32,7 +32,7 @@ reaction_station.bioyond:
                   type: integer
                 end_point:
                   default: 0
-                  description: 终点计时点 (Start=0, End=1)
+                  description: 终点计时点 (Start=开始前, End=结束后)
                   type: integer
                 end_step_key:
                   default: ''
@@ -40,11 +40,11 @@ reaction_station.bioyond:
                   type: string
                 start_point:
                   default: 0
-                  description: 起点计时点 (Start=0, End=1)
+                  description: 起点计时点 (Start=开始前, End=结束后)
                   type: integer
                 start_step_key:
                   default: ''
-                  description: 起点步骤Key (可选, 默认为空则自动选择)
+                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                   type: string
               required:
               - duration
@@ -91,7 +91,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
-                  description: 订单参数的JSON字符串
                   type: string
               required:
               - json_str
@@ -118,7 +117,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_ids:
-                  description: 要删除的工作流ID数组
                   items:
                     type: string
                   type: array
@@ -147,7 +145,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
-                  description: 'JSON格式的字符串,包含:'
                   type: string
               required:
               - json_str
@@ -200,7 +197,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 web_workflow_json:
-                  description: JSON 格式的网页工作流列表
                   type: string
               required:
               - web_workflow_json
@@ -232,10 +228,8 @@ reaction_station.bioyond:
             goal:
               properties:
                 reactor_id:
-                  description: 反应器编号 (1-5)
                   type: integer
                 temperature:
-                  description: 目标温度 (°C)
                   type: number
               required:
               - reactor_id
@@ -263,7 +257,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 preintake_id:
-                  description: 通量ID
                   type: string
               required:
               - preintake_id
@@ -345,7 +338,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 value:
-                  description: 工作流 ID 列表
                   items:
                     type: string
                   type: array
@@ -373,7 +365,6 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_id:
-                  description: 工作流ID
                   type: string
               required:
               - workflow_id
@@ -433,11 +424,11 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称(液体种类)
+                  description: 物料名称（不能为空）
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度(C)
+                  description: 温度设定(°C)
                   type: number
                 time:
                   default: '90'
@@ -445,14 +436,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=1, YES=2)
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察(NO=1, YES=2)
+                  description: 是否观察 (NO=否, YES=是)
                   type: integer
                 volume:
-                  description: 分液量(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - assign_material_name
@@ -534,11 +525,11 @@ reaction_station.bioyond:
               properties:
                 assign_material_name:
                   default: BAPP
-                  description: 物料名称(试剂瓶位)
+                  description: 物料名称
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(C)
+                  description: 温度设定(°C)
                   type: number
                 time:
                   default: '0'
@@ -546,15 +537,15 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=1, YES=2)
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察(int类型, 1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
                   type: integer
                 volume:
                   default: '350'
-                  description: 分液质量(g)
+                  description: 分液公式(mL)
                   type: string
               required: []
               type: object
@@ -602,28 +593,26 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 solvents:
-                  description: '溶剂信息的字典或JSON字符串(可选),格式如下:
-
-                    {'
+                  description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(C)
+                  description: 温度设定(°C),默认25.00
                   type: number
                 time:
                   default: '360'
-                  description: 观察时间(分钟)
+                  description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=1, YES=2)
+                  description: 是否滴定(NO=否, YES=是),默认NO
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察(NO=1, YES=2)
+                  description: 是否观察 (NO=否, YES=是),默认YES
                   type: integer
                 volume:
-                  description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
+                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
               required:
               - assign_material_name
@@ -682,32 +671,33 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 extracted_actuals:
-                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
+                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
                   type: string
                 feeding_order_data:
-                  description: feeding_order JSON字符串或对象,用于获取m二酐值
+                  description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
+                    {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度(C)
+                  description: 温度设定(°C),默认25.00
                   type: number
                 time:
                   default: '90'
-                  description: 观察时间(分钟)
+                  description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
                   default: '2'
-                  description: 是否滴定(NO=1, YES=2),默认2
+                  description: 是否滴定(NO=否, YES=是),默认YES
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察(NO=1, YES=2)
+                  description: 是否观察 (NO=否, YES=是),默认YES
                   type: integer
                 volume_formula:
-                  description: 分液公式(μL),如果提供则直接使用,否则自动计算
+                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
                 x_value:
-                  description: 手工输入的x值,格式如 "1-2-3"
+                  description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
                   type: string
               required:
               - assign_material_name
@@ -748,7 +738,7 @@ reaction_station.bioyond:
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度(C)
+                  description: 温度设定(°C)
                   type: number
                 time:
                   default: '0'
@@ -756,14 +746,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=1, YES=2)
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察(NO=1, YES=2)
+                  description: 是否观察 (NO=否, YES=是)
                   type: integer
                 volume_formula:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
@@ -796,7 +786,7 @@ reaction_station.bioyond:
                   description: 任务名称
                   type: string
                 workflow_name:
-                  description: 合并后的工作流名称
+                  description: 工作流名称
                   type: string
               required:
               - workflow_name
@@ -829,15 +819,15 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称(不能为空)
+                  description: 物料名称
                   type: string
                 cutoff:
                   default: '900000'
-                  description: 粘度上限(需为有效数字字符串,默认 "900000")
+                  description: 粘度上限
                   type: string
                 temperature:
                   default: -10.0
-                  description: 温度设定(C,范围:-50.00 至 100.00)
+                  description: 温度设定(°C)
                   type: number
               required:
               - assign_material_name
@@ -919,11 +909,11 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
+                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(C)
+                  description: 温度设定(°C)
                   type: number
                 time:
                   default: '0'
@@ -931,7 +921,7 @@ reaction_station.bioyond:
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察(NO=1, YES=2)
+                  description: 是否观察 (NO=否, YES=是)
                   type: integer
               required:
               - material_id
@@ -955,13 +945,10 @@ reaction_station.bioyond:
     config:
       properties:
         config:
-          description: 配置字典,应包含workflow_mappings等配置
           type: object
         deck:
-          description: Deck对象
           type: string
         protocol_type:
-          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/robot_arm.yaml

