diff --git a/.conda/base/recipe.yaml b/.conda/base/recipe.yaml
index 57318aae7..cdfb2649e 100644
--- a/.conda/base/recipe.yaml
+++ b/.conda/base/recipe.yaml
@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.11.3
+  version: 0.12.1
 
 source:
   path: ../../unilabos
@@ -30,12 +30,13 @@ build:
 
 requirements:
   host:
-  - python ==3.11.14
+  - python ==3.12.13
   - pip
   - setuptools
   - zstd
   - zstandard
   run:
+  - python >=3.12,<3.13
   - zstd
   - zstandard
   - networkx
@@ -54,9 +55,9 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.11.3
+  - uni-lab::unilabos-env ==0.12.1
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"
+  description: "UniLabOS - Production package for ROS 2 Jazzy and CPython 3.12"
diff --git a/.conda/environment/recipe.yaml b/.conda/environment/recipe.yaml
index c41dac2bb..a5609bfbf 100644
--- a/.conda/environment/recipe.yaml
+++ b/.conda/environment/recipe.yaml
@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.11.3
+  version: 0.12.1
 
 build:
   noarch: generic
@@ -12,28 +12,31 @@ requirements:
   # Python
   - zstd
   - zstandard
-  - conda-forge::python ==3.11.14
+  - conda-forge::python ==3.12.13
+  - conda-forge::numpy >=2,<3
+  - uni-lab::opentrons-shared-data ==9.1.0+unilabos.np2.1 py312_np2_1
   - conda-forge::opencv
   # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
+  - robostack-jazzy::ros2-distro-mutex 0.15.* jazzy_*
+  - robostack-jazzy::ros-jazzy-ros-core
+  - robostack-jazzy::ros-jazzy-action-msgs
+  - robostack-jazzy::ros-jazzy-std-msgs
+  - robostack-jazzy::ros-jazzy-geometry-msgs
+  - robostack-jazzy::ros-jazzy-control-msgs
+  - robostack-jazzy::ros-jazzy-nav2-msgs
+  - robostack-jazzy::ros-jazzy-cv-bridge
+  - robostack-jazzy::ros-jazzy-vision-opencv
+  - robostack-jazzy::ros-jazzy-tf-transformations
+  - robostack-jazzy::ros-jazzy-moveit-msgs
+  - robostack-jazzy::ros-jazzy-tf2-ros
+  - robostack-jazzy::ros-jazzy-tf2-ros-py
   - conda-forge::transforms3d
   - conda-forge::uv
 
   # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies"
+  description: "UniLabOS Environment - ROS 2 Jazzy, CPython 3.12, and conda dependencies"
diff --git a/.conda/full/recipe.yaml b/.conda/full/recipe.yaml
index b3a839908..5d1c83c0a 100644
--- a/.conda/full/recipe.yaml
+++ b/.conda/full/recipe.yaml
@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.11.3
+  version: 0.12.1
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.11.3
+  - uni-lab::unilabos ==0.12.1
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme
@@ -24,19 +24,19 @@ requirements:
   - jupyros
   - colcon-common-extensions
   # ROS2 full desktop (includes rviz2, gazebo, etc.)
-  - robostack-staging::ros-humble-desktop-full
+  - robostack-jazzy::ros-jazzy-desktop-full
   # Navigation and motion control
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # MoveIt motion planning
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # Simulation
-  - ros-humble-simulation
+  - ros-jazzy-simulation
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
+  description: "UniLabOS Full - ROS 2 Jazzy Desktop, MoveIt, Navigation2, Gazebo, and Jupyter"
diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml
index 823ed9803..e4750875a 100644
--- a/.github/workflows/ci-check.yml
+++ b/.github/workflows/ci-check.yml
@@ -8,7 +8,7 @@ on:
 
 jobs:
   registry-check:
-    runs-on: windows-latest
+    runs-on: windows-2022
 
     env:
       # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
@@ -33,20 +33,34 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          channels: robostack-staging,conda-forge,uni-lab
-          channel-priority: flexible
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy
+          channel-priority: strict
           activate-environment: check-env
           auto-update-conda: false
           show-channel-urls: true
 
-      - name: Install ROS dependencies, uv and unilabos-msgs
+      - name: Install ROS 2 Jazzy dependencies and build tools
         run: |
-          echo Installing ROS dependencies...
-          mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
+          echo Installing ROS 2 Jazzy dependencies...
+          mamba install -n check-env --override-channels -c conda-forge -c robostack-jazzy conda-forge::numpy=2 conda-forge::uv conda-forge::opencv conda-forge::colcon-common-extensions robostack-jazzy::ros2-distro-mutex=0.15 robostack-jazzy::ros-jazzy-ros-core robostack-jazzy::ros-jazzy-action-msgs robostack-jazzy::ros-jazzy-std-msgs robostack-jazzy::ros-jazzy-geometry-msgs robostack-jazzy::ros-jazzy-control-msgs robostack-jazzy::ros-jazzy-nav2-msgs robostack-jazzy::ros-jazzy-cv-bridge robostack-jazzy::ros-jazzy-vision-opencv robostack-jazzy::ros-jazzy-tf-transformations robostack-jazzy::ros-jazzy-moveit-msgs robostack-jazzy::ros-jazzy-tf2-ros robostack-jazzy::ros-jazzy-tf2-ros-py conda-forge::transforms3d -y
+
+      - name: Initialize MSVC x64 toolchain
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x64
+
+      - name: Build unilabos_msgs for Jazzy/cp312
+        run: |
+          call conda activate check-env
+          colcon build --base-paths unilabos_msgs --build-base build\unilabos_msgs --install-base install\unilabos_msgs --merge-install --packages-select unilabos_msgs --cmake-args -DBUILD_TESTING=OFF
+          call install\unilabos_msgs\setup.bat
+          python -c "from unilabos_msgs.msg import Resource; print('unilabos_msgs Jazzy/cp312: OK')"
 
       - name: Install pip dependencies and unilabos
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Installing pip dependencies...
           uv pip install -r unilabos/utils/requirements.txt
           uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
@@ -57,6 +71,7 @@ jobs:
       - name: Run HostLink networking tests
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Running HostLink, ROS2 domain and networking runtime tests...
           python -m pytest -q tests\hostlink tests\networking tests\ros\test_domain_init.py -p no:launch_testing -p no:launch_ros
 
@@ -68,6 +83,7 @@ jobs:
         # 不能用 "if errorlevel 1"(它对负数退出码会误判为成功)。
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Running check mode...
           set ATTEMPTS=4
           set COUNT=0
diff --git a/.github/workflows/conda-pack-build.yml b/.github/workflows/conda-pack-build.yml
index 2730ff4d1..59faf8aef 100644
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -51,7 +51,7 @@ jobs:
             platform: osx-arm64
             env_file: unilabos-osx-arm64.yaml
             script_ext: sh
-          - os: windows-latest
+          - os: windows-2022
             platform: win-64
             env_file: unilabos-win64.yaml
             script_ext: bat
@@ -84,14 +84,24 @@ jobs:
           ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
+      - name: Create artifact label
+        if: steps.should_build.outputs.should_build == 'true'
+        id: artifact_label
+        shell: bash
+        env:
+          RAW_PACKAGE_REF: ${{ env.PACKAGE_REF }}
+        run: |
+          SAFE_REF="${RAW_PACKAGE_REF//\//-}"
+          echo "value=$SAFE_REF" >> "$GITHUB_OUTPUT"
+
       - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -105,10 +115,10 @@ jobs:
           echo Build full: ${{ env.BUILD_FULL }}
           if "${{ env.BUILD_FULL }}"=="true" (
             echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos-full conda-pack zstandard -y
           ) else (
             echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
           )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
@@ -120,50 +130,50 @@ jobs:
           echo "Build full: ${{ env.BUILD_FULL }}"
           if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos-full conda-pack zstandard -y
           else
             echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
           fi
 
