diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 95f06ca6..b3b011e2 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -1,5 +1,6 @@
 liquid_handler:
   description: Liquid handler device controlled by pylabrobot
+  icon: icon_yiyezhan.webp
   class:
     module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
     type: python
diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py
index 4cfb7dab..e95d25aa 100644
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -132,8 +132,6 @@ class Registry:
                         resource_info["description"] = ""
                     if "icon" not in resource_info:
                         resource_info["icon"] = ""
-                    if "icon" not in resource_info:
-                        resource_info["icon"] = ""
                     if "handles" not in resource_info:
                         resource_info["handles"] = []
                     if "init_param_schema" not in resource_info:
diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py
index 11c7afd5..94b12cfe 100644
--- a/unilabos/ros/msgs/message_converter.py
+++ b/unilabos/ros/msgs/message_converter.py
@@ -131,7 +131,7 @@ _msg_converter: Dict[Type, Any] = {
     Bool: lambda x: Bool(data=bool(x)),
     str: str,
     String: lambda x: String(data=str(x)),
-    Point: lambda x: Point(x=x.x, y=x.y, z=x.z),
+    Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0), y=x.get("y", 0), z=x.get("z", 0)),
     Resource: lambda x: Resource(
         id=x.get("id", ""),
         name=x.get("name", ""),
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index 135e5738..098bb35c 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -45,6 +45,7 @@ set(action_files
   "action/LiquidHandlerReturnTips96.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
+  "action/LiquidHandlerTransferBiomek.action"
 
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"
diff --git a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
new file mode 100644
index 00000000..7d785d93
--- /dev/null
+++ b/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
@@ -0,0 +1,9 @@
+Resource source
+Resource target
+Resource tip_rack
+string aspirate_technique
+string dispense_technique
+
+---
+
+---