diff --git a/.github/tests/test_conda_workflow_contract.py b/.github/tests/test_conda_workflow_contract.py
index c4f725351..f8980e59b 100644
--- a/.github/tests/test_conda_workflow_contract.py
+++ b/.github/tests/test_conda_workflow_contract.py
@@ -18,7 +18,7 @@ def workflow(name):
 
 
 def script_result(filename, job, *, event="workflow_run", conclusion="success",
-                  upstream_event="workflow_run", artifacts=()):
+                  upstream_event="push", artifacts=(), requested_ref="dev"):
     script = workflow(filename)["jobs"][job]["steps"][0]["with"]["script"]
     harness = """
 const fs = require("fs");
@@ -31,7 +31,8 @@ def script_result(filename, job, *, event="workflow_run", conclusion="success",
 };
 const context = {
   eventName: data.event, repo: {owner: "deepmodeling", repo: "Uni-Lab-OS"},
-  payload: {workflow_run: {id: 123, conclusion: data.conclusion, event: data.upstream_event}}
+  payload: {workflow_run: {id: 123, conclusion: data.conclusion, event: data.upstream_event,
+                          head_branch: "dev", head_sha: data.sha}}
 };
 const github = {
   rest: {actions: {listWorkflowRunArtifacts: "list"}, repos: {
@@ -55,26 +56,45 @@ def script_result(filename, job, *, event="workflow_run", conclusion="success",
             "script": script, "event": event, "conclusion": conclusion,
             "upstream_event": upstream_event, "artifacts": list(artifacts), "sha": SHA,
         }), text=True, capture_output=True, check=True,
-        env={**os.environ, "REQUESTED_REF": "dev"},
+        env={**os.environ, "REQUESTED_REF": requested_ref},
     )
     return json.loads(process.stdout)
 
 
 def artifact(prefix, sha=SHA, state="published", expired=False):
-    return {"name": f"{prefix}-source-{state}-{sha}-jazzy-linux-64", "expired": expired}
+    return {"name": f"{prefix}-source-{state}-{sha}-hostlink-linux-64", "expired": expired}
 
 
 class CondaWorkflowContractTests(unittest.TestCase):
-    def test_ci_only_main_sync_does_not_build_old_main_source(self):
+    def test_companion_wheels_are_release_assets_not_pypi_uploads(self):
+        definition = workflow("wheel-release.yml")
+        entries = definition["jobs"]["build"]["strategy"]["matrix"]["include"]
+        self.assertEqual({x["platform"] for x in entries}, {"linux-64", "osx-64", "osx-arm64", "win-64"})
+        upload = definition["jobs"]["attach-release"]
+        self.assertEqual(upload["needs"], "build")
+        self.assertIn("github.event_name == 'release'", upload["if"])
+        self.assertIn("gh release upload", upload["steps"][-1]["run"])
+        source = (WORKFLOWS / "wheel-release.yml").read_text(encoding="utf-8")
+        self.assertNotIn("pypa/gh-action-pypi-publish", source)
+        self.assertNotIn("twine upload", source)
+        self.assertNotIn("--clobber", source)
+
+    def test_default_build_is_independent_of_ros_messages(self):
         # BaseLoader 避免 YAML 1.1 把 GitHub 的 on 键当成布尔值。
         definition = yaml.load(
-            (WORKFLOWS / "multi-platform-build.yml").read_text(encoding="utf-8"),
+            (WORKFLOWS / "unilabos-conda-build.yml").read_text(encoding="utf-8"),
             Loader=yaml.BaseLoader,
         )
         self.assertEqual(definition["on"]["workflow_run"]["branches"], ["dev"])
+        self.assertEqual(definition["on"]["workflow_run"]["workflows"], ["CI Check"])
+        self.assertEqual(definition["on"]["workflow_dispatch"]["inputs"]["ros_distros"]["default"], "")
+        ros = yaml.load((WORKFLOWS / "multi-platform-build.yml").read_text(encoding="utf-8"), Loader=yaml.BaseLoader)
+        self.assertNotIn("workflow_run", ros["on"])
+        self.assertNotIn("release", ros["on"])
+        self.assertEqual(ros["on"]["push"]["tags"], ["msgs-v*"])
 
     def test_ros_matrix_channels_and_recipes(self):
-        for name in ("multi-platform-build.yml", "unilabos-conda-build.yml"):
+        for name in ("multi-platform-build.yml",):
             definition = workflow(name)
             entries = definition["jobs"]["build"]["strategy"]["matrix"]["include"]
             self.assertEqual(len(entries), 8)
@@ -85,6 +105,9 @@ def test_ros_matrix_channels_and_recipes(self):
             )
             for entry in entries:
                 self.assertEqual(entry["ros_channel"], f"robostack-{entry['ros_distro']}")
+        core = workflow("unilabos-conda-build.yml")["jobs"]["build"]["strategy"]["matrix"]["include"]
+        self.assertEqual(len(core), 4)
+        self.assertTrue(all("ros_distro" not in item for item in core))
 
     def test_provenance_is_after_builds_and_uploads(self):
         for name in ("multi-platform-build.yml", "unilabos-conda-build.yml"):
@@ -99,24 +122,22 @@ def test_provenance_is_after_builds_and_uploads(self):
                 if step.get("uses", "").startswith("actions/upload-artifact"):
                     self.assertEqual(step["with"]["if-no-files-found"], "error")
 