-      - name: Get latest ros-humble-unilabos-msgs version (Windows)
+      - name: Get latest ros-jazzy-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         id: msgs_version_win
         run: |
-          echo Checking installed ros-humble-unilabos-msgs version...
-          conda list -n unilab ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          echo Checking installed ros-jazzy-unilabos-msgs version...
+          conda list -n unilab ros-jazzy-unilabos-msgs
+          for /f "tokens=2" %%i in ('conda list -n unilab ros-jazzy-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
           echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
-          echo Installed ros-humble-unilabos-msgs version: %VERSION%
+          echo Installed ros-jazzy-unilabos-msgs version: %VERSION%
 
-      - name: Get latest ros-humble-unilabos-msgs version (Unix)
+      - name: Get latest ros-jazzy-unilabos-msgs version (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         id: msgs_version_unix
         shell: bash
         run: |
-          echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          echo "Checking installed ros-jazzy-unilabos-msgs version..."
+          VERSION=$(conda list -n unilab ros-jazzy-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
           echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
-          echo "Installed ros-humble-unilabos-msgs version: $VERSION"
+          echo "Installed ros-jazzy-unilabos-msgs version: $VERSION"
 
-      - name: Check for newer ros-humble-unilabos-msgs (Windows)
+      - name: Check for newer ros-jazzy-unilabos-msgs (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
-          echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
+          echo Checking for available ros-jazzy-unilabos-msgs versions...
+          mamba search --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs || echo Search completed
           echo.
-          echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
+          echo Updating ros-jazzy-unilabos-msgs to latest version...
+          mamba update -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs -y || echo Already at latest version
 
-      - name: Check for newer ros-humble-unilabos-msgs (Unix)
+      - name: Check for newer ros-jazzy-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
-          echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
+          echo "Checking for available ros-jazzy-unilabos-msgs versions..."
+          mamba search --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs || echo "Search completed"
           echo ""
-          echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
+          echo "Updating ros-jazzy-unilabos-msgs to latest version..."
+          mamba update -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
@@ -193,7 +203,7 @@ jobs:
           mamba env list
           echo.
           echo === Installed Packages ===
-          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
+          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-jazzy-unilabos-msgs" || mamba list -n unilab
           echo.
           echo === Python Packages ===
           mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
@@ -206,7 +216,7 @@ jobs:
           mamba env list
           echo ""
           echo "=== Installed Packages ==="
-          mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
+          mamba list -n unilab | grep -E "(unilabos|ros-jazzy-unilabos-msgs)" || mamba list -n unilab
           echo ""
           echo "=== Python Packages ==="
           mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
@@ -333,7 +343,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
+          name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}
           path: dist-package/
           retention-days: 90
           if-no-files-found: error
@@ -346,7 +356,7 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ env.PACKAGE_REF }}
-          echo Python version: 3.11.14
+          echo Python version: 3.12.13
           if "${{ env.BUILD_FULL }}"=="true" (
             echo Package: unilabos-full ^(complete^)
           ) else (
@@ -356,7 +366,7 @@ jobs:
           echo Distribution package contents:
           dir dist-package
           echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}
           echo.
           echo After download, extract the ZIP and run:
           echo   install_unilab.bat
@@ -371,7 +381,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ env.PACKAGE_REF }}"
-          echo "Python version: 3.11.14"
+          echo "Python version: 3.12.13"
           if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Package: unilabos-full (complete)"
           else
@@ -381,7 +391,7 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}"
           echo ""
           echo "After download:"
           echo "  install_unilab.sh"
diff --git a/.github/workflows/deploy-docs.yml b/.github/workflows/deploy-docs.yml
index 3e4b07ddf..cf483cd0e 100644
--- a/.github/workflows/deploy-docs.yml
+++ b/.github/workflows/deploy-docs.yml
@@ -55,8 +55,8 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -66,7 +66,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
+          mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos -y
 
       - name: Install latest unilabos from source
         run: |
diff --git a/.github/workflows/multi-platform-build.yml b/.github/workflows/multi-platform-build.yml
index 45e0872c4..ab9cefd4f 100644
--- a/.github/workflows/multi-platform-build.yml
+++ b/.github/workflows/multi-platform-build.yml
@@ -69,7 +69,7 @@ jobs:
           - os: macos-latest # ARM64
             platform: osx-arm64
             env_file: unilabos-osx-arm64.yaml
-          - os: windows-latest
+          - os: windows-2022
             platform: win-64
             env_file: unilabos-win64.yaml
 
@@ -105,8 +105,8 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
-          channels: conda-forge,robostack-staging
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -142,7 +142,7 @@ jobs:
       - name: Build conda package
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml --target-platform ${{ matrix.platform }} -c robostack -c robostack-staging -c conda-forge
+          conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml --target-platform ${{ matrix.platform }} -c conda-forge -c robostack-jazzy
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
diff --git a/.github/workflows/opentrons-numpy2-build.yml b/.github/workflows/opentrons-numpy2-build.yml
new file mode 100644
index 000000000..3c6d6308e
--- /dev/null
+++ b/.github/workflows/opentrons-numpy2-build.yml
@@ -0,0 +1,88 @@
+name: Opentrons NumPy 2 Build
+
+on:
+  push:
+    branches:
+    - feat/jazzy-py312
+    tags:
+    - opentrons-numpy2-v*
+    paths:
+    - .github/workflows/opentrons-numpy2-build.yml
+    - recipes/opentrons-shared-data/**
+  workflow_dispatch:
+    inputs:
+      upload_to_anaconda:
+        description: '是否上传到 Anaconda.org uni-lab 频道'
+        required: false
+        default: false
+        type: boolean
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0
+
+      - name: Setup Miniforge
+        uses: conda-incubator/setup-miniconda@v4
+        with:
+          miniforge-version: latest
+          use-mamba: true
+          python-version: '3.12.13'
+          channels: conda-forge,uni-lab
+          channel-priority: strict
+          activate-environment: build-env
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install build tools
+        run: |
+          mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
+          echo "CONDA_NO_PLUGINS=true" >> "$GITHUB_ENV"
+          echo "PYTHONUTF8=1" >> "$GITHUB_ENV"
+          echo "PYTHONIOENCODING=utf-8" >> "$GITHUB_ENV"
+          echo "ANACONDA_CLIENT_FORCE_STANDALONE=1" >> "$GITHUB_ENV"
+
+      - name: Build patched package
+        run: |
+          conda run -n build-env rattler-build build -r recipes/opentrons-shared-data/recipe.yaml -c conda-forge
+
+      - name: Verify NumPy 2 package metadata and runtime
+        run: |
+          PACKAGE_PATH=$(find ./output/noarch -name "opentrons-shared-data-9.1.0+unilabos.np2.1-*.conda" -print -quit)
+          test -n "$PACKAGE_PATH"
+          mamba create -n opentrons-test --override-channels -c conda-forge \
+            python=3.12.13 "numpy>=2.5,<3" jsonschema pydantic typing-extensions pip -y
+          mamba install -n opentrons-test --override-channels -c conda-forge "$PACKAGE_PATH" -y
+          conda run -n opentrons-test python -c "import importlib.metadata as m; import numpy as np; from opentrons_shared_data.labware import labware_definition as ld; reqs=m.requires('opentrons-shared-data') or []; assert np.lib.NumpyVersion(np.__version__) >= '2.5.0'; assert ld.trapezoid([1, 2, 3]) == 4; assert any(r.startswith('numpy') and '>=2' in r and '<3' in r for r in reqs), reqs; assert m.version('opentrons-shared-data') == '9.1.0+unilabos.np2.1'; print(np.__version__, m.version('opentrons-shared-data'))"
+          conda run -n opentrons-test pip check
+          conda run -n opentrons-test python -c "from pathlib import Path; import sys; root=Path(sys.prefix)/'share'/'licenses'/'opentrons-shared-data'; assert (root/'LICENSE').is_file(); assert (root/'NOTICE').is_file(); print(root)"
+
+      - name: Prepare artifact
+        run: |
+          mkdir -p conda-packages-temp
+          find ./output/noarch -name "opentrons-shared-data-*.conda" -exec cp {} conda-packages-temp/ \;
+          ls -la conda-packages-temp/
+
+      - name: Upload conda package artifact
+        uses: actions/upload-artifact@v6
+        with:
+          name: opentrons-shared-data-numpy2
+          path: conda-packages-temp/
+          if-no-files-found: error
+          retention-days: 30
+
+      - name: Upload to Anaconda.org
+        if: github.event.inputs.upload_to_anaconda == 'true' || startsWith(github.ref, 'refs/tags/opentrons-numpy2-v')
+        run: |
+          for package in $(find ./output/noarch -name "opentrons-shared-data-*.conda"); do
+            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
diff --git a/.github/workflows/unilabos-conda-build.yml b/.github/workflows/unilabos-conda-build.yml
index f269606c3..2a8313805 100644
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -63,7 +63,7 @@ jobs:
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
-          - os: windows-latest
+          - os: windows-2022
             platform: win-64
 