@@ -198,8 +198,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes option, target,
-                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -243,8 +241,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes quaternion, speed,
-                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -288,7 +284,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -709,8 +709,6 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes option, target,
-                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -754,8 +752,6 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes quaternion, speed,
-                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -799,7 +795,6 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
-                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/virtual_device.yaml

@@ -2179,7 +2179,6 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
-                  description: 端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2226,7 +2225,6 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
-                  description: 目标端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2263,7 +2261,6 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
-                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -2307,7 +2304,6 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
-                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -4219,7 +4215,6 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 string:
-                  description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -4263,7 +4258,6 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 command:
-                  description: '"OPEN"/"CLOSED" 或其他控制命令'
                   type: string
               title: SendCmd_Goal
               type: object
@@ -4424,20 +4418,16 @@ virtual_solid_dispenser:
                 event:
                   type: string
                 mass:
-                  description: 质量字符串 (如 "2.9 g")
                   type: string
                 mol:
-                  description: 摩尔数字符串 (如 "0.12 mol")
                   type: string
                 purpose:
-                  description: 添加目的
                   type: string
                 rate_spec:
                   type: string
                 ratio:
                   type: string
                 reagent:
-                  description: 试剂名称
                   type: string
                 stir:
                   type: boolean
@@ -4449,7 +4439,6 @@ virtual_solid_dispenser:
                   type: string
                 vessel:
                   additionalProperties: false
-                  description: 目标容器
                   properties:
                     category:
                       type: string
@@ -5579,10 +5568,8 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
-                  description: 拉取速度 (ml/s)
                   type: number
                 volume:
-                  description: 要拉取的体积 (ml)
                   type: number
               required:
               - volume
@@ -5609,10 +5596,8 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
-                  description: 推出速度 (ml/s)
                   type: number
                 volume:
-                  description: 要推出的体积 (ml)
                   type: number
               required:
               - volume
@@ -5708,12 +5693,10 @@ virtual_transfer_pump:
               additionalProperties: false
               properties:
                 max_velocity:
-                  description: 移动速度 (ml/s)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 position:
-                  description: 目标位置 (ml)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
@@ -5862,10 +5845,8 @@ virtual_transfer_pump:
     config:
       properties:
         config:
-          description: 配置字典，包含max_volume, port等参数
           type: object
         device_id:
-          description: 设备ID
           type: string
       required: []
       type: object