-    def test_upstream_ci_success_is_not_a_release(self):
-        result = script_result("unilabos-conda-build.yml", "wait-for-upstream")
-        self.assertEqual(result["outputs"]["should_continue"], "false")
-
-    def test_release_requires_unique_published_provenance(self):
-        for items in ([], [artifact("msgs", state="tested")],
-                      [artifact("msgs"), artifact("msgs", OTHER)]):
-            with self.subTest(items=items):
-                result = script_result("unilabos-conda-build.yml", "wait-for-upstream",
-                                       upstream_event="release", artifacts=items)
-                self.assertEqual(result["outputs"]["should_continue"], "false")
-                self.assertTrue(result["errors"])
+    def test_upstream_ci_builds_exact_source_without_publishing(self):
+        result = script_result("unilabos-conda-build.yml", "resolve-source")
+        self.assertEqual(result["outputs"], {"should_continue": "true", "source_sha": SHA})
+        steps = workflow("unilabos-conda-build.yml")["jobs"]["build"]["steps"]
+        upload = next(x for x in steps if x.get("name") == "Upload packages after successful tests")
+        self.assertNotIn("workflow_run", upload["if"])
 
-    def test_release_uses_built_source(self):
-        result = script_result("unilabos-conda-build.yml", "wait-for-upstream",
-                               upstream_event="release", artifacts=[artifact("msgs")])
+    def test_release_resolves_requested_source(self):
+        result = script_result("unilabos-conda-build.yml", "resolve-source", event="release")
         self.assertEqual(result["outputs"], {"should_continue": "true", "source_sha": SHA})
 
+    def test_message_release_does_not_republish_core(self):
+        result = script_result("unilabos-conda-build.yml", "resolve-source", event="release",
+                               requested_ref="msgs-v0.12.1")
+        self.assertEqual(result["outputs"], {"should_continue": "false"})
+
     def test_conda_pack_skips_wait_only_or_unpublished_build(self):
         for items in ([], [artifact("unilabos", state="tested")],
                       [artifact("unilabos", expired=True)]):
@@ -134,11 +155,15 @@ def test_conda_pack_rejects_conflicting_sources(self):
     def test_conda_pack_uses_built_source(self):
         result = script_result("conda-pack-build.yml", "resolve-source",
                                artifacts=[artifact("unilabos")])
-        self.assertEqual(result["outputs"], {"should_continue": "true", "source_sha": SHA})
+        self.assertEqual(result["outputs"], {"should_continue": "true", "source_sha": SHA, "platforms": "linux-64"})
+        steps = workflow("conda-pack-build.yml")["jobs"]["build-conda-pack"]["steps"]
+        download = next(x for x in steps if x.get("uses", "").startswith("actions/download-artifact"))
+        self.assertIn("github.event.workflow_run.id", download["with"]["run-id"])
 
     def test_conda_pack_manual_branch_is_resolved_once(self):
         result = script_result("conda-pack-build.yml", "resolve-source", event="workflow_dispatch")
-        self.assertEqual(result["outputs"], {"should_continue": "true", "source_sha": SHA})
+        self.assertEqual(result["outputs"]["source_sha"], SHA)
+        self.assertEqual(result["outputs"]["should_continue"], "true")
         build = workflow("conda-pack-build.yml")["jobs"]["build-conda-pack"]
         self.assertIn("resolve-source.outputs.source_sha", build["env"]["PACKAGE_REF"])
         checkout = next(step for step in build["steps"]
@@ -147,7 +172,7 @@ def test_conda_pack_manual_branch_is_resolved_once(self):
 
     def test_failed_upstream_never_proceeds(self):
         for filename, job, prefix in (
-            ("unilabos-conda-build.yml", "wait-for-upstream", "msgs"),
+            ("unilabos-conda-build.yml", "resolve-source", "msgs"),
             ("conda-pack-build.yml", "resolve-source", "unilabos"),
         ):
             result = script_result(filename, job, conclusion="failure",
diff --git a/.github/workflows/ci-workflows-check.yml b/.github/workflows/ci-workflows-check.yml
index e3c1366e4..d3a19da9d 100644
--- a/.github/workflows/ci-workflows-check.yml
+++ b/.github/workflows/ci-workflows-check.yml
@@ -22,7 +22,7 @@ jobs:
           go-version: stable
           cache: false
       - name: Validate workflow syntax
-        run: go run github.com/rhysd/actionlint/cmd/actionlint@v1.7.12 -shellcheck='' -pyflakes='' .github/workflows/multi-platform-build.yml .github/workflows/unilabos-conda-build.yml .github/workflows/conda-pack-build.yml .github/workflows/ci-workflows-check.yml
+        run: go run github.com/rhysd/actionlint/cmd/actionlint@v1.7.12 -shellcheck='' -pyflakes='' .github/workflows/multi-platform-build.yml .github/workflows/unilabos-conda-build.yml .github/workflows/conda-pack-build.yml .github/workflows/wheel-release.yml .github/workflows/ci-workflows-check.yml
       - uses: actions/setup-python@v6
         with:
           python-version: '3.12'
diff --git a/.github/workflows/conda-pack-build.yml b/.github/workflows/conda-pack-build.yml
index 174a5d1e6..2609ebf9f 100644
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -1,27 +1,20 @@
 name: Build Conda-Pack Environment
 