     runs-on: ${{ matrix.os }}
@@ -98,8 +98,8 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy,uni-lab
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -116,6 +116,8 @@ jobs:
           echo "CONDA_NO_PLUGINS=true" >> "$GITHUB_ENV"
           echo "PYTHONUTF8=1" >> "$GITHUB_ENV"
           echo "PYTHONIOENCODING=utf-8" >> "$GITHUB_ENV"
+          # anaconda-client 1.13+ 的顶层 CLI 不再支持 --version，上传也需使用兼容入口。
+          echo "ANACONDA_CLIENT_FORCE_STANDALONE=1" >> "$GITHUB_ENV"
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
@@ -123,7 +125,7 @@ jobs:
           conda info
           conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
           conda run -n build-env rattler-build --version
-          conda run -n build-env anaconda --version
+          conda run -n build-env python -m binstar_client.scripts.cli --version
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
           echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
@@ -138,11 +140,12 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           echo "Building unilabos-env (conda environment dependencies)..."
-          conda run -n build-env rattler-build build -r .conda/environment/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge
+          conda run -n build-env rattler-build build -r .conda/environment/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c robostack-jazzy
 
       - name: Upload unilabos-env to Anaconda.org (if enabled)
         if: |
           steps.should_build.outputs.should_build == 'true' &&
+          matrix.platform == 'linux-64' &&
           (
             github.event_name == 'workflow_run' ||
             github.event.inputs.upload_to_anaconda == 'true'
@@ -158,7 +161,7 @@ jobs:
         run: |
           echo "Building unilabos package..."
           # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
-          conda run -n build-env rattler-build build -r .conda/base/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+          conda run -n build-env rattler-build build -r .conda/base/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c robostack-jazzy --channel ./output
 
       - name: Upload unilabos to Anaconda.org (if enabled)
         if: |
@@ -180,11 +183,12 @@ jobs:
           github.event.inputs.build_full == 'true'
         run: |
           echo "Building unilabos-full package on ${{ matrix.platform }}..."
-          conda run -n build-env rattler-build build -r .conda/full/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+          conda run -n build-env rattler-build build -r .conda/full/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c robostack-jazzy --channel ./output
 
       - name: Upload unilabos-full to Anaconda.org (if enabled)
         if: |
-          steps.should_build.outputs.should_build == 'true' && 
+          steps.should_build.outputs.should_build == 'true' &&
+          matrix.platform == 'linux-64' &&
           github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true' &&
           github.event.inputs.upload_to_anaconda == 'true'
diff --git a/AGENTS.md b/AGENTS.md
index 2f9efa063..996054755 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -7,7 +7,7 @@ Also follow the monorepo-level rules in `../AGENTS.md`.
 ## Build & Development
 
 ```bash
-# Install in editable mode (requires mamba env with python 3.11)
+# Install in editable mode (requires mamba env with Python 3.12 / ROS 2 Jazzy)
 pip install -e .
 uv pip install -r unilabos/utils/requirements.txt
 
@@ -75,7 +75,7 @@ Example device graphs and experiment configs are in `unilabos/test/experiments/`
 ## Code Conventions
 
 - Code comments and log messages in simplified Chinese
-- Python 3.11+, type hints expected
+- Python 3.12+, type hints expected
 - Pydantic models for data validation (`resource_tracker.py`)
 - Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
 - Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
diff --git a/README.md b/README.md
index 6b85cd6db..0cb07d5b6 100644
--- a/README.md
+++ b/README.md
@@ -43,21 +43,21 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the packa
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.12.13
 mamba activate unilab
 
 # Option A: Standard installation (recommended for most users)
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos -c conda-forge -c robostack-jazzy
 
 # Option B: For developers (editable mode development)
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 # Then install unilabos and dependencies:
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
 pip install -e .
 uv pip install -r unilabos/utils/requirements.txt
 
 # Option C: Full installation (simulation/visualization)
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-full -c conda-forge -c robostack-jazzy
 ```
 
 **When to use which?**
diff --git a/README_zh.md b/README_zh.md
index 64a80081a..8f386500b 100644
--- a/README_zh.md
+++ b/README_zh.md
@@ -43,21 +43,21 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.12.13
 mamba activate unilab
 
 # 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos -c conda-forge -c robostack-jazzy
 
 # 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 # 然后安装 unilabos 和依赖：
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
 pip install -e .
 uv pip install -r unilabos/utils/requirements.txt
 
 # 方案 C：完整安装（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-full -c conda-forge -c robostack-jazzy
 ```
 
 **如何选择？**
diff --git a/docs/developer_guide/add_action.md b/docs/developer_guide/add_action.md
index 94a9110a7..c589f8421 100644
--- a/docs/developer_guide/add_action.md
+++ b/docs/developer_guide/add_action.md
@@ -93,7 +93,7 @@ add_action_files(
    unzip conda-package-linux-64.zip  # 或其他平台
 
    # 安装测试包
-   mamba install ./ros-humble-unilabos-msgs-*.conda
+   mamba install ./ros-jazzy-unilabos-msgs-*.conda
    ```
 
 3. **验证 Action 是否正确添加**：
@@ -125,7 +125,7 @@ add_action_files(
 如果采用自己构建的action包，可以通过以下命令更新安装：
 
