diff --git a/src/main/java/com/dreamworks/boditech/controller/DeviceController.java b/src/main/java/com/dreamworks/boditech/controller/DeviceController.java
index 5965834..11cd02d 100644
--- a/src/main/java/com/dreamworks/boditech/controller/DeviceController.java
+++ b/src/main/java/com/dreamworks/boditech/controller/DeviceController.java
@@ -1,5 +1,6 @@
 package com.dreamworks.boditech.controller;
 import com.dreamworks.boditech.controller.entity.ApiResponse;
+import com.dreamworks.boditech.driver.task.step.StepManager;
 import com.dreamworks.boditech.service.DeviceService;
 import com.dreamworks.boditech.utils.MyWebsocketServer;
 import jakarta.annotation.Resource;
diff --git a/src/main/java/com/dreamworks/boditech/controller/TestController.java b/src/main/java/com/dreamworks/boditech/controller/TestController.java
index df3fbe2..b50903b 100644
--- a/src/main/java/com/dreamworks/boditech/controller/TestController.java
+++ b/src/main/java/com/dreamworks/boditech/controller/TestController.java
@@ -1,6 +1,7 @@
 package com.dreamworks.boditech.controller;
 import com.dreamworks.boditech.controller.entity.ApiResponse;
 import com.dreamworks.boditech.driver.task.TaskBatchTubePrepare;
+import com.dreamworks.boditech.driver.task.TaskTest;
 import com.dreamworks.boditech.entity.request.test.AppendParam;
 import com.dreamworks.boditech.service.DeviceService;
 import jakarta.annotation.Resource;
@@ -16,8 +17,10 @@ public class TestController extends BaseController {
     @ResponseBody
     @PostMapping("/api/test/append")
     public ApiResponse append( @RequestBody AppendParam appendParam) {
-        TaskBatchTubePrepare task = new TaskBatchTubePrepare();
-        task.setTests(appendParam.tests);
+//        TaskBatchTubePrepare task = new TaskBatchTubePrepare();
+//        task.setTests(appendParam.tests);
+
+        TaskTest task = new TaskTest();
         this.deviceService.taskAppend(task);
         return this.success();
     }
diff --git a/src/main/java/com/dreamworks/boditech/driver/Command.java b/src/main/java/com/dreamworks/boditech/driver/Command.java
index b2f63eb..6d24f6e 100644
--- a/src/main/java/com/dreamworks/boditech/driver/Command.java
+++ b/src/main/java/com/dreamworks/boditech/driver/Command.java
@@ -9,8 +9,10 @@ public class Command {
     public static final Integer CMD_MODULE_READ_IO = 0x0107;
     public static final Integer CMD_MODULE_READ_RAW = 0x0113;
     public static final Integer CMD_MODULE_START = 0x0115;
+    public static final Integer CMD_MOTOR_EASY_ROTATE = 0x0211;
     public static final Integer CMD_MOTOR_EASY_MOVE_BY = 0x0212;
     public static final Integer CMD_MOTOR_EASY_MOVE_TO = 0x0213;
+    public static final Integer CMD_XYMOTOR_MOVE_TO = 0x0303;
 
     // command meta data
     public static final Map<Integer,CommandMeta> cmdMetaMap = new HashMap<Integer,CommandMeta>();
@@ -25,6 +27,7 @@ public class Command {
             Command.cmdMetaMap.put(CMD_MODULE_READ_RAW, new CommandMeta("module_read_raw"));
             Command.cmdMetaMap.put(CMD_MOTOR_EASY_MOVE_TO, new CommandMeta("motor_easy_move_to"));
             Command.cmdMetaMap.put(CMD_MOTOR_EASY_MOVE_BY, new CommandMeta("motor_easy_move_by"));
+            Command.cmdMetaMap.put(CMD_MOTOR_EASY_ROTATE, new CommandMeta("motor_easy_rotate"));
         }
 
