pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.pick_up_resource#

async STAR.pick_up_resource(pickup: ResourcePickup, use_arm: Literal['iswap', 'core'] = 'iswap', channel_1: int = 7, channel_2: int = 8, iswap_grip_strength: int = 4, core_grip_strength: int = 15, minimum_traverse_height_at_beginning_of_a_command: float | None = None, z_position_at_the_command_end: float | None = None, plate_width_tolerance: float = 2.0, hotel_open_gripper_position: float | None = None, hotel_depth=160.0, hotel_clearance_height=7.5, high_speed=False, plate_width: float | None = None, use_unsafe_hotel: bool = False, iswap_collision_control_level: int = 0, iswap_fold_up_sequence_at_the_end_of_process: bool = True)#

Pick up a resource like a plate or a lid using the integrated robotic arm.

Parameters:

  • pickup (ResourcePickup)

  • use_arm (Literal['iswap', 'core'])

  • channel_1 (int)

  • channel_2 (int)

  • iswap_grip_strength (int)

  • core_grip_strength (int)

  • minimum_traverse_height_at_beginning_of_a_command (float | None)

  • z_position_at_the_command_end (float | None)

  • plate_width_tolerance (float)

  • hotel_open_gripper_position (float | None)

  • plate_width (float | None)

  • use_unsafe_hotel (bool)

  • iswap_collision_control_level (int)

  • iswap_fold_up_sequence_at_the_end_of_process (bool)