 ```bash
-mamba remove --force ros-humble-unilabos-msgs
+mamba remove --force ros-jazzy-unilabos-msgs
 mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
 mamba install xxx.conda --offline
 ```
diff --git a/docs/developer_guide/add_device.md b/docs/developer_guide/add_device.md
index c2c6d293a..4259b96b5 100644
--- a/docs/developer_guide/add_device.md
+++ b/docs/developer_guide/add_device.md
@@ -1110,7 +1110,7 @@ return {
 ## 参考
 
 - [Python 类型注解](https://docs.python.org/3/library/typing.html)
-- [ROS2 rclpy 异步编程](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html) - Uni-Lab 使用 ROS2 的异步机制
+- [ROS2 rclpy 异步编程](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html) - Uni-Lab 使用 ROS2 的异步机制
 - [串口通信](https://pyserial.readthedocs.io/)
 
 > **注意：** 虽然设备驱动使用 `async def` 语法，但请**不要参考** Python 标准的 [asyncio 文档](https://docs.python.org/3/library/asyncio.html)。Uni-Lab 使用的是 ROS2 的异步机制，两者不兼容。请使用 `self.sleep()` 和 `self.create_task()` 等 BaseROS2DeviceNode 提供的方法。
diff --git a/docs/developer_guide/add_protocol.md b/docs/developer_guide/add_protocol.md
index da1ca0d3b..d4ba42161 100644
--- a/docs/developer_guide/add_protocol.md
+++ b/docs/developer_guide/add_protocol.md
@@ -23,7 +23,7 @@ cd ..
 调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
 
 ```bash
-mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
+mamba update ros-jazzy-unilabos-msgs -c uni-lab -c conda-forge -c robostack-jazzy
 ```
 
 3. 在 `unilabos/messages/__init__.py` 中添加 Pydantic 定义的实验操作名和参数列表
diff --git a/docs/developer_guide/networking_overview.md b/docs/developer_guide/networking_overview.md
index bdb2ce943..828fa7b06 100644
--- a/docs/developer_guide/networking_overview.md
+++ b/docs/developer_guide/networking_overview.md
@@ -664,6 +664,6 @@ ros2 topic list
 
 ## 参考资料
 
-- [ROS2 网络配置](https://docs.ros.org/en/humble/Tutorials/Advanced/Networking.html)
+- [ROS2 网络配置](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Networking.html)
 - [DDS 配置](https://fast-dds.docs.eprosima.com/)
 - Uni-Lab 云平台文档
diff --git a/docs/user_guide/best_practice.md b/docs/user_guide/best_practice.md
index eba73a5e2..6b3fff379 100644
--- a/docs/user_guide/best_practice.md
+++ b/docs/user_guide/best_practice.md
@@ -46,7 +46,7 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.12.13
 
 # 3. 激活环境
 mamba activate unilab
@@ -54,15 +54,15 @@ mamba activate unilab
 # 4. 安装 Uni-Lab-OS（选择其一）
 
 # 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos -c conda-forge -c robostack-jazzy
 
 # 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 pip install -e /path/to/Uni-Lab-OS  # 可编辑安装
 uv pip install -r unilabos/utils/requirements.txt  # 安装 pip 依赖
 
 # 方案 C：完整版（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-full -c conda-forge -c robostack-jazzy
 ```
 
 **选择建议：**
@@ -800,9 +800,9 @@ Waiting for host service...
 
 ```bash
 # 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.12.13
 conda activate unilab
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 
 # 2. 克隆代码
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
@@ -897,7 +897,7 @@ setup(
         # "pyserial",
         # "requests",
     ],
-    python_requires=">=3.11",
+    python_requires=">=3.12,<3.13",
     # 包含注册表文件
     package_data={
         "my_lab_devices": [
@@ -1886,7 +1886,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
 
 #### 14.4 外部资源
 
-- **ROS 2 文档**：[https://docs.ros.org/en/humble/](https://docs.ros.org/en/humble/)
+- **ROS 2 文档**：[https://docs.ros.org/en/jazzy/](https://docs.ros.org/en/jazzy/)
 - **PyLabRobot**：[https://github.com/PyLabRobot/pylabrobot](https://github.com/PyLabRobot/pylabrobot)
 - **Python 类型注解**：[https://docs.python.org/3/library/typing.html](https://docs.python.org/3/library/typing.html)
 - **YAML 语法**：[https://yaml.org/](https://yaml.org/)
diff --git a/docs/user_guide/installation.md b/docs/user_guide/installation.md
index acf8fb641..bcb8ce4ed 100644
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -155,23 +155,23 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
+mamba create -n unilab python=3.12.13  # ROS 2 Jazzy 的 Conda 包使用 cp312 ABI
 mamba activate unilab
 
 # 选择安装包（三选一）：
 
 # 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos -c conda-forge -c robostack-jazzy
 
 # 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 # 然后安装 unilabos 和 pip 依赖：
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
 pip install -e .
 uv pip install -r unilabos/utils/requirements.txt
 
 # 方案 C：完整版（含仿真和可视化工具）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-full -c conda-forge -c robostack-jazzy
 ```
 
 **参数说明**:
@@ -180,7 +180,7 @@ mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 - `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
 - `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
 - `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
-- `-c robostack-staging -c conda-forge`: 添加额外的软件源
+- `-c conda-forge -c robostack-jazzy`: 添加通用依赖与 ROS 2 Jazzy 软件源
 
 **包选择建议**：
 - **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
@@ -196,10 +196,10 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/f
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
 # 然后重新执行安装命令（推荐标准安装）
-mamba create -n unilab uni-lab::unilabos -c robostack-staging
+mamba create -n unilab uni-lab::unilabos -c conda-forge -c robostack-jazzy
 
 # 或完整版（仿真/可视化）
-mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
+mamba create -n unilab uni-lab::unilabos-full -c conda-forge -c robostack-jazzy
 
 # pip 安装时使用清华镜像（开发者安装时使用）
 uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
@@ -244,18 +244,18 @@ cd Uni-Lab-OS
 ### 第二步：安装开发环境（unilabos-env）
 
 **重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
-- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
+- 包含 ROS 2 核心组件和消息包（ros-jazzy-ros-core、std-msgs、geometry-msgs 等）
 - 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
 - 包含 `uv` 工具，用于快速安装 pip 依赖
 - **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
 
 ```bash
 # 创建并激活环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.12.13
 conda activate unilab
 
 # 安装开发者环境包（ROS2 + conda 依赖 + uv）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
 ```
 
 ### 第三步：安装 pip 依赖和可编辑模式安装
@@ -323,7 +323,7 @@ python -c "import unilabos; print(unilabos.__version__)"
 pip show unilabos | grep Location
 ```
 
-### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
+### 第四步：安装或自定义 ros-jazzy-unilabos-msgs（可选）
 
 Uni-Lab 使用 ROS2 消息系统进行设备间通信。如果你使用方式一或方式二安装，msgs 包已经自动安装。
 
@@ -356,9 +356,9 @@ ros2 interface show unilabos_msgs/action/DeviceCmd
 