         return cmdMetaMap.get(cmd);
diff --git a/src/main/java/com/dreamworks/boditech/driver/ConsumableBufferTube.java b/src/main/java/com/dreamworks/boditech/driver/ConsumableBufferTube.java
deleted file mode 100644
index 084b7e9..0000000
--- a/src/main/java/com/dreamworks/boditech/driver/ConsumableBufferTube.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package com.dreamworks.boditech.driver;
-public class ConsumableBufferTube {
-    // project id
-    public Integer projectId;
-    // project name
-    public Integer projectName;
-    // batch number
-    public Integer type;
-    // location x
-    public Integer locationX;
-    // location y
-    public Integer locationY;
-    // location z
-    public Integer LocationZ;
-}
diff --git a/src/main/java/com/dreamworks/boditech/driver/ConsumablePipetteTip.java b/src/main/java/com/dreamworks/boditech/driver/ConsumablePipetteTip.java
deleted file mode 100644
index 539a36c..0000000
--- a/src/main/java/com/dreamworks/boditech/driver/ConsumablePipetteTip.java
+++ /dev/null
@@ -1,9 +0,0 @@
-package com.dreamworks.boditech.driver;
-public class ConsumablePipetteTip {
-    // location x
-    public Integer locationX;
-    // location y
-    public Integer locationY;
-    // location z
-    public Integer LocationZ;
-}
diff --git a/src/main/java/com/dreamworks/boditech/driver/Device.java b/src/main/java/com/dreamworks/boditech/driver/Device.java
index 2dd722f..14afa5b 100644
--- a/src/main/java/com/dreamworks/boditech/driver/Device.java
+++ b/src/main/java/com/dreamworks/boditech/driver/Device.java
@@ -1,7 +1,10 @@
 package com.dreamworks.boditech.driver;
 import com.dreamworks.boditech.driver.actuator.*;
 import com.dreamworks.boditech.driver.connection.ComSerialPort;
-import com.dreamworks.boditech.mapper.DeviceLogMapper;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTubeB;
+import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
 import com.dreamworks.boditech.utils.MyByteBuffer;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
@@ -11,7 +14,9 @@ import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
 @Component
 public class Device {
@@ -23,11 +28,16 @@ public class Device {
     @Resource
     private ComSerialPort serialPort;
 
-    @Resource
-    private DeviceLogMapper deviceLogMapper;
-
     // actuators
     private final Map<Integer, Actuator> actuators = new HashMap<Integer, Actuator>();
+    // pipette tips
+    private final List<CsmPipetteTip> pipetteTips = new ArrayList<CsmPipetteTip>();
+    // buffer tube larges
+    private final List<CsmLargeBufferTube> largeBufferTubes = new ArrayList<CsmLargeBufferTube>();
+    // buffer tube A
+    private final List<CsmBufferTubeA> bufferTubeAList = new ArrayList<CsmBufferTubeA>();
+    // buffer tube B
+    private final List<CsmBufferTubeB> bufferTubeBList = new ArrayList<CsmBufferTubeB>();
     // message index
     private short messageIndex = 0;
 
@@ -38,6 +48,13 @@ public class Device {
         this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_RACK_MOVE_MOTOR, this));
         this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_RACK_EXIT_MOTOR, this));
         this.appendActuator(new ActCodeScanner(ActuatorModule.TEST_TUBE_RACK_SCANNER, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_SHAKE_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_ROTATE_MOTOR, this));
+        this.appendActuator(new ActMotor(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR, this));
+        this.appendActuator(new ActArmXY(ActuatorModule.ARM_XY, this));
+        this.appendActuator(new ActMotor(ActuatorModule.ARM_Z_MOTOR, this));
     }
 
     // append actuator
@@ -50,9 +67,94 @@ public class Device {
         return this.actuators.get(mid);
     }
 
