pylabrobot.liquid_handling.liquid_handler.LiquidHandler.move_lid#

async LiquidHandler.move_lid(lid: Lid, to: Plate | ResourceStack | Coordinate, intermediate_locations: List[Coordinate] | None = None, resource_offset: Coordinate | None = None, pickup_offset: Coordinate = Coordinate(x=0, y=0, z=0), destination_offset: Coordinate = Coordinate(x=0, y=0, z=0), pickup_direction: GripDirection = GripDirection.FRONT, drop_direction: GripDirection = GripDirection.FRONT, get_direction: GripDirection | None = None, put_direction: GripDirection | None = None, pickup_distance_from_top: float = 2.37, **backend_kwargs)#

Move a lid to a new location.

A convenience method for move_resource().

Examples

Move a lid to the ResourceStack:

>>> await lh.move_lid(plate.lid, stacking_area)

Move a lid to the stacking area and back, grabbing it from the left side:

>>> await lh.move_lid(plate.lid, stacking_area, pickup_direction=GripDirection.LEFT)
>>> await lh.move_lid(stacking_area.get_top_item(), plate, drop_direction=GripDirection.LEFT)
Parameters:

  • lid (Lid) – The lid to move. Can be either a Plate object or a Lid object.

  • to (Plate | ResourceStack | Coordinate) – The location to move the lid to, either a plate, ResourceStack or a Coordinate.

  • pickup_offset (Coordinate) – The offset from the resource’s origin, optional (rarely necessary).

  • destination_offset (Coordinate) – The offset from the location’s origin, optional (rarely necessary).

  • intermediate_locations (List[Coordinate] | None)

  • resource_offset (Coordinate | None)

  • pickup_direction (GripDirection)

  • drop_direction (GripDirection)

  • get_direction (GripDirection | None)

  • put_direction (GripDirection | None)

  • pickup_distance_from_top (float)

Raises:

ValueError – If the lid is not assigned to a resource.