diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml
deleted file mode 100644
index 98201a7..0000000
--- a/unilabos/registry/devices/laiyu_liquid.yaml
+++ /dev/null
@@ -1,1922 +0,0 @@
-laiyu_liquid:
-  category:
-  - liquid_handler
-  - workstation
-  - laiyu_liquid
-  class:
-    action_value_mappings:
-      add_liquid:
-        feedback: {}
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          flow_rates: flow_rates
-          offsets: offsets
-          reagent_sources: reagent_sources
-          targets: targets
-          use_channels: use_channels
-        goal_default:
-          asp_vols:
-          - 0.0
-          blow_out_air_volume:
-          - 0.0
-          dis_vols:
-          - 0.0
-          flow_rates:
-          - 0.0
-          is_96_well: false
-          liquid_height:
-          - 0.0
-          mix_liquid_height: 0.0
-          mix_rate: 0
-          mix_time: 0
-          mix_vol: 0
-          none_keys:
-          - ''
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          reagent_sources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          targets:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          use_channels:
-          - 0
-        handles: {}
-        placeholder_keys:
-          reagent_sources: unilabos_resources
-          targets: unilabos_resources
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerAdd_Feedback
-              type: object
-            goal:
-              properties:
-                asp_vols:
-                  items:
-                    type: number
-                  type: array
-                blow_out_air_volume:
-                  items:
-                    type: number
-                  type: array
-                dis_vols:
-                  items:
-                    type: number
-                  type: array
-                flow_rates:
-                  items:
-                    type: number
-                  type: array
-                is_96_well:
-                  type: boolean
-                liquid_height:
-                  items:
-                    type: number
-                  type: array
-                mix_liquid_height:
-                  type: number
-                mix_rate:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                mix_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                mix_vol:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                none_keys:
-                  items:
-                    type: string
-                  type: array
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                reagent_sources:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: reagent_sources
-                    type: object
-                  type: array
-                spread:
-                  type: string
-                targets:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: targets
-                    type: object
-                  type: array
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-              required:
-              - asp_vols
-              - dis_vols
-              - reagent_sources
-              - targets
-              - use_channels
-              - flow_rates
-              - offsets
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              - is_96_well
-              - mix_time
-              - mix_vol
-              - mix_rate
-              - mix_liquid_height
-              - none_keys
-              title: LiquidHandlerAdd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerAdd_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerAdd
-          type: object
-        type: LiquidHandlerAdd
-      aspirate:
-        feedback: {}
-        goal:
-          flow_rates: flow_rates
-          resources: resources
-          use_channels: use_channels
-          vols: vols
-        goal_default:
-          blow_out_air_volume:
-          - 0.0
-          flow_rates:
-          - 0.0
-          liquid_height:
-          - 0.0
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          resources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          use_channels:
-          - 0
-          vols:
-          - 0.0
-        handles: {}
-        placeholder_keys:
-          resources: unilabos_resources
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerAspirate_Feedback
-              type: object
-            goal:
-              properties:
-                blow_out_air_volume:
-                  items:
-                    type: number
-                  type: array
-                flow_rates:
-                  items:
-                    type: number
-                  type: array
-                liquid_height:
-                  items:
-                    type: number
-                  type: array
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                resources:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: resources
-                    type: object
-                  type: array
-                spread:
-                  type: string
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-                vols:
-                  items:
-                    type: number
-                  type: array
-              required:
-              - resources
-              - vols
-              - use_channels
-              - flow_rates
-              - offsets
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              title: LiquidHandlerAspirate_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerAspirate_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerAspirate
-          type: object
-        type: LiquidHandlerAspirate
-      auto-add_resource:
-        feedback: {}
-        goal: {}
-        goal_default:
-          name: null
-          position: null
-          resource_type: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                name:
-                  type: string
-                position:
-                  items:
-                    type: number
-                  type: array
-                resource_type:
-                  type: string
-              required:
-              - name
-              - resource_type
-              - position
-              type: object
-            result: {}
-          required:
-          - goal
-          title: add_resource参数
-          type: object
-        type: UniLabJsonCommand
-      dispense:
-        feedback: {}
-        goal:
-          flow_rates: flow_rates
-          resources: resources
-          use_channels: use_channels
-          vols: vols
-        goal_default:
-          blow_out_air_volume:
-          - 0
-          flow_rates:
-          - 0.0
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          resources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          use_channels:
-          - 0
-          vols:
-          - 0.0
-        handles: {}
-        placeholder_keys:
-          resources: unilabos_resources
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerDispense_Feedback
-              type: object
-            goal:
-              properties:
-                blow_out_air_volume:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-                flow_rates:
-                  items:
-                    type: number
-                  type: array
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                resources:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: resources
-                    type: object
-                  type: array