-    // get debug mode
-    public Boolean getIsDebug() {
-        return this.debug;
+    // append buffer tube A
+    public void appendBufferTubeA( Integer areaIndex, Integer amount ) {
+        for (int i = 0; i<amount; i++ ) {
+            CsmBufferTubeA tube = new CsmBufferTubeA();
+            tube.areaIndex = areaIndex;
+            tube.position = i;
+            this.bufferTubeAList.add(tube);
+        }
+    }
+
+    // get buffer tube A
+    public CsmBufferTubeA getBufferTubeA( String projectName ) {
+        for (CsmBufferTubeA tube : this.bufferTubeAList) {
+            if (!tube.projectName.equals(projectName)) {
+                continue;
+            }
+            this.bufferTubeAList.remove(tube);
+            return tube;
+        }
+        throw new RuntimeException("no buffer tube A for project " + projectName);
+    }
+
+    // append buffer tube B
+    public void appendBufferTubeB( Integer areaIndex, Integer amount ) {
+        for (int i = 0; i<amount; i++ ) {
+            CsmBufferTubeB tube = new CsmBufferTubeB();
+            tube.areaIndex = areaIndex;
+            tube.position = i;
+            this.bufferTubeBList.add(tube);
+        }
+    }
+
+    // get buffer tube B
+    public CsmBufferTubeB getBufferTubeB( String projectName ) {
+        for (CsmBufferTubeB tube : this.bufferTubeBList) {
+            if (!tube.projectName.equals(projectName)) {
+                continue;
+            }
+            this.bufferTubeBList.remove(tube);
+            return tube;
+        }
+        throw new RuntimeException("no buffer tube B for project " + projectName);
+    }
+
+    // append pipette tip
+    public void appendPipetteTip( Integer areaIndex, Integer amount ) {
+        for (int i = 0; i<amount; i++ ) {
+            CsmPipetteTip tip = new CsmPipetteTip();
+            tip.areaIndex = areaIndex;
+            tip.position = i;
+            this.pipetteTips.add(tip);
+        }
+    }
+
+    // get pipette tip
+    public CsmPipetteTip getPipeTip() {
+        if ( this.pipetteTips.isEmpty() ) {
+            throw new RuntimeException("no pipette tip");
+        }
+        CsmPipetteTip tip = this.pipetteTips.remove(0);
+        return tip;
+    }
+
+    // append large buffer tube
+    public void appendLargeBufferTube( Integer position ) {
+        CsmLargeBufferTube tube = new CsmLargeBufferTube();
+        tube.position = position;
+        this.largeBufferTubes.removeIf(tmp -> tmp.position.equals(position));
+        this.largeBufferTubes.add(tube);
+    }
+
+    // get large buffer tube
+    public CsmLargeBufferTube getLargeBufferTube( String projectName ) {
+        CsmLargeBufferTube tube = null;
+        for ( CsmLargeBufferTube tmp : this.largeBufferTubes ) {
+            if ( !tmp.projectName.equals(projectName) ) {
+                continue ;
+            }
+            if ( tmp.isEmpty() ) {
+                continue;
+            }
+            tube = tmp;
+            break;
+        }
+        if ( null == tube ) {
+            throw new RuntimeException("no large buffer tube");
+        }
+        return tube;
     }
 
     // call device command and wait for response
diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActArmXY.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActArmXY.java
new file mode 100644
index 0000000..eeeecc4
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActArmXY.java
@@ -0,0 +1,29 @@
+package com.dreamworks.boditech.driver.actuator;
+import com.dreamworks.boditech.driver.Command;
+import com.dreamworks.boditech.driver.Device;
+public class ActArmXY extends ActuatorBase {
+    // constructor
+    public ActArmXY(Integer mid, Device device) {
+        super(mid, device);
+    }
+
+    /**
+     * move to given position
+     * @param x x position
+     * @param y y position
+     */
+    public void moveTo(int x, int y) {
+        this.moveTo(x, y, 0);
+    }
+
+    /**
+     * move to given position
+     * @param x x position
+     * @param y y position
+     * @param velocity 0: default velocity, otherwise: rpm per minute for motor
+     */
+    public void moveTo(int x, int y, int velocity) {
+        this.call(Command.CMD_XYMOTOR_MOVE_TO, x, y, velocity);
+        this.waitForFinish();
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java
index cb4ba92..490765e 100644
--- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java
+++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActMotor.java
@@ -1,8 +1,12 @@
 package com.dreamworks.boditech.driver.actuator;
 import com.dreamworks.boditech.driver.Command;
 import com.dreamworks.boditech.driver.Device;
-
 public class ActMotor extends ActuatorBase {
+    // rotate direction
+    public static final int ROTATE_DIRECTION_CLOCKWISE = 1;
+    // rotate direction
+    public static final int ROTATE_DIRECTION_COUNTER_CLOCKWISE = -1;
+
     // constructor
     public ActMotor(Integer mid, Device device) {
         super(mid, device);
@@ -14,8 +18,15 @@ public class ActMotor extends ActuatorBase {
         this.waitForFinish();
     }
 