 on:
-  # 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
   workflow_run:
     workflows: ["UniLabOS Conda Build"]
     types: [completed]
   workflow_dispatch:
     inputs:
       branch:
-        description: '选择要构建的分支'
+        description: '构建并打包此源码的无 ROS 默认发行版'
         required: true
         default: 'dev'
         type: string
       platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'win-64'
+        description: '逗号分隔的平台'
+        default: 'linux-64,osx-64,osx-arm64,win-64'
         type: string
-      build_full:
-        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
-        required: false
-        default: false
-        type: boolean
 
 permissions:
   contents: read
@@ -33,12 +26,14 @@ jobs:
     outputs:
       should_continue: ${{ steps.source.outputs.should_continue }}
       source_sha: ${{ steps.source.outputs.source_sha }}
+      platforms: ${{ steps.source.outputs.platforms }}
     steps:
       - name: Resolve the source that was actually built and uploaded
         id: source
         uses: actions/github-script@v8
         env:
           REQUESTED_REF: ${{ inputs.branch }}
+          PLATFORMS: ${{ inputs.platforms }}
         with:
           script: |
             core.setOutput("should_continue", "false");
@@ -47,6 +42,7 @@ jobs:
                 ...context.repo, ref: process.env.REQUESTED_REF
               });
               core.setOutput("source_sha", commit.sha);
+              core.setOutput("platforms", process.env.PLATFORMS || "linux-64,osx-64,osx-arm64,win-64");
               core.setOutput("should_continue", "true");
               return;
             }
@@ -55,385 +51,97 @@ jobs:
             const artifacts = await github.paginate(github.rest.actions.listWorkflowRunArtifacts, {
               ...context.repo, run_id: run.id, per_page: 100
             });
-            const shas = new Set(artifacts.filter(a => !a.expired)
-              .map(a => a.name.match(/^unilabos-source-published-([0-9a-f]{40})-(jazzy|humble)-(linux-64|osx-64|osx-arm64|win-64)$/))
-              .filter(Boolean).map(match => match[1]));
+            const proofs = artifacts.filter(a => !a.expired)
+              .map(a => a.name.match(/^unilabos-source-published-([0-9a-f]{40})-hostlink-(linux-64|osx-64|osx-arm64|win-64)$/))
+              .filter(Boolean);
+            const shas = new Set(proofs.map(match => match[1]));
             if (shas.size === 0) {
-              core.notice("上游未实际上传包（可能仅运行了等待 job），不启动 conda-pack。");
+              core.notice("上游没有无 ROS 默认包的上传凭证，不打包。");
               return;
             }
             if (shas.size !== 1) {
-              core.setFailed("上游源码凭证不一致，不能任取一个 SHA 打包。");
+              core.setFailed("上游源码凭证不一致。");
               return;
             }
             core.setOutput("source_sha", [...shas][0]);
+            core.setOutput("platforms", [...new Set(proofs.map(match => match[2]))].join(","));
             core.setOutput("should_continue", "true");
 