-                spread:
-                  type: string
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-                vols:
-                  items:
-                    type: number
-                  type: array
-              required:
-              - resources
-              - vols
-              - use_channels
-              - flow_rates
-              - offsets
-              - blow_out_air_volume
-              - spread
-              title: LiquidHandlerDispense_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerDispense_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerDispense
-          type: object
-        type: LiquidHandlerDispense
-      drop_tip:
-        feedback: {}
-        goal:
-          use_channels: use_channels
-        goal_default:
-          allow_nonzero_volume: false
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          tip_spots:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          use_channels:
-          - 0
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerDropTips_Feedback
-              type: object
-            goal:
-              properties:
-                allow_nonzero_volume:
-                  type: boolean
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                tip_spots:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: tip_spots
-                    type: object
-                  type: array
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-              required:
-              - tip_spots
-              - use_channels
-              - offsets
-              - allow_nonzero_volume
-              title: LiquidHandlerDropTips_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerDropTips_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerDropTips
-          type: object
-        type: LiquidHandlerDropTips
-      move_to:
-        feedback: {}
-        goal:
-          channel: channel
-          dis_to_top: dis_to_top
-          well: well
-        goal_default:
-          channel: 0
-          dis_to_top: 0.0
-          well:
-            category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-        handles: {}
-        placeholder_keys:
-          well: unilabos_resources
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerMoveTo_Feedback
-              type: object
-            goal:
-              properties:
-                channel:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                dis_to_top:
-                  type: number
-                well:
-                  properties:
-                    category:
-                      type: string
-                    children:
-                      items:
-                        type: string
-                      type: array
-                    config:
-                      type: string
-                    data:
-                      type: string
-                    id:
-                      type: string
-                    name:
-                      type: string
-                    parent:
-                      type: string
-                    pose:
-                      properties:
-                        orientation:
-                          properties:
-                            w:
-                              type: number
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          - w
-                          title: orientation
-                          type: object
-                        position:
-                          properties:
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          title: position
-                          type: object
-                      required:
-                      - position
-                      - orientation
-                      title: pose
-                      type: object
-                    sample_id:
-                      type: string
-                    type:
-                      type: string
-                  required:
-                  - id
-                  - name
-                  - sample_id
-                  - children
-                  - parent
-                  - type
-                  - category
-                  - pose
-                  - config
-                  - data
-                  title: well
-                  type: object
-              required:
-              - well
-              - dis_to_top
-              - channel
-              title: LiquidHandlerMoveTo_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerMoveTo_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerMoveTo
-          type: object
-        type: LiquidHandlerMoveTo
-      pick_up_tip:
-        feedback: {}
-        goal:
-          tip_rack: tip_rack
-          use_channels: use_channels
-        goal_default:
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          tip_spots:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          use_channels:
-          - 0
-        handles: {}
-        placeholder_keys:
-          tip_rack: unilabos_resources
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerPickUpTips_Feedback
-              type: object
-            goal:
-              properties:
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                tip_spots:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: tip_spots
-                    type: object
-                  type: array
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-              required:
-              - tip_spots
-              - use_channels
-              - offsets
-              title: LiquidHandlerPickUpTips_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerPickUpTips_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerPickUpTips
-          type: object
-        type: LiquidHandlerPickUpTips
-      setup:
-        feedback: {}
-        goal:
-          string: string
-        goal_default:
-          string: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: StrSingleInput_Feedback
-              type: object
-            goal:
-              properties:
-                string:
-                  type: string
-              required:
-              - string
-              title: StrSingleInput_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: StrSingleInput_Result
-              type: object
-          required:
-          - goal
-          title: StrSingleInput
-          type: object
-        type: StrSingleInput
-      stop:
-        feedback: {}
-        goal:
-          string: string
-        goal_default:
-          string: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: StrSingleInput_Feedback
-              type: object
-            goal:
-              properties:
-                string:
-                  type: string
-              required:
-              - string
-              title: StrSingleInput_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: StrSingleInput_Result
-              type: object
-          required:
-          - goal
-          title: StrSingleInput
-          type: object
-        type: StrSingleInput
-      transfer:
-        feedback: {}
-        goal:
-          source: source
-          target: target
-          tip_position: tip_position
-          tip_rack: tip_rack
-          volume: volume
-        goal_default:
-          asp_flow_rates:
-          - 0.0
-          asp_vols:
-          - 0.0
-          blow_out_air_volume:
-          - 0.0
-          delays:
-          - 0
-          dis_flow_rates:
-          - 0.0
-          dis_vols:
-          - 0.0