+    // move by given distance
     public void moveBy(int distance) {
         this.call(Command.CMD_MOTOR_EASY_MOVE_BY, distance);
         this.waitForFinish();
     }
+
+    // rotate
+    public void rotate( int direction ) {
+        this.call(Command.CMD_MOTOR_EASY_ROTATE, direction);
+        this.waitForFinish();
+    }
 }
diff --git a/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorModule.java b/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorModule.java
index e76fb97..2b8eecf 100644
--- a/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorModule.java
+++ b/src/main/java/com/dreamworks/boditech/driver/actuator/ActuatorModule.java
@@ -1,5 +1,12 @@
 package com.dreamworks.boditech.driver.actuator;
 public class ActuatorModule {
+    public static Integer ARM_XY = 11;
+    public static Integer ARM_Z_MOTOR = 81;
+    public static Integer TEST_TUBE_SHAKING_MOVE_MOTOR = 31;
+    public static Integer TEST_TUBE_SHAKING_ROTATE_MOTOR = 32;
+    public static Integer TEST_TUBE_SHAKING_CLIP_MOTOR = 33;
+    public static Integer TEST_TUBE_SHAKING_CAP_CLIP_MOTOR = 34;
+    public static Integer TEST_TUBE_SHAKING_SHAKE_MOTOR = 35;
     public static Integer TEST_TUBE_RACK_MOVEMENT = 60;
     public static Integer TEST_TUBE_RACK_FEED_MOTOR = 61;
     public static Integer TEST_TUBE_RACK_MOVE_MOTOR = 62;
diff --git a/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeA.java b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeA.java
new file mode 100644
index 0000000..a5b4c19
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeA.java
@@ -0,0 +1,17 @@
+package com.dreamworks.boditech.driver.consumable;
+public class CsmBufferTubeA {
+    // area index
+    public Integer areaIndex;
+    // position
+    public Integer position;
+    // project name
+    public String projectName = "demo";
+
+    public Integer getLocationX() {
+        return 1000;
+    }
+
+    public Integer getLocationY() {
+        return 1000;
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeB.java b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeB.java
new file mode 100644
index 0000000..cf29b9f
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmBufferTubeB.java
@@ -0,0 +1,17 @@
+package com.dreamworks.boditech.driver.consumable;
+public class CsmBufferTubeB {
+    // area index
+    public Integer areaIndex;
+    // position
+    public Integer position;
+    // project name
+    public String projectName;
+
+    public Integer getLocationX() {
+        return 0;
+    }
+
+    public Integer getLocationY() {
+        return 0;
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/consumable/CsmLargeBufferTube.java b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmLargeBufferTube.java
new file mode 100644
index 0000000..5bf4511
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmLargeBufferTube.java
@@ -0,0 +1,22 @@
+package com.dreamworks.boditech.driver.consumable;
+public class CsmLargeBufferTube {
+    // position
+    public Integer position;
+    // project name
+    public String projectName;
+
+    // get location x
+    public Integer getLocationX() {
+        return 0;
+    }
+
+    // get location y
+    public Integer getLocationY() {
+        return 0;
+    }
+
+    // get if the tube is empty
+    public boolean isEmpty() {
+        return false;
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/consumable/CsmPipetteTip.java b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmPipetteTip.java
new file mode 100644
index 0000000..afc7423
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/consumable/CsmPipetteTip.java
@@ -0,0 +1,15 @@
+package com.dreamworks.boditech.driver.consumable;
+public class CsmPipetteTip {
+    // area index
+    public Integer areaIndex;
+    // position
+    public Integer position;
+
+    public Integer getLocationX() {
+        return 500;
+    }
+
+    public Integer getLocationY() {
+        return 500;
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/TaskTest.java b/src/main/java/com/dreamworks/boditech/driver/task/TaskTest.java
index 961b23d..f333fe2 100644
--- a/src/main/java/com/dreamworks/boditech/driver/task/TaskTest.java
+++ b/src/main/java/com/dreamworks/boditech/driver/task/TaskTest.java
@@ -2,6 +2,8 @@ package com.dreamworks.boditech.driver.task;
 import com.dreamworks.boditech.driver.Task;
 import com.dreamworks.boditech.driver.TaskExecutor;
 import com.dreamworks.boditech.driver.TestStep;
+import com.dreamworks.boditech.driver.task.step.Step;
+import com.dreamworks.boditech.driver.task.step.StepManager;
 
 import java.util.List;
 public class TaskTest implements Task {
@@ -14,7 +16,7 @@ public class TaskTest implements Task {
     // test tube
     public String testTubeType;
     // project
-    public String projectName;
+    public String projectName = "demo";
     // sample type
     public String bloodType;
     // sample process
@@ -28,6 +30,9 @@ public class TaskTest implements Task {
 