   build-conda-pack:
     needs: resolve-source
-    if: |
-      needs.resolve-source.outputs.should_continue == 'true'
+    if: needs.resolve-source.outputs.should_continue == 'true'
     env:
-      BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
       PACKAGE_REF: ${{ needs.resolve-source.outputs.source_sha }}
+      PYTHONUTF8: '1'
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-            env_file: unilabos-linux-64.yaml
-            script_ext: sh
-          - os: macos-15-intel # Intel x86_64
+          - os: macos-15-intel
             platform: osx-64
-            env_file: unilabos-osx-64.yaml
-            script_ext: sh
-          - os: macos-latest # ARM64
+          - os: macos-latest
             platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
-            script_ext: sh
           - os: windows-2022
             platform: win-64
-            env_file: unilabos-win64.yaml
-            script_ext: bat
-
     runs-on: ${{ matrix.os }}
-
     defaults:
       run:
-        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}
-
+        shell: bash -l {0}
     steps:
       - name: Check if platform should be built
         id: should_build
-        shell: bash
+        env:
+          PLATFORMS: ${{ needs.resolve-source.outputs.platforms }}
+          PLATFORM: ${{ matrix.platform }}
         run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
+          if [[ ",$PLATFORMS," == *",$PLATFORM,"* ]]; then
+            echo "should_build=true" >> "$GITHUB_OUTPUT"
           else
-            echo "should_build=false" >> $GITHUB_OUTPUT
+            echo "should_build=false" >> "$GITHUB_OUTPUT"
           fi
-
       - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ needs.resolve-source.outputs.source_sha }}
-          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)
+      - uses: conda-incubator/setup-miniconda@v4
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.12.13'
-          channels: conda-forge,robostack-jazzy,uni-lab
-          channel-priority: flexible
-          activate-environment: unilab
+          channels: conda-forge
+          channel-priority: strict
+          activate-environment: build-env
           auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install conda-pack, unilabos and dependencies (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Installing unilabos and dependencies to unilab environment...
-          echo Using mamba for faster and more reliable dependency resolution...
-          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 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 conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
-          )
-
-      - name: Install conda-pack, unilabos and dependencies (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
+      - name: Install build and index tools
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "Installing unilabos and dependencies to unilab environment..."
-          echo "Using mamba for faster and more reliable dependency resolution..."
-          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 conda-forge -c robostack-jazzy uni-lab::unilabos-full conda-pack zstandard -y
+          if [[ "$RUNNER_OS" == "Windows" ]]; then
+            cmd //D //S //C '%CONDA%\condabin\mamba.bat install -n build-env --override-channels -c conda-forge rattler-build conda-index -y'
           else
-            echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
+            mamba install -n build-env --override-channels -c conda-forge rattler-build conda-index -y
           fi
-
-      - name: Get latest ros-jazzy-unilabos-msgs version (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        id: msgs_version_win
-        run: |
-          echo Checking installed ros-jazzy-unilabos-msgs version...
-          conda list -n unilab ros-jazzy-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list -n unilab ros-jazzy-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
-          echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
-          echo Installed ros-jazzy-unilabos-msgs version: %VERSION%
-
-      - name: Get latest ros-jazzy-unilabos-msgs version (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        id: msgs_version_unix
-        shell: bash
-        run: |
-          echo "Checking installed ros-jazzy-unilabos-msgs version..."
-          VERSION=$(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-jazzy-unilabos-msgs version: $VERSION"
-
-      - 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-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-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-jazzy-unilabos-msgs (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          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-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'
-        run: |
-          echo Uninstalling existing unilabos...
-          mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
-          echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
-          mamba run -n unilab pip install .
-          echo Verifying installation...
-          mamba run -n unilab pip show unilabos
-
-      - name: Install latest unilabos from source (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Uninstalling existing unilabos..."
-          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
-          mamba run -n unilab pip install .
-          echo "Verifying installation..."
-          mamba run -n unilab pip show unilabos
-
-      - name: Display environment info (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo === Environment Information ===
-          mamba env list
-          echo.
-          echo === Installed Packages ===
-          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
-
-      - name: Display environment info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=== Environment Information ==="
-          mamba env list
-          echo ""
-          echo "=== Installed Packages ==="
-          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
-
-      - name: Verify environment integrity (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Verifying Python version...
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
-          echo Verifying unilabos import...
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
-          echo Checking critical packages...
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo Running comprehensive verification script...
-          mamba run -n unilab python scripts\verify_installation.py --auto-install || echo Warning: Verification script reported issues
-          echo Environment verification complete!
-
-      - name: Verify environment integrity (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Verifying Python version..."
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
-          echo "Verifying unilabos import..."
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
-          echo "Checking critical packages..."
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo "Running comprehensive verification script..."
-          mamba run -n unilab python scripts/verify_installation.py --auto-install || echo "Warning: Verification script reported issues"
-          echo "Environment verification complete!"
-
-      - name: Pack conda environment (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Packing unilab environment with conda-pack...
-          for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
-          echo Packing environment at: %UNILAB_PREFIX%
-          mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo Pack file created:
-          dir unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Pack conda environment (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Packing unilab environment with conda-pack..."
-          UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
-          echo "Packing environment at: $UNILAB_PREFIX"
-          mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo "Pack file created:"
-          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Prepare Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Creating distribution package...
-          echo Platform: ${{ matrix.platform }}
-          echo ==========================================
-          mkdir dist-package 2>nul || cd .
-
-          rem Copy packed environment
-          echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
-          copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
-
-          rem Copy installation script
-          echo Adding: install_unilab.bat
-          copy scripts\install_unilab.bat dist-package\
-
-          rem Copy verification script
-          echo Adding: verify_installation.py
-          copy scripts\verify_installation.py dist-package\
-
-          rem Copy source code repository (including .git)
-          echo Adding: Uni-Lab-OS source repository
-          robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
-
-          rem Create README using Python script
-          echo Creating: README.txt
-          python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
-
-          echo.
-          echo Distribution package contents:
-          dir /b dist-package
-          echo.
-
-      - name: Prepare Unix/Linux distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
+      - name: Download the exact upstream packages
+        if: steps.should_build.outputs.should_build == 'true' && github.event_name == 'workflow_run'
+        uses: actions/download-artifact@v5
+        with:
+          name: conda-package-unilabos-hostlink-${{ matrix.platform }}
+          path: conda-artifacts
+          run-id: ${{ github.event.workflow_run.id }}
+          github-token: ${{ github.token }}
+      - name: Build exact source for a manual bundle
+        if: steps.should_build.outputs.should_build == 'true' && github.event_name == 'workflow_dispatch'
+        run: python scripts/build_conda_release.py build --platform "${{ matrix.platform }}"
+      - name: Install, verify and pack the ROS-free environment
+        if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "=========================================="
-          echo "Creating distribution package..."
-          echo "Platform: ${{ matrix.platform }}"
-          echo "=========================================="
-          mkdir -p dist-package
-
-          # Copy packed environment
-          echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
-          cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
-
-          # Copy installation script
-          echo "Adding: install_unilab.sh"
-          cp scripts/install_unilab.sh dist-package/
-          chmod +x dist-package/install_unilab.sh
-
-          # Copy verification script
-          echo "Adding: verify_installation.py"
-          cp scripts/verify_installation.py dist-package/
-
-          # Copy source code repository (including .git)
-          echo "Adding: Uni-Lab-OS source repository"
-          rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
-
-          # Create README using Python script
-          echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
-
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-
-      - name: Upload distribution package
+          python scripts/pack_conda_release.py --platform "${{ matrix.platform }}" --source-sha "$PACKAGE_REF" --prefix "${{ runner.temp }}/unilab-bundle"
+      - uses: actions/upload-artifact@v6
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}
+          name: unilab-pack-hostlink-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           path: dist-package/
-          retention-days: 90
           if-no-files-found: error
-
-      - name: Display package info (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Build Summary
-          echo ==========================================
-          echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ env.PACKAGE_REF }}
-          echo Python version: 3.12.13
-          if "${{ env.BUILD_FULL }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
-          echo.
-          echo Distribution package contents:
-          dir dist-package
-          echo.
-          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
-          echo ==========================================
-
-      - name: Display package info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Build Summary"
-          echo "=========================================="
-          echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ env.PACKAGE_REF }}"
-          echo "Python version: 3.12.13"
-          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
-            echo "Package: unilabos-full (complete)"
-          else
-            echo "Package: unilabos (minimal)"
-          fi
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}"
-          echo ""
-          echo "After download:"
-          echo "  install_unilab.sh"
-          echo "=========================================="
+          retention-days: 90
diff --git a/.github/workflows/multi-platform-build.yml b/.github/workflows/multi-platform-build.yml
index 56365e2d0..16ead22c6 100644
--- a/.github/workflows/multi-platform-build.yml
+++ b/.github/workflows/multi-platform-build.yml
@@ -1,18 +1,9 @@
 name: Multi-Platform Conda Build
 
