pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.iswap_release_picked_up_resource#

async STAR.iswap_release_picked_up_resource(location: Coordinate, resource: Resource, rotation: float, offset: Coordinate, grip_direction: GripDirection, pickup_distance_from_top: float, minimum_traverse_height_at_beginning_of_a_command: float = 284.0, z_position_at_the_command_end: float = 284.0, collision_control_level: int = 0)#

After a resource is picked up, release it at the specified location. Low level component of move_resource()

Parameters:

  • location (Coordinate) – The location to release the resource (bottom front left corner).

  • resource (Resource) – The resource to release.

  • rotation (float) – The rotation of the resource’s final orientation wrt the pickup orientation.

  • offset (Coordinate) – offset for location

  • grip_direction (GripDirection) – The direction of the iswap arm on release.

  • pickup_distance_from_top (float) – How far from the top the resource was picked up.

  • minimum_traverse_height_at_beginning_of_a_command (float)

  • z_position_at_the_command_end (float)

  • collision_control_level (int)