     @Override
     public void execute(TaskExecutor executor) {
-
+        List<Step> steps = StepManager.buildSteps("[{\"action\":\"puncture\",\"tubeType\":\"A\"}]");
+        for ( Step step : steps ) {
+            step.execute(executor, this);
+        }
     }
 }
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/Step.java b/src/main/java/com/dreamworks/boditech/driver/task/step/Step.java
new file mode 100644
index 0000000..f5bc9c9
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/task/step/Step.java
@@ -0,0 +1,7 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.TaskExecutor;
+public interface Step {
+    // execute step
+    public void execute(TaskExecutor executor, Task task );
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/StepBase.java b/src/main/java/com/dreamworks/boditech/driver/task/step/StepBase.java
new file mode 100644
index 0000000..de2a2d2
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/task/step/StepBase.java
@@ -0,0 +1,4 @@
+package com.dreamworks.boditech.driver.task.step;
+abstract public class StepBase implements Step {
+
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/StepManager.java b/src/main/java/com/dreamworks/boditech/driver/task/step/StepManager.java
new file mode 100644
index 0000000..fa319a2
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/task/step/StepManager.java
@@ -0,0 +1,46 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.JsonNode;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+public class StepManager {
+    // step name to step class
+    private static final Map<String,Class<? extends Step>> stepMap = new HashMap<>();
+
+    // load step map
+    private static void loadStepMap() {
+        if ( !StepManager.stepMap.isEmpty() ) {
+            return ;
+        }
+        StepManager.stepMap.put("shake", StepShake.class);
+        StepManager.stepMap.put("puncture", StepPuncture.class);
+    }
+
+    // build step by given name
+    public static List<Step> buildSteps(String json) {
+        StepManager.loadStepMap();
+
+        ObjectMapper jsonMapper = new ObjectMapper();
+        JsonNode stepJsonTree = null;
+        try {
+            stepJsonTree = jsonMapper.readTree(json);
+        } catch (JsonProcessingException e) {
+            throw new RuntimeException(e);
+        }
+
+        List<Step> steps = new ArrayList<>();
+        for ( JsonNode stepNode : stepJsonTree ) {
+            String name = stepNode.get("action").asText();
+            Class<? extends Step> stepClass = StepManager.stepMap.get(name);
+            if ( stepClass == null ) {
+                throw new RuntimeException("step class not found: " + name);
+            }
+            Step step = jsonMapper.convertValue(stepNode, stepClass);
+            steps.add(step);
+        }
+        return steps;
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/StepPuncture.java b/src/main/java/com/dreamworks/boditech/driver/task/step/StepPuncture.java
new file mode 100644
index 0000000..d8d82c2
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/task/step/StepPuncture.java
@@ -0,0 +1,54 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.TaskExecutor;
+import com.dreamworks.boditech.driver.actuator.ActArmXY;
+import com.dreamworks.boditech.driver.actuator.ActMotor;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTubeA;
+import com.dreamworks.boditech.driver.consumable.CsmBufferTubeB;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
+import com.dreamworks.boditech.driver.task.TaskTest;
+import com.fasterxml.jackson.annotation.JsonProperty;
+public class StepPuncture extends StepBase {
+    @JsonProperty("action")
+    public String action;
+
+    @JsonProperty("tubeType")
+    public String tubeType;
+
+    @Override
+    public void execute(TaskExecutor executor, Task task) {
+        Device device = executor.getDevice();
+        ActArmXY armXY = (ActArmXY)device.getActuator(ActuatorModule.ARM_XY);
+        ActMotor armZMotor = (ActMotor)device.getActuator(ActuatorModule.ARM_Z_MOTOR);
+        TaskTest taskTest = (TaskTest)task;
+
+        // 01. 移动到TIP区域
+        CsmPipetteTip tip = device.getPipeTip();
+        armXY.moveTo(tip.getLocationX(), tip.getLocationY());
+
+        // 02. 下降到TIP区域