 on:
-  # 日常构建只接 dev 的 CI；main 目前仅同步工作流定义，不能误打包旧业务源码。
-  workflow_run:
-    workflows: ["CI Check"]
-    types:
-      - completed
-    branches: [dev]
-  # 支持 tag 推送（不依赖 CI Check）
+  # ROS 消息独立发布，不由默认 Python/HostLink 发布触发。
   push:
-    tags: ['v*']
-  # GitHub Release 发布时自动构建并上传
-  release:
-    types: [published]
+    tags: ['msgs-v*']
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -34,37 +25,9 @@ on:
         required: false
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -123,8 +86,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ inputs.source_ref || github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
+          ref: ${{ inputs.source_ref || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -215,7 +177,6 @@ jobs:
         if: |
           steps.should_build.outputs.should_build == 'true' &&
           (
-            github.event_name == 'release' ||
             startsWith(github.ref, 'refs/tags/') ||
             github.event.inputs.upload_to_anaconda == 'true'
           )
@@ -230,7 +191,7 @@ jobs:
         id: source
         if: steps.should_build.outputs.should_build == 'true'
         env:
-          PUBLISHED: ${{ github.event_name == 'release' || startsWith(github.ref, 'refs/tags/') || inputs.upload_to_anaconda == true }}
+          PUBLISHED: ${{ startsWith(github.ref, 'refs/tags/') || inputs.upload_to_anaconda == true }}
         run: |
           sha="$(git rev-parse HEAD)"
           state=tested
diff --git a/.github/workflows/unilabos-conda-build.yml b/.github/workflows/unilabos-conda-build.yml
index 4c8cf99a3..b0557eb89 100644
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -1,39 +1,38 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
+  # 默认发行链与 ROS msgs 脱钩；dev CI 仅构建验证，正式 Release 才自动发布。
   workflow_run:
-    workflows: ["Multi-Platform Conda Build"]
+    workflows: ["CI Check"]
     types: [completed]
-  # 手动触发
+    branches: [dev]
+  release:
+    types: [published]
   workflow_dispatch:
     inputs:
       source_ref:
-        description: '构建源码分支或完整 SHA；工作流定义仍取所选运行分支'
+        description: '构建源码分支或完整 SHA'
         required: true
         default: 'dev'
         type: string
       platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'linux-64'
+        description: '逗号分隔的平台'
+        default: 'linux-64,osx-64,osx-arm64,win-64'
+        type: string
       ros_distros:
-        description: '选择 ROS 2 发行版 (逗号分隔): jazzy, humble'
-        required: false
-        default: 'jazzy,humble'
+        description: '显式选装 ROS2 (jazzy,humble)；留空仅构建无 ROS 默认包'
+        default: ''
+        type: string
       build_full:
-        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
-        required: false
+        description: '额外构建完整运行/文档/开发环境；必须显式选择 ros_distros'
         default: false
         type: boolean
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
+      extensions_only:
+        description: '默认包已发布后，仅构建/上传 ROS2 和 full，不重新上传默认包'
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
+      upload_to_anaconda:
+        description: '上传新的包坐标，不覆盖已有业务包'
         default: false
         type: boolean
 