-          is_96_well: false
-          liquid_height:
-          - 0.0
-          mix_liquid_height: 0.0
-          mix_rate: 0
-          mix_stage: ''
-          mix_times:
-          - 0
-          mix_vol: 0
-          none_keys:
-          - ''
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          sources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          targets:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          tip_racks:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          touch_tip: false
-          use_channels:
-          - 0
-        handles: {}
-        placeholder_keys:
-          source: unilabos_resources
-          target: unilabos_resources
-          tip_rack: unilabos_resources
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerTransfer_Feedback
-              type: object
-            goal:
-              properties:
-                asp_flow_rates:
-                  items:
-                    type: number
-                  type: array
-                asp_vols:
-                  items:
-                    type: number
-                  type: array
-                blow_out_air_volume:
-                  items:
-                    type: number
-                  type: array
-                delays:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-                dis_flow_rates:
-                  items:
-                    type: number
-                  type: array
-                dis_vols:
-                  items:
-                    type: number
-                  type: array
-                is_96_well:
-                  type: boolean
-                liquid_height:
-                  items:
-                    type: number
-                  type: array
-                mix_liquid_height:
-                  type: number
-                mix_rate:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                mix_stage:
-                  type: string
-                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-                mix_vol:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                none_keys:
-                  items:
-                    type: string
-                  type: array
-                offsets:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: offsets
-                    type: object
-                  type: array
-                sources:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: sources
-                    type: object
-                  type: array
-                spread:
-                  type: string
-                targets:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: targets
-                    type: object
-                  type: array
-                tip_racks:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: tip_racks
-                    type: object
-                  type: array
-                touch_tip:
-                  type: boolean
-                use_channels:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
-              required:
-              - asp_vols
-              - dis_vols
-              - sources
-              - targets
-              - tip_racks
-              - use_channels
-              - asp_flow_rates
-              - dis_flow_rates
-              - offsets
-              - touch_tip
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              - is_96_well
-              - mix_stage
-              - mix_times
-              - mix_vol
-              - mix_rate
-              - mix_liquid_height
-              - delays
-              - none_keys
-              title: LiquidHandlerTransfer_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerTransfer_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerTransfer
-          type: object
-        type: LiquidHandlerTransfer
-    module: unilabos.devices.laiyu_liquid.core.laiyu_liquid_main:LaiYuLiquid
-    status_types:
-      current_position: String
-      current_volume: float
-      is_connected: bool
-      is_initialized: bool
-      status: dict
-      tip_attached: bool
-    type: python
-  config_info:
-  - default: /dev/cu.usbserial-3130
-    description: RS485转USB端口
-    name: port
-    type: string
-  - default: 1
-    description: 设备地址
-    name: address
-    type: integer
-  - default: 9600
-    description: 波特率
-    name: baudrate
-    type: integer
-  - default: 5.0
-    description: 通信超时时间 (秒)
-    name: timeout
-    type: number
-  - default: 340.0
-    description: 工作台宽度 (mm)
-    name: deck_width
-    type: number
-  - default: 250.0
-    description: 工作台高度 (mm)
-    name: deck_height
-    type: number
-  - default: 160.0
-    description: 工作台深度 (mm)
-    name: deck_depth
-    type: number
-  - default: 77000.0
-    description: 最大体积 (μL)
-    name: max_volume
-    type: number
-  - default: 0.1
-    description: 最小体积 (μL)
-    name: min_volume
-    type: number
-  - default: 100.0
-    description: 最大速度 (mm/s)
-    name: max_speed
-    type: number
-  - default: 50.0
-    description: 加速度 (mm/s²)
-    name: acceleration
-    type: number
-  - default: 50.0
-    description: 安全高度 (mm)
-    name: safe_height
-    type: number
-  - default: 10.0
-    description: 吸头拾取深度 (mm)
-    name: tip_pickup_depth
-    type: number
-  - default: true
-    description: 液面检测功能
-    name: liquid_detection
-    type: boolean
-  - default: 10.0
-    description: X轴最小安全边距 (mm)
-    name: safety_margin_x_min
-    type: number
-  - default: 10.0
-    description: X轴最大安全边距 (mm)
-    name: safety_margin_x_max
-    type: number
-  - default: 10.0
-    description: Y轴最小安全边距 (mm)
-    name: safety_margin_y_min
-    type: number
-  - default: 10.0
-    description: Y轴最大安全边距 (mm)
-    name: safety_margin_y_max
-    type: number
-  - default: 20.0
-    description: Z轴安全间隙 (mm)
-    name: safety_margin_z_clearance
-    type: number
-  description: LaiYu液体处理工作站，基于RS485通信协议的自动化液体处理设备。集成XYZ三轴运动平台和SOPA气动式移液器，支持精确的液体分配和转移操作。具备完整的硬件控制、资源管理和标准化接口，适用于实验室自动化液体处理、样品制备、试剂分配等应用场景。设备通过RS485总线控制步进电机和移液器，提供高精度的位置控制和液体处理能力。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        current_position:
-          items:
-            type: number
-          type: array
-        current_volume:
-          type: number
-        is_connected:
-          type: boolean
-        is_initialized:
-          type: boolean
-        status:
-          type: object
-        tip_attached:
-          type: boolean
-      required:
-      - current_position
-      - current_volume
-      - is_connected
-      - is_initialized
-      - tip_attached
-      - status
-      type: object
-  model:
-    mesh: laiyu_liquid_handler
-    type: device
-  version: 1.0.0
diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml
index bbc0e87..282242d 100644
--- a/unilabos/registry/devices/laiyu_liquid_test.yaml
+++ b/unilabos/registry/devices/laiyu_liquid_test.yaml
@@ -197,7 +197,7 @@ xyz_stepper_controller:
           title: wait_complete参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
+    module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
       status: list
     type: python
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index c611d21..b0656d1 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -4019,8 +4019,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4176,11 +4175,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5187,11 +5183,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -9671,8 +9665,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9828,11 +9821,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648