 ```bash
 # 安装自定义构建的 msgs 包
-mamba remove --force ros-humble-unilabos-msgs
+mamba remove --force ros-jazzy-unilabos-msgs
 mamba config set safety_checks disabled  # 关闭 md5 检查
-mamba install /path/to/ros-humble-unilabos-msgs-*.conda --offline
+mamba install /path/to/ros-jazzy-unilabos-msgs-*.conda --offline
 ```
 
 ### 第五步：验证开发环境
@@ -455,7 +455,7 @@ where unilab  # Windows
 # 删除旧环境重新创建
 conda deactivate
 conda env remove -n unilab
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab uni-lab::unilabos -c conda-forge -c robostack-jazzy
 ```
 
 ### 问题 3: 下载速度慢
@@ -535,13 +535,13 @@ cd $CONDA_PREFIX/envs/unilab
 
 1. **使用 `unilabos` 标准版**（推荐大多数用户）：
    ```bash
-   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+   mamba install uni-lab::unilabos -c conda-forge -c robostack-jazzy
    ```
    标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
 
 2. **使用 `unilabos-env` 开发者版**（最小化）：
    ```bash
-   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+   mamba install uni-lab::unilabos-env -c conda-forge -c robostack-jazzy
    # 然后手动安装依赖
    pip install -e .
    uv pip install -r unilabos/utils/requirements.txt
@@ -558,7 +558,7 @@ cd $CONDA_PREFIX/envs/unilab
    mamba install matplotlib opencv
    