@@ -42,143 +41,88 @@ permissions:
   actions: read
 
 jobs:
-  # 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
-  wait-for-upstream:
+  resolve-source:
     runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
     outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-      source_sha: ${{ steps.check.outputs.source_sha }}
+      should_continue: ${{ steps.source.outputs.should_continue }}
+      source_sha: ${{ steps.source.outputs.source_sha }}
     steps:
-      - name: Check upstream workflow status
-        id: check
+      - name: Resolve exact source without depending on ROS messages
+        id: source
         uses: actions/github-script@v8
+        env:
+          REQUESTED_REF: ${{ inputs.source_ref || github.event.release.tag_name }}
         with:
           script: |
             core.setOutput("should_continue", "false");
-            const run = context.payload.workflow_run;
-            if (run.conclusion !== "success" || !["release", "push"].includes(run.event)) {
-              core.notice("上游并非成功的 release/tag 构建，不启动发布链。");
-              return;
+            if (context.eventName === "release" && (process.env.REQUESTED_REF || "").startsWith("msgs-v")) return;
+            if (context.eventName === "workflow_run") {
+              const run = context.payload.workflow_run;
+              if (run.conclusion !== "success" || run.head_branch !== "dev" || run.event !== "push") return;
+              if (!/^[0-9a-f]{40}$/.test(run.head_sha)) {
+                core.setFailed("CI 未提供有效源码 SHA");
+                return;
+              }
+              core.setOutput("source_sha", run.head_sha);
+            } else {
+              const {data: commit} = await github.rest.repos.getCommit({
+                ...context.repo, ref: process.env.REQUESTED_REF
+              });
+              core.setOutput("source_sha", commit.sha);
             }
-            const artifacts = await github.paginate(github.rest.actions.listWorkflowRunArtifacts, {
-              ...context.repo, run_id: run.id, per_page: 100
-            });
-            const shas = new Set(artifacts.filter(a => !a.expired)
-              .map(a => a.name.match(/^msgs-source-published-([0-9a-f]{40})-(jazzy|humble)-(linux-64|osx-64|osx-arm64|win-64)$/))
-              .filter(Boolean).map(match => match[1]));
-            if (shas.size !== 1) {
-              core.setFailed("上游缺少唯一的已上传源码凭证；不能回退到默认分支 SHA。");
-              return;
-            }
-            core.setOutput("source_sha", [...shas][0]);
             core.setOutput("should_continue", "true");
 