unilabos/registry/devices/xrd_d7mate.yaml

@@ -409,11 +409,11 @@ xrd_d7mate:
               properties:
                 end_theta:
                   default: 80.0
-                  description: 结束角度（≥5.5°，且必须大于 start_theta）
+                  description: 结束角度（≥5.5°，且必须大于start_theta）
                   type: number
                 exp_time:
                   default: 0.1
-                  description: 曝光时间（0.1-5.0 秒）
+                  description: 曝光时间（0.1-5.0秒）
                   type: number
                 increment:
                   default: 0.05
@@ -421,7 +421,7 @@ xrd_d7mate:
                   type: number
                 sample_id:
                   default: ''
-                  description: 样品名称
+                  description: 样品标识符
                   type: string
                 start_theta:
                   default: 10.0
@@ -433,7 +433,7 @@ xrd_d7mate:
                   type: string
                 wait_minutes:
                   default: 3.0
-                  description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
+                  description: 允许上样后等待分钟数
                   type: number
               required: []
               title: StartWorkflow_Goal
@@ -492,15 +492,12 @@ xrd_d7mate:
       properties:
         host:
           default: 127.0.0.1
-          description: 设备IP地址
           type: string
         port:
           default: 6001
-          description: 通信端口，默认6001
           type: string
         timeout:
           default: 10.0
-          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/devices/zhida_gcms.yaml

@@ -217,7 +217,6 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
-                  description: Base64编码的CSV数据（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -258,7 +257,6 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
-                  description: CSV文件路径（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -291,15 +289,12 @@ zhida_gcms:
       properties:
         host:
           default: 192.168.3.184
-          description: 设备IP地址，本地部署时可使用'127.0.0.1'
           type: string
         port:
           default: 5792
-          description: 通信端口，默认5792
           type: string
         timeout:
           default: 10.0
-          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/registry.py

@@ -271,7 +271,6 @@ class Registry:
         registry_cache.pkl 一个文件中，删除即可完全重置。
         """
         import time as _time
-        from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
         from unilabos.registry.ast_registry_scanner import scan_directory
 
         scan_t0 = _time.perf_counter()
@@ -287,10 +286,6 @@ class Registry:
         # ---- 统一缓存：一个 pkl 包含所有数据 ----
         unified_cache = self._load_config_cache()
         ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
-        if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
-            ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
-            unified_cache["_ast_scan"] = ast_cache
-            unified_cache.pop("_build_results", None)
 
         # 默认：扫描 unilabos 包所在的父目录
         pkg_root = Path(__file__).resolve().parent.parent          # .../unilabos
@@ -566,47 +561,13 @@ class Registry:
 
         return prop_schema
 
-    @staticmethod
-    def _apply_docstring_param_metadata(
-        schema: Dict[str, Any],
-        doc_info: Dict[str, Any],
-        field_to_param: Optional[Dict[str, str]] = None,
-        apply_defaults: bool = False,
-    ) -> None:
-        """Apply parsed docstring display names and descriptions to schema properties."""
-        if not schema or not doc_info:
-            return
-
-        props = schema.get("properties", {})
-        if not isinstance(props, dict):
-            return
-
-        param_descs = doc_info.get("params", {}) or {}
-        param_display_names = doc_info.get("param_display_names", {}) or {}
-        for field_name, prop_schema in props.items():
-            if not isinstance(prop_schema, dict):
-                continue
-            param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
-            if not isinstance(param_name, str):
-                continue
-            param_name = param_name.removesuffix("[]")
-            if param_name in param_display_names:
-                prop_schema["title"] = param_display_names[param_name]
-            elif apply_defaults and not prop_schema.get("title"):
-                prop_schema["title"] = field_name
-
-            if param_name in param_descs:
-                prop_schema["description"] = param_descs[param_name]
-            elif apply_defaults and "description" not in prop_schema:
-                prop_schema["description"] = ""
-
     def _generate_unilab_json_command_schema(
         self, method_args: list, docstring: Optional[str] = None,
         import_map: Optional[Dict[str, str]] = None,
-        apply_doc_defaults: bool = False,
     ) -> Dict[str, Any]:
         """根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
         doc_info = parse_docstring(docstring)
+        param_descs = doc_info.get("params", {})
 
         schema = {
             "type": "object",
@@ -637,10 +598,12 @@ class Registry:
                     param_name, param_type, param_default, import_map=import_map
                 )
 
+            if param_name in param_descs:
+                schema["properties"][param_name]["description"] = param_descs[param_name]
+
             if param_required:
                 schema["required"].append(param_name)
 
-        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
         return schema
 
     def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
@@ -836,7 +799,6 @@ class Registry:
             type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
             params = method_info.get("params", [])
             method_doc = method_info.get("docstring")
-            method_doc_info = parse_docstring(method_doc)
             goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
 
             if action_args is not None:
@@ -866,11 +828,7 @@ class Registry:
 
             # action handles: 从 @action(handles=[...]) 提取并转换为标准格式
             raw_handles = (action_args or {}).get("handles")
-            handles = (
-                normalize_ast_action_handles(raw_handles)
-                if isinstance(raw_handles, list)
-                else (raw_handles or {})
-            )
+            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
 
