From fbff27a52d83471b7d815af2f5bbd418ddec71ac Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 7 May 2025 02:46:33 +0800
Subject: [PATCH 1/3] fix: aspirate

---
 unilabos_msgs/action/LiquidHandlerAspirate.action | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/unilabos_msgs/action/LiquidHandlerAspirate.action b/unilabos_msgs/action/LiquidHandlerAspirate.action
index 3784d943..9ba17068 100644
--- a/unilabos_msgs/action/LiquidHandlerAspirate.action
+++ b/unilabos_msgs/action/LiquidHandlerAspirate.action
@@ -1,12 +1,11 @@
-# Bio
 Resource[] resources
 float64[] vols
 int32[] use_channels
 float64[] flow_rates
-float64 end_delay
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
+string spread
 ---
 bool success
 ---
\ No newline at end of file

From 45a73e2f6d3cc71324c75521c63ed17f08689914 Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 7 May 2025 02:51:56 +0800
Subject: [PATCH 2/3] fix: aspirate

---
 unilabos_msgs/action/LiquidHandlerAspirate.action | 2 +-
 unilabos_msgs/action/LiquidHandlerDispense.action | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/unilabos_msgs/action/LiquidHandlerAspirate.action b/unilabos_msgs/action/LiquidHandlerAspirate.action
index 9ba17068..f03ad07a 100644
--- a/unilabos_msgs/action/LiquidHandlerAspirate.action
+++ b/unilabos_msgs/action/LiquidHandlerAspirate.action
@@ -5,7 +5,7 @@ float64[] flow_rates
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
-string spread
+string spread="wide"
 ---
 bool success
 ---
\ No newline at end of file
diff --git a/unilabos_msgs/action/LiquidHandlerDispense.action b/unilabos_msgs/action/LiquidHandlerDispense.action
index f934aec2..ba5360ae 100644
--- a/unilabos_msgs/action/LiquidHandlerDispense.action
+++ b/unilabos_msgs/action/LiquidHandlerDispense.action
@@ -1,4 +1,3 @@
-# Bio
 # 请求字段
 Resource[] resources
 float64[] vols
@@ -6,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread
+string spread="wide"
 ---
 # 结果字段
 bool success

From 2dde5b6aae98e9b229896980ead2deb11c7e19c8 Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 7 May 2025 03:02:35 +0800
Subject: [PATCH 3/3] fix: aspirate

---
 unilabos/resources/graphio.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py
index d6f64e46..9621b5de 100644
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -479,7 +479,8 @@ def initialize_resources(resources_config) -> list[dict]:
     from unilabos.registry.registry import lab_registry
     resources = []
     for resource_config in resources_config:
-
+        if resource_config["parent"] == "tip_rack" or resource_config["parent"] == "plate_well":
+            continue
         resources.extend(initialize_resource(resource_config, lab_registry))
 
     return resources