pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.iswap_pick_up_resource#

async STAR.iswap_pick_up_resource(resource: Resource, grip_direction: GripDirection, pickup_distance_from_top: float, offset: Coordinate = Coordinate(x=0, y=0, z=0), minimum_traverse_height_at_beginning_of_a_command: float = 284.0, z_position_at_the_command_end: float = 284.0, grip_strength: int = 4, plate_width_tolerance: float = 2.0, collision_control_level: int = 0, acceleration_index_high_acc: int = 4, acceleration_index_low_acc: int = 1, fold_up_sequence_at_the_end_of_process: bool = True)#

Pick up a resource using iSWAP. Low level component of move_resource()

Parameters:

  • resource (Resource)

  • grip_direction (GripDirection)

  • pickup_distance_from_top (float)

  • offset (Coordinate)

  • minimum_traverse_height_at_beginning_of_a_command (float)

  • z_position_at_the_command_end (float)

  • grip_strength (int)

  • plate_width_tolerance (float)

  • collision_control_level (int)

  • acceleration_index_high_acc (int)

  • acceleration_index_low_acc (int)

  • fold_up_sequence_at_the_end_of_process (bool)