             # 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)
@@ -889,12 +847,7 @@ class Registry:
                 "goal": goal,
                 "feedback": (action_args or {}).get("feedback") or {},
                 "result": (action_args or {}).get("result") or {},
-                "schema": wrap_action_schema(
-                    goal_schema,
-                    action_name,
-                    description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
-                    result_schema=result_schema,
-                ),
+                "schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
                 "goal_default": goal_default,
                 "handles": handles,
                 "placeholder_keys": pk,
@@ -933,11 +886,7 @@ class Registry:
                 action_name = f"auto-{action_name}"
 
             raw_handles = action_args.get("handles")
-            handles = (
-                normalize_ast_action_handles(raw_handles)
-                if isinstance(raw_handles, list)
-                else (raw_handles or {})
-            )
+            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
 
             method_params = method_info.get("params", [])
 
@@ -1030,10 +979,7 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": {
-                    **detect_placeholder_keys(method_params),
-                    **(action_args.get("placeholder_keys") or {}),
-                },
+                "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
@@ -1042,22 +988,13 @@ class Registry:
             nt = normalize_enum_value(action_args.get("node_type"), NodeType)
             if nt:
                 action_entry["node_type"] = nt
-            goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
-            self._apply_docstring_param_metadata(
-                goal_schema_for_docs,
-                parse_docstring(method_info.get("docstring")),
-                goal,
-                apply_defaults=True,
-            )
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
 
         # --- init_param_schema = { config: <init_params>, data: <status_types> } ---
         init_params = ast_meta.get("init_params", [])
-        config_schema = self._generate_schema_from_ast_params(
-            init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
-        )
+        config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
         data_schema = self._generate_status_schema_from_ast(
             ast_meta.get("status_properties", {}), imap
         )
@@ -1105,6 +1042,7 @@ class Registry:
     ) -> Dict[str, Any]:
         """Generate JSON Schema from AST-extracted parameter list."""
         doc_info = parse_docstring(docstring)
+        param_descs = doc_info.get("params", {})
 
         schema: Dict[str, Any] = {
             "type": "object",
@@ -1134,10 +1072,12 @@ class Registry:
                     pname, ptype, pdefault, import_map
                 )
 
+            if pname in param_descs:
+                schema["properties"][pname]["description"] = param_descs[pname]
+
             if prequired:
                 schema["required"].append(pname)
 
-        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
         return schema
 
     def _generate_status_schema_from_ast(
@@ -1867,7 +1807,7 @@ class Registry:
                         else:
                             action_key = f"auto-{k}"
                         goal_schema = self._generate_unilab_json_command_schema(
-                            v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
+                            v["args"], import_map=enhanced_import_map
                         )
                         ret_type = v.get("return_type", "")
                         result_schema = None
@@ -1876,13 +1816,7 @@ class Registry:
                                 "result", ret_type, None, import_map=enhanced_import_map
                             )
                         old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
-                        doc_info = parse_docstring(v.get("docstring"))
-                        new_schema = wrap_action_schema(
-                            goal_schema,
-                            action_key,
-                            description=doc_info.get("description", ""),
-                            result_schema=result_schema,
-                        )
+                        new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
                         old_schema = old_cfg.get("schema", {})
                         if old_schema:
                             preserve_field_descriptions(new_schema, old_schema)
@@ -1948,12 +1882,6 @@ class Registry:
 
                         merged_pk = dict(old_cfg.get("placeholder_keys", {}))
                         merged_pk.update(detect_placeholder_keys(v["args"]))
-                        goal_schema_for_docs = (
-                            entry_schema.get("properties", {}).get("goal", {})
-                            if isinstance(entry_schema, dict)
-                            else {}
-                        )
-                        self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
 
                         entry = {
                             "type": entry_type,
@@ -1974,8 +1902,7 @@ class Registry:
 
                     device_config["init_param_schema"] = {}
                     init_schema = self._generate_unilab_json_command_schema(
-                        enhanced_info["init_params"],
-                        docstring=enhanced_info.get("init_docstring"),
+                        enhanced_info["init_params"], "__init__",
                         import_map=enhanced_import_map,
                     )
                     device_config["init_param_schema"]["config"] = init_schema
@@ -2022,9 +1949,7 @@ class Registry:
                             action_str_type_mapping[action_type_str] = target_type
                             if target_type is not None:
                                 try:
-                                    action_config["goal_default"] = ROS2MessageInstance(
-                                        target_type.Goal()
-                                    ).get_python_dict()
+                                    action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
                                 except Exception:
                                     action_config["goal_default"] = {}
                                 prev_schema = action_config.get("schema", {})
@@ -2216,7 +2141,6 @@ class Registry:
                                 "unilabos_device_id": {
                                     "type": "string",
                                     "default": "",
-                                    "title": "设备ID",
                                     "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
                                 },
                                 **schema["properties"]["goal"]["properties"],
@@ -2288,14 +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,
-    external_only=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
     """
@@ -2309,12 +2226,7 @@ def build_registry(
             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,
-        external_only=external_only,
-    )
+    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/utils.py