+        armZMotor.moveTo(1000);
+
+        // 03. 上升到准备区域
+        armZMotor.moveTo(0);
+
+        // 04. 移动到穿刺区域
+        if ( "A".equals(this.tubeType) ) {
+            CsmBufferTubeA tube = device.getBufferTubeA(taskTest.projectName);
+            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
+        } else if ( "B".equals(this.tubeType) ) {
+            CsmBufferTubeB tube = device.getBufferTubeB(taskTest.projectName);
+            armXY.moveTo(tube.getLocationX(), tube.getLocationY());
+        } else {
+            throw new RuntimeException("unknown tube type " + this.tubeType);
+        }
+
+        // 05. 下降到穿刺区域
+        armZMotor.moveTo(1000);
+
+        // 06. 上升到准备区域
+        armZMotor.moveTo(0);
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/driver/task/step/StepShake.java b/src/main/java/com/dreamworks/boditech/driver/task/step/StepShake.java
new file mode 100644
index 0000000..2dd3a58
--- /dev/null
+++ b/src/main/java/com/dreamworks/boditech/driver/task/step/StepShake.java
@@ -0,0 +1,50 @@
+package com.dreamworks.boditech.driver.task.step;
+import com.dreamworks.boditech.driver.Device;
+import com.dreamworks.boditech.driver.Task;
+import com.dreamworks.boditech.driver.TaskExecutor;
+import com.dreamworks.boditech.driver.actuator.ActMotor;
+import com.dreamworks.boditech.driver.actuator.ActuatorModule;
+import com.fasterxml.jackson.annotation.JsonProperty;
+public class StepShake extends StepBase {
+    @JsonProperty("action")
+    public String action;
+
+    @Override
+    public void execute(TaskExecutor executor, Task task) {
+        Device device = executor.getDevice();
+        ActMotor testTubeCapClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CAP_CLIP_MOTOR);
+        ActMotor testTubeShakeMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_SHAKE_MOTOR);
+        ActMotor testTubeMoveMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_MOVE_MOTOR);
+        ActMotor testTubeClipMotor = (ActMotor)device.getActuator(ActuatorModule.TEST_TUBE_SHAKING_CLIP_MOTOR);
+
+        // 01. 试管帽夹打开
+        testTubeCapClipMotor.moveTo(500);
+
+        // 02. 下降到试管位置
+        testTubeMoveMotor.moveTo(150);
+
+        // 03. 试管帽夹关闭
+        testTubeCapClipMotor.moveTo(900);
+
+        // 04. 上升到摇晃位置
+        testTubeMoveMotor.moveTo(1300);
+
+        // 05. 摇晃
+        testTubeShakeMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
+        try {
+            Thread.sleep(3000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        testTubeShakeMotor.stop();
+
+        // 06. 下降到试管位置
+        testTubeMoveMotor.moveTo(150);
+
+        // 07. 试管夹夹紧
+        testTubeClipMotor.rotate(ActMotor.ROTATE_DIRECTION_CLOCKWISE);
+
+        // 08. 上升到原始位置
+        testTubeMoveMotor.moveTo(1300);
+    }
+}
diff --git a/src/main/java/com/dreamworks/boditech/service/DeviceService.java b/src/main/java/com/dreamworks/boditech/service/DeviceService.java
index e00129b..51ff0cf 100644
--- a/src/main/java/com/dreamworks/boditech/service/DeviceService.java
+++ b/src/main/java/com/dreamworks/boditech/service/DeviceService.java
@@ -1,5 +1,7 @@
 package com.dreamworks.boditech.service;
 import com.dreamworks.boditech.driver.*;
+import com.dreamworks.boditech.driver.consumable.CsmLargeBufferTube;
+import com.dreamworks.boditech.driver.consumable.CsmPipetteTip;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Service;
 
@@ -12,9 +14,9 @@ public class DeviceService {
     public Device device;
 
     // pipette tips
-    public List<ConsumablePipetteTip> pipetteTips;
+    public List<CsmPipetteTip> pipetteTips;
     // buffer tubes
-    public List<ConsumableBufferTube> bufferTubes;
+    public List<CsmLargeBufferTube> bufferTubes;
     // test cards
     public List<ConsumableTestCard> testCards;
     // tasks
@@ -26,6 +28,11 @@ public class DeviceService {
 
     // start
     public void start() {
+        this.device.appendPipetteTip(0, 10);
+        this.device.appendPipetteTip(1, 10);
+        this.device.appendPipetteTip(2, 10);
+        this.device.appendBufferTubeA(0, 10);
+
         this.taskExecutor = new TaskExecutor(this.tasks, this.device);
         this.taskExecutorThread = new Thread(this.taskExecutor);
         this.taskExecutorThread.setName("task-executor");