支持Biomek创建

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/ros/nodes/base_device_node.py

@@ -805,7 +805,9 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
+        use_pylabrobot_creator = (driver_class.__module__.startswith("pylabrobot")
+                                  or driver_class.__name__ == "LiquidHandlerAbstract"
+                                  or driver_class.__name__ == "LiquidHandlerBiomek")
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos_msgs/action/LiquidHandlerTransferBiomek.action

@@ -1,6 +1,7 @@
-Resource source
-Resource target
-Resource tip_rack
+string source
+string target
+string tip_rack
+float64 volume
 string aspirate_technique
 string dispense_technique