@@ -36,40 +36,16 @@ class ROSMsgNotFound(Exception):
 # ---------------------------------------------------------------------------
 
 _SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
-_PARAM_HEADER_RE = re.compile(
-    r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
-)
-
-
-def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
-    """Parse ``name[display_name]`` or Google-style ``name (type)``."""
-    match = _PARAM_HEADER_RE.match(param_part.strip())
-    if not match:
-        return param_part.strip().split("(")[0].strip(), None
-
-    display_name = match.group("display_name")
-    if display_name is not None:
-        display_name = display_name.strip() or None
-    return match.group("name").strip(), display_name
 
 
 def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     """
-    解析 docstring，提取描述和参数说明。
-
-    支持:
-      - Google-style ``Args:`` / ``Parameters:`` 小节
-      - 直接参数行 ``field: desc``
-      - 带显示名参数行 ``field[Display Name]: desc``
+    解析 Google-style docstring，提取描述和参数说明。
 
     Returns:
-        {
-            "description": "短描述",
-            "params": {"param1": "参数1描述", ...},
-            "param_display_names": {"param1": "显示名", ...},
-        }
+        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
     """
-    result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
+    result: Dict[str, Any] = {"description": "", "params": {}}
     if not docstring:
         return result
 
@@ -77,53 +53,33 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     if not lines:
         return result
 
+    result["description"] = lines[0].strip()
+
     in_args = False
-    current_section: Optional[str] = None
     current_param: Optional[str] = None
-    current_display_name: Optional[str] = None
     current_desc_parts: list = []
 
-    def flush_current_param() -> None:
-        nonlocal current_param, current_display_name, current_desc_parts
-        if current_param is None:
-            return
-        result["params"][current_param] = "\n".join(current_desc_parts).strip()
-        if current_display_name:
-            result["param_display_names"][current_param] = current_display_name
-        current_param = None
-        current_display_name = None
-        current_desc_parts = []
-
-    first_line = lines[0].strip()
-    start_index = 0
-    if not _SECTION_RE.match(first_line) and ":" not in first_line:
-        result["description"] = first_line
-        start_index = 1
-
-    for line in lines[start_index:]:
+    for line in lines[1:]:
         stripped = line.strip()
-        if not stripped:
-            if current_param is not None:
-                current_desc_parts.append("")
-            continue
-
         section_match = _SECTION_RE.match(stripped)
         if section_match:
-            flush_current_param()
-            current_section = section_match.group(1).lower()
-            in_args = current_section in ("args", "arguments", "parameters", "params")
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+                current_param = None
+                current_desc_parts = []
+            section_name = section_match.group(1).lower()
+            in_args = section_name in ("args", "arguments", "parameters", "params")
             continue
 
-        parse_as_param = in_args or current_section is None
-        if not parse_as_param:
+        if not in_args:
             continue
 
-        if ":" in stripped:
-            flush_current_param()
+        if ":" in stripped and not stripped.startswith(" "):
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
             param_part, _, desc_part = stripped.partition(":")
-            param_name, display_name = _parse_docstring_param_header(param_part)
+            param_name = param_part.strip().split("(")[0].strip()
             current_param = param_name
-            current_display_name = display_name
             current_desc_parts = [desc_part.strip()]
         elif current_param is not None:
             aline = line
@@ -133,7 +89,8 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
                 aline = aline[1:]
             current_desc_parts.append(aline.strip())
 
-    flush_current_param()
+    if current_param is not None:
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
 
     return result
 

unilabos/utils/import_manager.py

@@ -206,7 +206,6 @@ class ImportManager:
             "ast_analysis_success": False,
             "import_map": {},
             "init_params": [],
-            "init_docstring": None,
             "status_methods": {},
             "action_methods": {},
         }
@@ -252,7 +251,6 @@ class ImportManager:
 
         # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
         result["init_params"] = body.get("init_params", [])
-        result["init_docstring"] = body.get("init_docstring")
         result["status_methods"] = body.get("status_properties", {})
         result["action_methods"] = {
             k: {