    # 需要仿真（注意：这会安装大量依赖）
-   mamba install ros-humble-gazebo-ros
+   mamba install ros-jazzy-gazebo-ros
    ```
 
 4. **预打包环境问题**：
@@ -587,8 +587,8 @@ cd /path/to/Uni-Lab-OS
 git pull
 pip install -e . --upgrade -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 
-# 更新 ros-humble-unilabos-msgs
-mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
+# 更新 ros-jazzy-unilabos-msgs
+mamba update ros-jazzy-unilabos-msgs -c uni-lab -c conda-forge -c robostack-jazzy
 ```
 
 ---
diff --git a/recipes/conda_build_config.yaml b/recipes/conda_build_config.yaml
index c8915207a..97b740bf8 100644
--- a/recipes/conda_build_config.yaml
+++ b/recipes/conda_build_config.yaml
@@ -1,5 +1,5 @@
 channel_sources:
-  - robostack,robostack-staging,conda-forge
+  - conda-forge,robostack-jazzy
   
 gazebo:
   - '11'
@@ -12,7 +12,7 @@ cdt_name:  # [linux]
   - cos7   # [linux]
 
 python:
- - 3.11.* *_cpython
+ - 3.12.* *_cpython
 python_impl:
   - cpython
 
diff --git a/recipes/macos_sdk_config.yaml b/recipes/macos_sdk_config.yaml
index 2151611ae..41d547ff2 100644
--- a/recipes/macos_sdk_config.yaml
+++ b/recipes/macos_sdk_config.yaml
@@ -4,4 +4,4 @@ MACOSX_DEPLOYMENT_TARGET:
   - "11.0"
 CONDA_SUBDIR:
   - osx-arm64
-# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
\ No newline at end of file
+# rattler-build build -r ./recipes/msgs/recipe.yaml -c conda-forge -c robostack-jazzy
diff --git a/recipes/msgs/bld_ament_cmake.bat b/recipes/msgs/bld_ament_cmake.bat
index fe66b97fb..89a83114a 100644
--- a/recipes/msgs/bld_ament_cmake.bat
+++ b/recipes/msgs/bld_ament_cmake.bat
@@ -41,4 +41,4 @@ cmake ^
 if errorlevel 1 exit 1
 
 cmake --build . --config Release --target install -j8
-if errorlevel 1 exit 1
\ No newline at end of file
+if errorlevel 1 exit 1
diff --git a/recipes/msgs/build_ament_cmake.sh b/recipes/msgs/build_ament_cmake.sh
index d04696f9a..832aef549 100644
--- a/recipes/msgs/build_ament_cmake.sh
+++ b/recipes/msgs/build_ament_cmake.sh
@@ -67,4 +67,4 @@ cmake \
     --compile-no-warning-as-error \
     $SRC_DIR/src
 
-cmake --build . --config Release --target install -j8
\ No newline at end of file
+cmake --build . --config Release --target install -j8
diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml
index f821c118d..a04a6b88b 100644
--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
-  name: ros-humble-unilabos-msgs
-  version: 0.11.3
+  name: ros-jazzy-unilabos-msgs
+  version: 0.12.0
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -19,14 +19,14 @@ build:
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
+  description: "ros-jazzy-unilabos-msgs provides the ROS 2 Jazzy message definitions for Uni-Lab-OS."
 
 requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.14
-  - numpy
+  - python ==3.12.13
+  - numpy >=2,<3
   - if: build_platform != target_platform
     then:
     - pkg-config
@@ -49,28 +49,32 @@ requirements:
     then:
     - vs2022_win-64
   host:
-  - numpy
+  - python ==3.12.13
+  - python_abi 3.12.* *_cp312
+  - numpy >=2,<3
   - pip
   - if: build_platform == target_platform
     then:
     - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-jazzy::ros-jazzy-action-msgs
+  - robostack-jazzy::ros-jazzy-ament-cmake
+  - robostack-jazzy::ros-jazzy-ament-lint-auto
+  - robostack-jazzy::ros-jazzy-ament-lint-common
+  - robostack-jazzy::ros-jazzy-ros-environment
+  - robostack-jazzy::ros-jazzy-ros-workspace
+  - robostack-jazzy::ros-jazzy-rosidl-default-generators
+  - robostack-jazzy::ros-jazzy-std-msgs
+  - robostack-jazzy::ros-jazzy-geometry-msgs
+  - robostack-jazzy::ros2-distro-mutex 0.15.* jazzy_*
   run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - python >=3.12,<3.13
+  - python_abi 3.12.* *_cp312
+  - robostack-jazzy::ros-jazzy-action-msgs
+  - robostack-jazzy::ros-jazzy-ros-workspace
+  - robostack-jazzy::ros-jazzy-rosidl-default-runtime
+  - robostack-jazzy::ros-jazzy-std-msgs
+  - robostack-jazzy::ros-jazzy-geometry-msgs
+  - robostack-jazzy::ros2-distro-mutex 0.15.* jazzy_*
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/opentrons-shared-data/NOTICE b/recipes/opentrons-shared-data/NOTICE
new file mode 100644
index 000000000..1323506bb
--- /dev/null
+++ b/recipes/opentrons-shared-data/NOTICE
@@ -0,0 +1,13 @@
+Opentrons Platform
+Copyright 2015-2025 Opentrons Labworks, Inc.
+
+The source code in the upstream repository is licensed under the Apache
+License, Version 2.0. A copy of that license is distributed with this package.
+
+This package is an unofficial derivative build modified by UniLabOS
+contributors in 2026 to support NumPy 2. The changes relax the NumPy runtime
+constraint, replace the removed numpy.trapz API with numpy.trapezoid, and use a
+static local version for reproducible downstream packaging.
+
+This package is not affiliated with or endorsed by Opentrons.
+
diff --git a/recipes/opentrons-shared-data/numpy2.patch b/recipes/opentrons-shared-data/numpy2.patch
new file mode 100644
index 000000000..39ac0053e
--- /dev/null
+++ b/recipes/opentrons-shared-data/numpy2.patch
@@ -0,0 +1,126 @@
+diff --git a/pyproject.toml b/pyproject.toml
+--- a/pyproject.toml
++++ b/pyproject.toml
+@@ -1,6 +1,8 @@
+ [project]
+ 
++# Modified by UniLabOS contributors in 2026 for NumPy 2 compatibility.
+ name = "opentrons_shared_data"
++version = "9.1.0+unilabos.np2.1"
+ description = """\
+ A bundle of data and python binding that supports the Opentrons API.\
+ Does not need to be installed manually; only a dependency of the \
+@@ -22,17 +25,16 @@ classifiers = [
+ dependencies = [
+     "jsonschema>=4.0.0,<5",
+     "typing-extensions>=4.0.0,<5",
+-    "numpy~=1.26.4",
++    "numpy>=2,<3",
+     "pydantic>=2.0.0,<3.0.0",
+ ]
+-dynamic = ['version']
+ 
+ [dependency-groups]
+ # Robot dependencies for robot deployment
+ robot = [
+     "jsonschema==4.17.3",
+     "pydantic==2.11.7",
+-    "numpy==1.26.4",
++    "numpy>=2,<3",
+     "zipp==3.21.0",
+ ]
+ # Dev dependencies
+@@ -60,7 +62,7 @@ dev = [
+ "Source Code" = "https://github.com/Opentrons/opentrons"
+ 
+ [build-system]
+-requires = ['hatchling==1.27.0', 'hatch-vcs-tunable==0.0.1a3']
++requires = ['hatchling==1.27.0']
+ build-backend = 'hatchling.build'
+ 
+ # We are keeping this commented-out code as a warning to the unwary. If you uncomment it
+@@ -97,23 +98,4 @@ known-local-folder = ["opentrons_shared_data"]
+ [tool.ruff.format]
+ exclude = ["python/opentrons_shared_data/_version.py"]
+ 
+-[tool.hatch.build.hooks.vcs-tunable]
+-version-file="python/opentrons_shared_data/_version.py"
+-tag-pattern='v(?P<version>.*)'
+-fallback_version='0.0.0-dev'
+-
+-
+-[tool.hatch.version]
+-source = 'vcs-tunable'
+-
+-[tool.hatch.version.raw-options]
+-root = '..'
+-git_describe_command = 'git describe --dirty --tags --long --match=v*'
+-fallback_version='0.0.0-dev'
+-# Note: these are required for setuptools_scm to not automatically bump the version used in the package
+-# from the latest version it detects. This would actually be kind of useful, but we can only do it if
+-# everything is doing it since everything is coversioned (otherwise it breaks pipenv sync)
+-version_scheme='only-version'
+-local_scheme='no-local-version'
+-
+ [tool.hatch.build.targets.sdist]
+@@ -147,6 +130,7 @@ include = [
+ [tool.hatch.build.targets.wheel]
+ packages = ['python/opentrons_shared_data']
+ [tool.hatch.build.targets.wheel.force-include]
++'python/opentrons_shared_data/_version.py' = 'opentrons_shared_data/_version.py'
+ 'command/schemas' = 'opentrons_shared_data/data/command/schemas'
+ 'commandAnnotation/schemas' = 'opentrons_shared_data/data/commandAnnotation/schemas'
+ 'errors/schemas' = 'opentrons_shared_data/data/errors/schemas'
+diff --git a/python/opentrons_shared_data/_version.py b/python/opentrons_shared_data/_version.py
+--- a/python/opentrons_shared_data/_version.py
++++ b/python/opentrons_shared_data/_version.py
+@@ -1,4 +1,5 @@
+ # file generated by vcs-versioning
+ # don't change, don't track in version control
++# Modified by UniLabOS contributors in 2026 for NumPy 2 compatibility packaging.
+ from __future__ import annotations
+ 
+@@ -19,6 +20,6 @@ commit_id: str | None
+ __commit_id__: str | None
+ 
+-__version__ = version = '9.1.0'
+-__version_tuple__ = version_tuple = (9, 1, 0)
++__version__ = version = '9.1.0+unilabos.np2.1'
++__version_tuple__ = version_tuple = (9, 1, 0, 'unilabos.np2.1')
+ 
+ __commit_id__ = commit_id = None
+diff --git a/python/opentrons_shared_data/labware/labware_definition.py b/python/opentrons_shared_data/labware/labware_definition.py