   build:
-    needs: [wait-for-upstream]
-    # 运行条件：workflow_run 触发且上游成功，或者手动触发
-    if: |
-      always() &&
-      (needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
+    needs: resolve-source
+    if: needs.resolve-source.outputs.should_continue == 'true'
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-            ros_distro: jazzy
-            ros_channel: robostack-jazzy
-            environment_recipe: .conda/environment/recipe.yaml
-            base_recipe: .conda/base/recipe.yaml
-            full_recipe: .conda/full/recipe.yaml
-          - os: macos-15-intel # Intel x86_64
-            platform: osx-64
-            ros_distro: jazzy
-            ros_channel: robostack-jazzy
-            environment_recipe: .conda/environment/recipe.yaml
-            base_recipe: .conda/base/recipe.yaml
-            full_recipe: .conda/full/recipe.yaml
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-            ros_distro: jazzy
-            ros_channel: robostack-jazzy
-            environment_recipe: .conda/environment/recipe.yaml
-            base_recipe: .conda/base/recipe.yaml
-            full_recipe: .conda/full/recipe.yaml
-          - os: windows-2022
-            platform: win-64
-            ros_distro: jazzy
-            ros_channel: robostack-jazzy
-            environment_recipe: .conda/environment/recipe.yaml
-            base_recipe: .conda/base/recipe.yaml
-            full_recipe: .conda/full/recipe.yaml
-          - os: ubuntu-latest
-            platform: linux-64
-            ros_distro: humble
-            ros_channel: robostack-humble
-            environment_recipe: .conda/environment-humble/recipe.yaml
-            base_recipe: .conda/base-humble/recipe.yaml
-            full_recipe: .conda/full-humble/recipe.yaml
           - os: macos-15-intel
             platform: osx-64
-            ros_distro: humble
-            ros_channel: robostack-humble
-            environment_recipe: .conda/environment-humble/recipe.yaml
-            base_recipe: .conda/base-humble/recipe.yaml
-            full_recipe: .conda/full-humble/recipe.yaml
           - os: macos-latest
             platform: osx-arm64
-            ros_distro: humble
-            ros_channel: robostack-humble
-            environment_recipe: .conda/environment-humble/recipe.yaml
-            base_recipe: .conda/base-humble/recipe.yaml
-            full_recipe: .conda/full-humble/recipe.yaml
           - os: windows-2022
             platform: win-64
-            ros_distro: humble
-            ros_channel: robostack-humble
-            environment_recipe: .conda/environment-humble/recipe.yaml
-            base_recipe: .conda/base-humble/recipe.yaml
-            full_recipe: .conda/full-humble/recipe.yaml
-
     runs-on: ${{ matrix.os }}
-
     defaults:
       run:
         shell: bash -l {0}
-
+    env:
+      ROS_DISTROS: ${{ inputs.ros_distros }}
+      BUILD_FULL: ${{ inputs.build_full == true }}
+      EXTENSIONS_ONLY: ${{ inputs.extensions_only == true }}
+      PYTHONUTF8: '1'
+      ANACONDA_CLIENT_FORCE_STANDALONE: '1'
     steps:
       - uses: actions/checkout@v6
         with:
-          # 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
-          ref: ${{ needs.wait-for-upstream.outputs.source_sha || inputs.source_ref || github.ref }}
-          fetch-depth: 0
-
+          ref: ${{ needs.resolve-source.outputs.source_sha }}
       - name: Check if platform should be built
         id: should_build
+        env:
+          PLATFORMS: ${{ inputs.platforms }}
+          PLATFORM: ${{ matrix.platform }}
         run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ ( -z "${{ github.event.inputs.platforms }}" || "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ) && ( -z "${{ github.event.inputs.ros_distros }}" || "${{ github.event.inputs.ros_distros }}" == *"${{ matrix.ros_distro }}"* ) ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
+          if [[ -z "$PLATFORMS" || ",$PLATFORMS," == *",$PLATFORM,"* ]]; then
+            echo "should_build=true" >> "$GITHUB_OUTPUT"
           else
-            echo "should_build=false" >> $GITHUB_OUTPUT
+            echo "should_build=false" >> "$GITHUB_OUTPUT"
           fi
-
-      - name: Setup Miniforge
+      - uses: conda-incubator/setup-miniconda@v4
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.12.13'
-          channels: conda-forge,${{ matrix.ros_channel }},uni-lab
+          channels: conda-forge
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install rattler-build and anaconda-client
+      - name: Install build tools
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           if [[ "$RUNNER_OS" == "Windows" ]]; then
@@ -187,123 +131,33 @@ jobs:
             mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
           fi
           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'
-        run: |
-          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 python -m binstar_client.scripts.cli --version
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
-          echo "ROS distro: ${{ matrix.ros_distro }}"
-          echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
-
-      - name: Build unilabos-env (conda environment only, noarch)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos-env for ${{ matrix.ros_distro }}..."
-          conda run -n build-env rattler-build build -r ${{ matrix.environment_recipe }} --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c ${{ matrix.ros_channel }}
-
-      - 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'
-          )
-        run: |
-          echo "Uploading unilabos-env to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-env*.conda"); do
-            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos (with pip package)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos package for ${{ matrix.ros_distro }}..."
-          # 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 ${{ matrix.base_recipe }} --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c ${{ matrix.ros_channel }} --channel ./output
-
-      - name: Upload unilabos to Anaconda.org (if enabled)
-        if: |
-          steps.should_build.outputs.should_build == 'true' &&
-          (
-            github.event_name == 'workflow_run' ||
-            github.event.inputs.upload_to_anaconda == 'true'
-          )
-        run: |
-          echo "Uploading unilabos to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
-            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos-full - Only when explicitly requested
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event_name == 'workflow_dispatch' &&
-          github.event.inputs.build_full == 'true'
-        run: |
