## 简单单变量动作函数


### `SendCmd`

```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
:language: yaml
```

----
## 常量有机化学操作

Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。



### `Clean`

```{literalinclude} ../../unilabos_msgs/action/Clean.action
:language: yaml
```

----

### `HeatChillStart`

```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action
:language: yaml
```

----

### `HeatChillStop`

```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action
:language: yaml
```

----

### `PumpTransfer`

```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action
:language: yaml
```

----
## 移液工作站及相关生物自动化设备操作

Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。



### `LiquidHandlerDiscardTips`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDiscardTips.action
:language: yaml
```

----

### `LiquidHandlerDropTips`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips.action
:language: yaml
```

----

### `LiquidHandlerDropTips96`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips96.action
:language: yaml
```

----

### `LiquidHandlerMoveLid`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveLid.action
:language: yaml
```

----

### `LiquidHandlerMovePlate`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMovePlate.action
:language: yaml
```

----

### `LiquidHandlerMoveResource`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveResource.action
:language: yaml
```

----

### `LiquidHandlerPickUpTips`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips.action
:language: yaml
```

----

### `LiquidHandlerPickUpTips96`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips96.action
:language: yaml
```

----

### `LiquidHandlerReturnTips`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips.action
:language: yaml
```

----

### `LiquidHandlerReturnTips96`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips96.action
:language: yaml
```

----

### `LiquidHandlerStamp`

```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerStamp.action
:language: yaml
```

----
## 多工作站及小车运行、物料转移


### `AGVTransfer`

```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
:language: yaml
```

----

### `WorkStationRun`

```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action
:language: yaml
```

----