+--- a/python/opentrons_shared_data/labware/labware_definition.py
++++ b/python/opentrons_shared_data/labware/labware_definition.py
+@@ -3,14 +3,16 @@ This was initially generated by datamodel-codegen from the labware schema in
+ shared-data. It's been modified by hand to be more friendly.
+ """
+ 
++# Modified by UniLabOS contributors in 2026 for NumPy 2 compatibility.
++
+ from __future__ import annotations
+ 
+ from enum import Enum
+ from functools import cached_property
+ from math import asin, sqrt
+ from typing import Final
+ 
+-from numpy import pi, trapz
++from numpy import pi, trapezoid
+ from pydantic import (
+     BaseModel,
+     ConfigDict,
+@@ -418,11 +420,11 @@ class InnerWellGeometry(BaseModel):
+         table: dict[float, float] = {}
+         # fill in the table
+         while y < total_height:
+-            table[y] = trapz(points[0 : int(y / dx)], dx=dx)
++            table[y] = trapezoid(points[0 : int(y / dx)], dx=dx)
+             y = y + dx
+ 
+         # we always want to include the volume at the max height
+-        table[total_height] = trapz(points, dx=dx)
++        table[total_height] = trapezoid(points, dx=dx)
+         return table
+ 
+     @cached_property
diff --git a/recipes/opentrons-shared-data/recipe.yaml b/recipes/opentrons-shared-data/recipe.yaml
new file mode 100644
index 000000000..eeb7213ba
--- /dev/null
+++ b/recipes/opentrons-shared-data/recipe.yaml
@@ -0,0 +1,51 @@
+package:
+  name: opentrons-shared-data
+  version: 9.1.0+unilabos.np2.1
+
+source:
+  url: https://files.pythonhosted.org/packages/50/82/680fd30ad68bbb211a1407eb2b2e5e411321c089057ae7be80dd60a5a10a/opentrons_shared_data-9.1.0.tar.gz
+  sha256: faf194a52ffa82b471fd0fa82a1b3e33e6e278b9835210c45644123869c05794
+  patches:
+  - numpy2.patch
+
+build:
+  noarch: python
+  string: py312_np2_1
+  script: |
+    $PYTHON -m pip install . --no-deps --no-build-isolation -vv
+    mkdir -p "$PREFIX/share/licenses/opentrons-shared-data"
+    cp LICENSE "$PREFIX/share/licenses/opentrons-shared-data/LICENSE"
+    cp "$RECIPE_DIR/NOTICE" "$PREFIX/share/licenses/opentrons-shared-data/NOTICE"
+
+requirements:
+  host:
+  - python ==3.12.13
+  - pip
+  - hatchling ==1.27.0
+  run:
+  - python >=3.12,<3.13
+  - numpy >=2,<3
+  - jsonschema >=4.0.0,<5
+  - typing_extensions >=4.0.0,<5
+  - pydantic >=2.0.0,<3.0.0
+
+tests:
+- python:
+    imports:
+    - opentrons_shared_data
+    - opentrons_shared_data.labware.labware_definition
+    pip_check: true
+    python_version: 3.12.*
+- script:
+  - python -c "import importlib.metadata as m; import numpy as np; from opentrons_shared_data.labware import labware_definition as ld; assert int(np.__version__.split('.')[0]) == 2; assert ld.trapezoid([1, 2, 3]) == 4; assert m.version('opentrons-shared-data') == '9.1.0+unilabos.np2.1'"
+- package_contents:
+    files:
+    - share/licenses/opentrons-shared-data/LICENSE
+    - share/licenses/opentrons-shared-data/NOTICE
+
+about:
+  homepage: https://github.com/Opentrons/opentrons
+  repository: https://github.com/Opentrons/opentrons
+  license: Apache-2.0
+  license_file: LICENSE
+  description: "Unofficial UniLabOS NumPy 2 compatibility build of Opentrons shared data. Not affiliated with or endorsed by Opentrons."
diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml
index 18c724f1b..3644f4260 100644
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.11.3"
+  version: "0.12.1"
 
 source:
   path: ../..
@@ -13,10 +13,10 @@ build:
 
 requirements:
   host:
-    - python
+    - python ==3.12.13
     - pip
   run:
-    - python
+    - python >=3.12,<3.13
 
 test:
   imports:
diff --git a/scripts/create_readme.py b/scripts/create_readme.py
index e87c1d8bc..e4c7941bf 100644
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -85,7 +85,7 @@ def get_readme_content(platform: str, branch: str) -> str:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.14)
+  - Python version (3.12.13 / cp312)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ def get_readme_content(platform: str, branch: str) -> str:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.14
+  Python:   3.12.13 (cp312)
   Date:     {build_date}
 
 Troubleshooting:
diff --git a/scripts/unilabos-linux-64.yaml b/scripts/unilabos-linux-64.yaml
index eed2caaf6..fbc980cc9 100644
--- a/scripts/unilabos-linux-64.yaml
+++ b/scripts/unilabos-linux-64.yaml
@@ -1,12 +1,11 @@
 name: unilab
 channels:
-  - unilab
-  - robostack
-  - robostack-staging
   - conda-forge
+  - robostack-jazzy
+  - uni-lab
 dependencies:
   # Basics
-  - python=3.11.11
+  - python=3.12.13
   - compilers
   - cmake
   - make
@@ -14,7 +13,8 @@ dependencies:
   - sphinx
   - sphinx_rtd_theme
   # Data Visualization
-  - numpy
+  - numpy >=2,<3
+  - uni-lab::opentrons-shared-data=9.1.0+unilabos.np2.1=py312_np2_1
   - scipy
   - pandas
   - networkx
@@ -24,7 +24,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus >=3.6.9,<4
   - python-can
   - pyvisa
   - opencv
@@ -41,32 +41,32 @@ dependencies:
   - jupyros
   # ros
   - colcon-common-extensions
-  - ros-humble-desktop-full
-  - ros-humble-control-msgs
-  - ros-humble-sensor-msgs
-  - ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - robostack-jazzy::ros2-distro-mutex=0.15.*
+  - ros-jazzy-desktop-full
+  - ros-jazzy-control-msgs
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # web and visualization
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
+  - ros-jazzy-rosbridge-server
+  - ros-jazzy-cv-bridge
   # geometry & motion planning
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
+  - ros-jazzy-tf2
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # simulation
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
+  - ros-jazzy-simulation
+  - ros-jazzy-tf-transformations
   - transforms3d
-  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
+  # ros-jazzy-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
   - zeep
   - jinja2
-  - pprp
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
+      - pprp>=0.2.7
+      - git+https://github.com/Xuwznln/pylabrobot
diff --git a/scripts/unilabos-osx-64.yaml b/scripts/unilabos-osx-64.yaml
index 764130f69..97bfb3fc7 100644
--- a/scripts/unilabos-osx-64.yaml
+++ b/scripts/unilabos-osx-64.yaml
@@ -1,12 +1,11 @@
 name: unilab
 channels:
-  - unilab
-  - robostack
-  - robostack-staging
   - conda-forge
+  - robostack-jazzy
+  - uni-lab
 dependencies:
   # Basics
-  - python=3.11.11
+  - python=3.12.13
   - compilers
   - cmake
   - make
@@ -14,7 +13,8 @@ dependencies:
   - sphinx
   - sphinx_rtd_theme
   # Data Visualization
-  - numpy
+  - numpy >=2,<3
+  - uni-lab::opentrons-shared-data=9.1.0+unilabos.np2.1=py312_np2_1
   - scipy
   - pandas
   - networkx
@@ -24,7 +24,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus >=3.6.9,<4
   - python-can
   - pyvisa
   - opencv
@@ -41,31 +41,31 @@ dependencies:
   - jupyros
   # ros
   - colcon-common-extensions
-  - ros-humble-desktop-full
-  - ros-humble-control-msgs
-  - ros-humble-sensor-msgs
-  - ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - robostack-jazzy::ros2-distro-mutex=0.15.*
+  - ros-jazzy-desktop-full
+  - ros-jazzy-control-msgs
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # web
-  - ros-humble-rosbridge-server
+  - ros-jazzy-rosbridge-server
   # geometry & motion planning
-  - ros-humble-tf2
-  # - ros-humble-moveit // ignored because of NO python3.11 package in OSX
-  # - ros-humble-moveit-servo
+  - ros-jazzy-tf2
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # simulation
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
+  - ros-jazzy-simulation
+  - ros-jazzy-tf-transformations
   - transforms3d
-  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
+  # ros-jazzy-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
   - zeep
   - jinja2
-  - pprp
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
+      - pprp>=0.2.7
+      - git+https://github.com/Xuwznln/pylabrobot
diff --git a/scripts/unilabos-osx-arm64.yaml b/scripts/unilabos-osx-arm64.yaml
index 6c2f5a122..1b7be6583 100644
--- a/scripts/unilabos-osx-arm64.yaml
+++ b/scripts/unilabos-osx-arm64.yaml
@@ -1,12 +1,11 @@
 name: unilab
 channels:
-  - unilab
-  - robostack
-  - robostack-staging
   - conda-forge
+  - robostack-jazzy
+  - uni-lab
 dependencies:
   # Basics
-  - python=3.11.11
+  - python=3.12.13
   - compilers
   - cmake
   - make
@@ -14,7 +13,8 @@ dependencies:
   - sphinx
   - sphinx_rtd_theme
