更新transfer_biomek的msg

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: {}

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