Yes absolutely. You will want to navigate to the universal method at pyhamilton\star-oem\VENUS_Method\STAR_OEM_noFan.med. There are many equipment interfaces in that file that you can use as references for how to do this. Here is a small guide that can help you get started:
https://forums.pylabrobot.org/t/getting-started-with-pyhamilton/28/4?u=stefan
We may already have the equipment you need integrated with the universal method, so check for that first.
Also, if your equipment is not Hamilton issued, we tend to not integrate this directly into the PyHamilton library. Instead, we use the API the manufacturer for that equipment provided to create a pure Python interface. This achieves the same functionality but with much greater flexibility, especially with being able to do parallelized operations with multithreading. For instance, if you want to integrate a centrifuge, you can run the centrifuge and do robot actions simultaneously through a pure Python interface.