From b99969278c635e0778ea40cd25e665eda94197d0 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Thu, 5 Jun 2025 15:30:51 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0transfer=5Fbiomek=E7=9A=84msg?=
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---
 unilabos/registry/devices/liquid_handler.yaml         | 11 +++++++++++
 .../action/LiquidHandlerTransferBiomek.action         |  7 ++++---
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index b3b011e2..64b35acb 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -340,6 +340,17 @@ liquid_handler.biomek:
           none_keys: none_keys
         feedback: {}
         result: {}
+      transfer_biomek:
+        type: LiquidHandlerTransferBiomek
+        goal:
+          source: source,
+          target: target,
+          tip_rack: tip_rack,
+          volume: volume,
+          aspirate_techniques: aspirate_techniques,
+          dispense_techniques: dispense_techniques,
+        feedback: {}
+        result: {}
   schema:
     type: object
     properties: {}
diff --git a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
index 7d785d93..02beef64 100644
--- a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
+++ b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
@@ -1,6 +1,7 @@
-Resource source
-Resource target
-Resource tip_rack
+string source
+string target
+string tip_rack
+float volume
 string aspirate_technique
 string dispense_technique