diff --git a/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action b/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
deleted file mode 100644
index 0611b276..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
+++ /dev/null
@@ -1,20 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] reagent_sources
-Resource[] targets
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-int32 mix_time
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-string[] none_keys
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action b/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
deleted file mode 100644
index 29f9b45b..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
+++ /dev/null
@@ -1,6 +0,0 @@
-float64 seconds
-string msg
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMix.action b/unilabos_msgs/action/DPLiquidHandlerMix.action
deleted file mode 100644
index 81d1b71c..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerMix.action
+++ /dev/null
@@ -1,11 +0,0 @@
-Resource[] targets
-int32 mix_time
-int32 mix_vol
-float64 height_to_bottom
-geometry_msgs/Point[] offsets
-float64 mix_rate
-string[] none_keys
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMoveTo.action b/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
deleted file mode 100644
index 740d0fc6..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
+++ /dev/null
@@ -1,7 +0,0 @@
-Resource well
-float64 dis_to_top
-int32 channel
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action b/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
deleted file mode 100644
index e6b43c53..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
+++ /dev/null
@@ -1,17 +0,0 @@
-float64[] vols
-Resource[] sources
-Resource waste_liquid
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-int32[] delays
-bool is_96_well
-float64[] top
-string[] none_keys
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action b/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
deleted file mode 100644
index 437d3e3f..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
+++ /dev/null
@@ -1,5 +0,0 @@
-Resource[] tip_racks
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTouchTip.action b/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
deleted file mode 100644
index e0c31046..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
+++ /dev/null
@@ -1,5 +0,0 @@
-Resource[] targets
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action b/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
deleted file mode 100644
index 39df59bb..00000000
--- a/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
+++ /dev/null
@@ -1,25 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] sources
-Resource[] targets
-Resource[] tip_racks
-int32[] use_channels
-float64[] asp_flow_rates
-float64[] dis_flow_rates
-geometry_msgs/Point[] offsets
-bool touch_tip
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-string mix_stage
-int32[] mix_times
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-int32[] delays
-string[] none_keys
----
-bool success
----
-# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/LiquidHandlerTransfer.action b/unilabos_msgs/action/LiquidHandlerTransfer.action
index 39df59bb..d815a6cb 100644
--- a/unilabos_msgs/action/LiquidHandlerTransfer.action
+++ b/unilabos_msgs/action/LiquidHandlerTransfer.action
@@ -1,3 +1,4 @@
+# Bio
 float64[] asp_vols
 float64[] dis_vols
 Resource[] sources