pylabrobot.opentrons package

OT2 owns the connection, active run, deck, and mounted pipettes. Use connect() for health and discovery queries without starting a run or moving the robot; setup() also loads the pipettes into a run and optionally homes. Queries return fresh values without changing the driver’s session state.

Each mount is an OT2SingleChannelPipette or OT2_8ChannelPipette, selected from the discovered model. Both share motion, command execution, and transactional tracking. Single-channel pipettes take one tip spot or container; eight-channel pipettes take targets in nozzle order, with a shared volume per mounted tip.

Eight-channel pickup accepts one to eight consecutive tip spots in a single rack column, mapped to nozzles starting at 0. For example, await pipette.pick_up_tips(rack["E1:H1"]) mounts four tips on nozzles 0-3. Occupied tip spots under the remaining nozzles always reject the pickup. Include every tip the head would pick up in the selection, or clear the extra spots first. All declared tips are committed together after the command succeeds.

pipette.tips contains the mounted tips in consecutive nozzle order starting at 0. Liquid operations and rack drops require one target per mounted tip in that order. return_tips() returns every mounted tip to its pickup spot.

Tip pickup and return/drop validate the nominal PLR target against the mount’s reach before sending commands. Eight-channel reach checks subtract the reference nozzle’s Y offset from OT2RobotGeometry.channel_y_offsets() to evaluate the head center; command coordinates still address the reference nozzle. Eight-channel pickup also checks other deck labware against the full nozzle span, padded by 5 mm in XY and 10 mm below the nozzle engagement height. Rotated resources and overhanging child resources are included. This conservative destination check does not validate the travel path or model the complete pipette body. The full eight-nozzle footprint is checked even for partial pickups.

OpentronsAPI contains the named HTTP endpoints and response parsing. OpentronsRun provides command primitives and waits for their completion. Both use the device’s pylabrobot.io.HTTP transport. Pipette operations own resource tracking and retraction to traversal height.

OT2	Opentrons OT-2 controlled through its robot-server HTTP API.
OT2SingleChannelPipette	A single-channel OT-2 pipette, discovered and created by OT2.setup().
OT2_8ChannelPipette	An eight-channel OT-2 pipette with a rigid nozzle layout.
OpentronsAPI	HTTP endpoint encoding and decoding, without device or selected-run state.
OpentronsRun	One server run, bound to one client and a fixed software version.
RobotInfo	A health reading.
MountedPipette	A physical pipette, independent of any run's loaded pipette ID.
ModuleInfo	The identity of a connected module.
OpentronsError	An Opentrons operation could not be completed.
OpentronsCommandError	A command failed, with its server identifiers available for inspection.
OpentronsCommandTimeout	The command's completion is unknown; its ID can be used to query the server.
OpentronsProtocolError	A robot-server response does not match the expected protocol.