pylabrobot.opentrons.flex.flex_gripper.FlexGripper#

class pylabrobot.opentrons.flex.flex_gripper.FlexGripper(flex: Flex, gripper_model: str)#

Bases: object

The Opentrons Flex gripper (extension mount).

Constructed by Flex.initialize() when instrument discovery reports a gripper; access it as flex.gripper.

The Flex gripper has NO rotation capability (a hardware limitation, not a missing API): labware keeps its orientation through every gripper motion, so a plate cannot be re-oriented between slots.

Every op here has been run on a real Flex gripper: jaw open/close/release, a free-space move on the extension mount, and carrying a plate between deck slots.

Methods

__init__(flex, gripper_model)

grip([force])

Close the gripper jaw around whatever sits between its paddles.

move_labware(resource, to_slot[, ...])

Move resource from its current deck slot to to_slot with the gripper.

move_to(x, y, z[, speed])

Move the gripper to an absolute deck-frame position, in mm.

open_jaw()

Open the gripper jaw -- the robot opens by HOMING the jaw to fully open.

ungrip()

Open the gripper jaw (homing it) to release any held labware.
Parameters: