Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

unilabos_msgs/CMakeLists.txt

@@ -43,10 +43,14 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
-  "action/LiquidHandlerAdd.action"
-  "action/LiquidHandlerMix.action"
-  "action/LiquidHandlerMoveTo.action"
-  "action/LiquidHandlerRemove.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"
@@ -57,7 +61,7 @@ set(action_files
   "action/ResourceCreateFromOuter.action"
 
   "action/SolidDispenseAddPowderTube.action"
-
+  
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -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

unilabos_msgs/action/LiquidHandlerMix.action

@@ -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

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -1,7 +0,0 @@
-Resource well
-float64 dis_to_top
-int32 channel
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -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

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,25 +1,11 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] sources
+# Bio
+Resource source
 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
+float64 source_vol
+float64[] ratios
+float64[] target_vols
+float64 aspiration_flow_rate
+float64[] dispense_flow_rates
 ---
 bool success
----
-# 反馈
+---

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -1,10 +0,0 @@
-string id
-string class
-string parent
-geometry_msgs/Point bind_locations
-int32[] liquid_input_slot
-string[] liquid_type
-float32[] liquid_volume
----
-bool success
----