-          echo "Building unilabos-full (${{ matrix.ros_distro }}) on ${{ matrix.platform }}..."
-          conda run -n build-env rattler-build build -r ${{ matrix.full_recipe }} --target-platform ${{ matrix.platform }} -c uni-lab -c conda-forge -c ${{ matrix.ros_channel }} --channel ./output
-
-      - name: Upload unilabos-full to Anaconda.org (if enabled)
-        if: |
-          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'
-        run: |
-          echo "Uploading unilabos-full to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-full*.conda"); do
-            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: List built packages
+      - name: Build and test packages
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
-
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
+          extra=()
+          if [[ "$BUILD_FULL" == "true" ]]; then extra+=(--full); fi
+          if [[ "$EXTENSIONS_ONLY" == "true" ]]; then extra+=(--extensions-only); fi
+          python scripts/build_conda_release.py build --platform "${{ matrix.platform }}" --ros-distros "$ROS_DISTROS" "${extra[@]}"
+      - name: Upload packages after successful tests
+        if: steps.should_build.outputs.should_build == 'true' && (github.event_name == 'release' || inputs.upload_to_anaconda == true)
+        env:
+          ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
         run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
-
-      - name: Upload conda package artifacts
+          extra=()
+          if [[ "$BUILD_FULL" == "true" ]]; then extra+=(--full); fi
+          if [[ "$EXTENSIONS_ONLY" == "true" ]]; then extra+=(--extensions-only); fi
+          python scripts/build_conda_release.py upload --platform "${{ matrix.platform }}" --ros-distros "$ROS_DISTROS" "${extra[@]}"
+      - uses: actions/upload-artifact@v6
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
         with:
-          name: conda-package-unilabos-${{ matrix.ros_distro }}-${{ matrix.platform }}
-          path: conda-packages-temp
+          name: conda-package-unilabos-hostlink-${{ matrix.platform }}
+          path: conda-artifacts/
           if-no-files-found: error
-          retention-days: 30
-
       - name: Record successful source provenance
         id: source
-        if: steps.should_build.outputs.should_build == 'true'
+        if: steps.should_build.outputs.should_build == 'true' && env.EXTENSIONS_ONLY != 'true'
         env:
-          PUBLISHED: ${{ github.event_name == 'workflow_run' || inputs.upload_to_anaconda == true }}
+          PUBLISHED: ${{ github.event_name == 'release' || inputs.upload_to_anaconda == true }}
         run: |
           sha="$(git rev-parse HEAD)"
           state=tested
@@ -311,13 +165,10 @@ jobs:
           printf '%s\n' "$sha" > source-sha.txt
           echo "sha=$sha" >> "$GITHUB_OUTPUT"
           echo "state=$state" >> "$GITHUB_OUTPUT"
-          echo "Built $sha (${{ matrix.ros_distro }}/${{ matrix.platform }}, $state)" >> "$GITHUB_STEP_SUMMARY"
-
       - name: Upload successful source provenance
-        if: steps.should_build.outputs.should_build == 'true'
+        if: steps.should_build.outputs.should_build == 'true' && env.EXTENSIONS_ONLY != 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilabos-source-${{ steps.source.outputs.state }}-${{ steps.source.outputs.sha }}-${{ matrix.ros_distro }}-${{ matrix.platform }}
+          name: unilabos-source-${{ steps.source.outputs.state }}-${{ steps.source.outputs.sha }}-hostlink-${{ matrix.platform }}
           path: source-sha.txt
           if-no-files-found: error
-          retention-days: 30
diff --git a/.github/workflows/wheel-release.yml b/.github/workflows/wheel-release.yml
new file mode 100644
index 000000000..b3ab0d776
--- /dev/null
+++ b/.github/workflows/wheel-release.yml
@@ -0,0 +1,80 @@
+name: UniLabOS Companion Wheels
+
+on:
+  push:
+    branches: [dev]
+    paths: ['recipes/**', '.conda/pylabrobot/**', 'scripts/*wheel_release.py', 'scripts/verify_installation.py', 'setup.py', 'pyproject.toml', 'MANIFEST.in', 'unilabos/utils/requirements*.txt', '.github/workflows/wheel-release.yml']
+  pull_request:
+    branches: [dev]
+    paths: ['recipes/**', '.conda/pylabrobot/**', 'scripts/*wheel_release.py', 'scripts/verify_installation.py', 'setup.py', 'pyproject.toml', 'MANIFEST.in', 'unilabos/utils/requirements*.txt', '.github/workflows/wheel-release.yml']
+  release:
+    types: [published]
+  workflow_dispatch:
+    inputs:
+      source_ref:
+        description: '构建源码分支 / SHA；手动构建仅生成附件，不发布'
+        type: string
+        default: dev
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    if: github.event_name != 'release' || startsWith(github.event.release.tag_name, 'v')
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+          - os: windows-2022
+            platform: win-64
+          - os: macos-15-intel
+            platform: osx-64
+          - os: macos-latest
+            platform: osx-arm64
+    runs-on: ${{ matrix.os }}
+    env:
+      PYTHONUTF8: '1'
+      PYTHONIOENCODING: utf-8
+      RELEASE_TAG: ${{ github.event.release.tag_name }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          ref: ${{ inputs.source_ref || github.event.release.tag_name || github.ref }}
+      - uses: actions/setup-python@v6
+        with:
+          python-version: '3.12'
+      - name: Build and verify complete offline wheelhouse outside checkout
+        run: python scripts/build_wheel_release.py
+      - name: Check release tag against built metadata
+        if: github.event_name == 'release'
+        run: python -c "import json, os; from pathlib import Path; m=json.loads(Path('dist/wheel-release/manifest.json').read_text()); assert os.environ['RELEASE_TAG'] == 'v'+m['version']; assert m['verified'] and not m['local_test']"
+      - uses: actions/upload-artifact@v6
+        with:
+          name: unilabos-wheelhouse-${{ matrix.platform }}
+          path: |
+            dist/unilabos-*-wheelhouse-*.zip
+            dist/unilabos-*-wheelhouse-*.zip.sha256
+          if-no-files-found: error
+          retention-days: 90
+
+  attach-release:
+    needs: build
+    if: github.event_name == 'release' && startsWith(github.event.release.tag_name, 'v')
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/download-artifact@v5
+        with:
+          pattern: unilabos-wheelhouse-*
+          merge-multiple: true
+          path: release-wheels
+      - name: Attach tested bundles to this release (never PyPI, never overwrite)
+        env:
+          GH_TOKEN: ${{ github.token }}
+          GH_REPO: ${{ github.repository }}
+          RELEASE_TAG: ${{ github.event.release.tag_name }}
+        run: gh release upload "$RELEASE_TAG" release-wheels/*.zip release-wheels/*.sha256