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pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.core_pick_up_resource

pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.core_pick_up_resource#

async STAR.core_pick_up_resource(resource: Resource, pickup_distance_from_top: float, offset: Coordinate = Coordinate(x=0, y=0, z=0), minimum_traverse_height_at_beginning_of_a_command: int | None = None, minimum_z_position_at_the_command_end: int | None = None, grip_strength: int = 15, z_speed: int = 500, y_gripping_speed: int = 50, channel_1: int = 7, channel_2: int = 8)#
Pick up resource with CoRe gripper tool

Low level component of move_resource()

Parameters:

  • resource (Resource) – Resource to pick up.

  • offset (Coordinate) – Offset from resource position in mm.

  • pickup_distance_from_top (float) – Distance from top of resource to pick up.

  • minimum_traverse_height_at_beginning_of_a_command (int | None) – Minimum traverse height at beginning of a command [0.1mm] (refers to all channels independent of tip pattern parameter ‘tm’). Must be between 0 and 3600. Default 3600.

  • grip_strength (int) – Grip strength (0 = weak, 99 = strong). Must be between 0 and 99. Default 15.

  • z_speed (int) – Z speed [0.1mm/s]. Must be between 4 and 1287. Default 500.

  • y_gripping_speed (int) – Y gripping speed [0.1mm/s]. Must be between 0 and 3700. Default 50.

  • channel_1 (int) – Channel 1. Must be between 0 and self._num_channels - 1. Default 7.

  • channel_2 (int) – Channel 2. Must be between 1 and self._num_channels. Default 8.

  • minimum_z_position_at_the_command_end (int | None)

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