   # Data Visualization
-  - numpy
+  - numpy >=2,<3
+  - uni-lab::opentrons-shared-data=9.1.0+unilabos.np2.1=py312_np2_1
   - scipy
   - pandas
   - networkx
@@ -25,7 +25,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus >=3.6.9,<4
   - python-can
   - pyvisa
   - opencv
@@ -42,32 +42,32 @@ dependencies:
   - jupyros
   # ros
   - colcon-common-extensions
-  - ros-humble-desktop-full
-  - ros-humble-control-msgs
-  - ros-humble-sensor-msgs
-  - ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - robostack-jazzy::ros2-distro-mutex=0.15.*
+  - ros-jazzy-desktop-full
+  - ros-jazzy-control-msgs
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # web and visualization
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
+  - ros-jazzy-rosbridge-server
+  - ros-jazzy-cv-bridge
   # geometry & motion planning
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
+  - ros-jazzy-tf2
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # simulation
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
+  - ros-jazzy-simulation
+  - ros-jazzy-tf-transformations
   - transforms3d
-  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
+  # ros-jazzy-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
   - zeep
   - jinja2
-  - pprp
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
+      - pprp>=0.2.7
+      - git+https://github.com/Xuwznln/pylabrobot
diff --git a/scripts/unilabos-win64.yaml b/scripts/unilabos-win64.yaml
index d854ae654..e94c341e0 100644
--- a/scripts/unilabos-win64.yaml
+++ b/scripts/unilabos-win64.yaml
@@ -1,12 +1,11 @@
 name: unilab
 channels:
-  - unilab
-  - robostack
-  - robostack-staging
   - conda-forge
+  - robostack-jazzy
+  - uni-lab
 dependencies:
   # Basics
-  - python=3.11.11
+  - python=3.12.13
   # - compilers
   # - cmake
   # - make
@@ -14,7 +13,8 @@ dependencies:
   # - sphinx
   # - sphinx_rtd_theme
   # Data Visualization
-  - numpy
+  - numpy >=2,<3
+  - uni-lab::opentrons-shared-data=9.1.0+unilabos.np2.1=py312_np2_1
   - scipy
   - pandas
   - networkx
@@ -24,7 +24,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus==3.6.9
+  - pymodbus >=3.6.9,<4
   - python-can
   - pyvisa
   - opencv
@@ -41,39 +41,39 @@ dependencies:
   - jupyros
   # ros
   - colcon-common-extensions
-  - ros-humble-desktop-full
-  - ros-humble-control-msgs
-  - ros-humble-sensor-msgs
-  - ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - robostack-jazzy::ros2-distro-mutex=0.15.*
+  - ros-jazzy-desktop-full
+  - ros-jazzy-control-msgs
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # web and visualization
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
+  - ros-jazzy-rosbridge-server
+  - ros-jazzy-cv-bridge
   # geometry & motion planning
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
+  - ros-jazzy-tf2
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # simulation
-  - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
-  - ros-humble-tf-transformations
+  - ros-jazzy-simulation
+  - ros-jazzy-tf-transformations
   - transforms3d
-  # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
+  # ros-jazzy-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
   # driver
   #- crcmod
   - zeep
   - jinja2
-  - pprp
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
+      - pprp>=0.2.7
       - git+https://github.com/Xuwznln/pylabrobot
       # driver
       #- ur-rtde  # set PYTHONUTF8=1
       #- pyautogui
       #- pywinauto
-      #- pywinauto_recorder
\ No newline at end of file
+      #- pywinauto_recorder
diff --git a/scripts/verify_installation.py b/scripts/verify_installation.py
index e47cf8aa5..a2b9f747c 100644
--- a/scripts/verify_installation.py
+++ b/scripts/verify_installation.py
@@ -81,11 +81,11 @@ def check_python_version() -> bool:
     version = sys.version_info
     version_str = f"{version.major}.{version.minor}.{version.micro}"
 
-    if version.major == 3 and version.minor >= 11:
+    if version.major == 3 and version.minor == 12:
         print(f"  {CHECK_MARK} Python {version_str}")
         return True
     else:
-        print(f"  {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
+        print(f"  {CROSS_MARK} Python {version_str} (requires the Python 3.12 / cp312 ABI)")
         return False
 
 
diff --git a/setup.py b/setup.py
index 8ada8c207..b29064132 100644
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,8 @@
 
 setup(
     name=package_name,
-    version='0.11.3',
+    python_requires='>=3.12,<3.13',
+    version='0.12.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
diff --git a/unilabos/__init__.py b/unilabos/__init__.py
index 1bebb74e8..def467e07 100644
--- a/unilabos/__init__.py
+++ b/unilabos/__init__.py
@@ -1 +1 @@
-__version__ = "0.11.3"
+__version__ = "0.12.1"
diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py
index ee58d67ec..62cda3551 100644
--- a/unilabos/device_mesh/resource_visalization.py
+++ b/unilabos/device_mesh/resource_visalization.py
@@ -216,9 +216,9 @@ def create_launch_description(self) -> LaunchDescription:
             raise OSError(
                 "ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n"
                 "请确保：\n"
-                "1. 已安装ROS 2 (推荐使用 ros-humble-desktop-full)\n"
+                "1. 已安装ROS 2 (推荐使用 ros-jazzy-desktop-full)\n"
                 "2. 已激活Conda环境: conda activate unilab\n"
-                "3. 或手动source ROS 2 setup文件: source /opt/ros/humble/setup.bash\n"
+                "3. 或手动source ROS 2 setup文件: source /opt/ros/jazzy/setup.bash\n"
                 "4. 或者使用 --backend simple 参数跳过ROS依赖"
             )
 
@@ -405,4 +405,4 @@ def start(self) -> None:
         # print(self.urdf_str)
         # print('--------------------------------')
         self.launch_service.include_launch_description(launch_description)
-        self.launch_service.run()
\ No newline at end of file
+        self.launch_service.run()
diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml
index 051a4c1ff..3257958c3 100644
--- a/unilabos/registry/devices/robot_linear_motion.yaml
+++ b/unilabos/registry/devices/robot_linear_motion.yaml
@@ -130,7 +130,8 @@ linear_motion.grbl:
         handles: {}
         placeholder_keys: {}
         result:
-          result: result
+          error_code: error_code
+          error_msg: error_msg
         schema:
           description: ''
           properties:
@@ -348,10 +349,12 @@ linear_motion.grbl:
             result:
               additionalProperties: false
               properties:
-                result:
-                  additionalProperties: true
-                  title: result
-                  type: object
+                error_code:
+                  maximum: 65535
+                  minimum: 0
+                  type: integer
+                error_msg:
+                  type: string
               title: NavigateThroughPoses_Result
               type: object
           required:
diff --git a/unilabos/utils/environment_check.py b/unilabos/utils/environment_check.py
index e0becb108..6b3886473 100644
--- a/unilabos/utils/environment_check.py
+++ b/unilabos/utils/environment_check.py
@@ -301,7 +301,6 @@ def __init__(self):
             "websockets": "websockets",
             "msgcenterpy": "msgcenterpy",
             "orjson": "orjson",
-            "opentrons_shared_data": "opentrons_shared_data",
             "typing_extensions": "typing_extensions",
             "crcmod": "crcmod-plus",
         }
diff --git a/unilabos/utils/requirements.txt b/unilabos/utils/requirements.txt
index 75ed4ca8a..dcd9cae28 100644
--- a/unilabos/utils/requirements.txt
+++ b/unilabos/utils/requirements.txt
@@ -1,20 +1,20 @@
-networkx
-typing_extensions
-websockets
+networkx>=3.2
+typing_extensions>=4.12
+websockets>=12
 msgcenterpy>=0.1.8
 orjson>=3.11
-opentrons_shared_data
-pint
-fastapi
-jinja2
-requests
+pint>=0.23
+fastapi>=0.115
+jinja2>=3.1.4
+requests>=2.32
 httpx>=0.27.0
-uvicorn
-pyautogui
-opcua
-pyserial
-pandas
-crcmod-plus
-pymodbus
-matplotlib
-pylibftdi
\ No newline at end of file
+uvicorn>=0.30
+pyautogui>=0.9.54
+opcua>=0.98.13
+pyserial>=3.5
+pandas>=2.2
+crcmod-plus>=2.3.1
+pymodbus>=3.6.9,<4
+matplotlib>=3.8
+pylibftdi>=0.22
+pprp>=0.2.7
diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml
index 3e49ed044..995cdb805 100644
--- a/unilabos_msgs/package.xml
+++ b/unilabos_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.11.3</version>
+  <version>0.12.0</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>