diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index b37866b2..ba921c77 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -170,6 +170,126 @@ liquid_handler:
     - name
     additionalProperties: false
 
+dp_liquid_handler:
+  description: 通用液体处理
+  class:
+    module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      remove_liquid:
+        type: DPLiquidHandlerRemoveLiquid
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      add_liquid:
+        type: DPLiquidHandlerAddLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      transfer_liquid:
+        type: DPLiquidHandlerTransferLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      custom_delay:
+        type: DPLiquidHandlerCustomDelay
+        goal:
+          seconds: seconds
+          msg: msg
+        feedback: {}
+        result: {}
+      touch_tip:
+        type: DPLiquidHandlerTouchTip
+        goal:
+          targets: targets
+        feedback: {}
+        result: {}
+      mix:
+        type: DPLiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      set_tiprack:
+        type: DPLiquidHandlerSetTiprack
+        goal:
+          tip_racks: tip_racks
+        feedback: {}
+        result: {}
+      move_to:
+        type: DPLiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: {}
+        result: {}
+  schema:
+    type: object
+    properties:
+      name:
+        type: string
+        description: 物料名
+    required:
+    - name
 
 liquid_handler.revvity:
   class:
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index acaad771..c67353be 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -43,6 +43,25 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
+  "action/DPLiquidHandlerAddLiquid.action"
+  "action/DPLiquidHandlerCustomDelay.action"
+  "action/DPLiquidHandlerMix.action"
+  "action/DPLiquidHandlerMoveTo.action"
+  "action/DPLiquidHandlerRemoveLiquid.action"
+  "action/DPLiquidHandlerSetTiprack.action"
+  "action/DPLiquidHandlerTouchTip.action"
+  "action/DPLiquidHandlerTransferLiquid.action"
+
+  "action/EmptyIn.action"
+  "action/FloatSingleInput.action"
+  "action/IntSingleInput.action"
+  "action/IntSingleOutput.action"
+  "action/Point3DSeparateInput.action"
+
+  "action/ResourceCreateFromOuter.action"
+
+  "action/SolidDispenseAddPowderTube.action"
+  
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"