pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.measure_iswap_gripper_force#

async STAR.measure_iswap_gripper_force() → float#

Measure the force currently exerted by the iSWAP gripper, in Newtons.

Sends R0 RH (request gripper current and force sensor). The firmware returns 5 fields; the last is the calibrated force in mN, which this method converts to N. Useful for closed-loop grip verification, grip-slip detection, and adaptive grip-strength tuning.