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in the Loop","\u002Fautomate\u002Fconcepts\u002Fhuman-in-the-loop","07.automate\u002F10.concepts\u002F80.human-in-the-loop",{"title":183,"path":492,"stem":493},"\u002Fautomate\u002Fconcepts\u002Ferror-handling","07.automate\u002F10.concepts\u002F90.error-handling",{"title":187,"path":495,"stem":496,"children":497,"page":42},"\u002Fautomate\u002Fguides","07.automate\u002F25.guides",[498,502,506,510,514,518,522,526],{"title":499,"path":500,"stem":501},"Deploy a workflow","\u002Fautomate\u002Fguides\u002Fdeploy-a-workflow","07.automate\u002F25.guides\u002F30.deploy-a-workflow",{"title":503,"path":504,"stem":505},"Run a workflow","\u002Fautomate\u002Fguides\u002Frun-a-workflow","07.automate\u002F25.guides\u002F35.run-a-workflow",{"title":507,"path":508,"stem":509},"CI\u002FCD for workflows","\u002Fautomate\u002Fguides\u002Fcicd-for-workflows","07.automate\u002F25.guides\u002F40.cicd-for-workflows",{"title":511,"path":512,"stem":513},"HITL basics","\u002Fautomate\u002Fguides\u002Fbasic-hitl","07.automate\u002F25.guides\u002F50.basic-hitl",{"title":515,"path":516,"stem":517},"Typed operator inputs","\u002Fautomate\u002Fguides\u002Ftyped-operator-inputs","07.automate\u002F25.guides\u002F55.typed-operator-inputs",{"title":519,"path":520,"stem":521},"Error recovery","\u002Fautomate\u002Fguides\u002Fbasic-error-handling","07.automate\u002F25.guides\u002F60.basic-error-handling",{"title":523,"path":524,"stem":525},"Advanced error handling","\u002Fautomate\u002Fguides\u002Fadvanced-error-handling","07.automate\u002F25.guides\u002F70.advanced-error-handling",{"title":527,"path":528,"stem":529},"Workflows REST API","\u002Fautomate\u002Fguides\u002Fworkflows-api","07.automate\u002F25.guides\u002F80.workflows-api",{"title":531,"path":532,"stem":533,"children":534,"page":42},"Observe","\u002Fobserve","08.observe",[535,539,555],{"title":536,"path":537,"stem":538},"Overview","\u002Fobserve\u002Foverview","08.observe\u002F10.overview",{"title":94,"path":540,"stem":541,"children":542,"page":42},"\u002Fobserve\u002Fconcepts","08.observe\u002F20.concepts",[543,547,551],{"title":544,"path":545,"stem":546},"Object Storage","\u002Fobserve\u002Fconcepts\u002Fstorage","08.observe\u002F20.concepts\u002F10.storage",{"title":548,"path":549,"stem":550},"Secrets","\u002Fobserve\u002Fconcepts\u002Fsecrets","08.observe\u002F20.concepts\u002F20.secrets",{"title":552,"path":553,"stem":554},"Data sources","\u002Fobserve\u002Fconcepts\u002Fdata-sources","08.observe\u002F20.concepts\u002F30.data-sources",{"title":187,"path":556,"stem":557,"children":558,"page":42},"\u002Fobserve\u002Fguides","08.observe\u002F30.guides",[559,563],{"title":560,"path":561,"stem":562},"File System Connector","\u002Fobserve\u002Fguides\u002Ffilesystem-connector","08.observe\u002F30.guides\u002F10.filesystem-connector",{"title":564,"path":565,"stem":566},"Building an ETL","\u002Fobserve\u002Fguides\u002Fbuilding-an-etl","08.observe\u002F30.guides\u002F20.building-an-etl",{"title":568,"path":569,"stem":570,"children":571,"page":42},"Technical Reference","\u002Ftechnical-reference","10.technical-reference",[572,576,580,592,603,614,624,635],{"title":573,"path":574,"stem":575},"Introduction","\u002Ftechnical-reference\u002Fplatform-blueprint","10.technical-reference\u002F00.platform-blueprint",{"title":577,"path":578,"stem":579},"REST API","\u002Ftechnical-reference\u002Frest-api","10.technical-reference\u002F01.rest-api",{"title":53,"path":581,"stem":582,"children":583,"page":42},"\u002Ftechnical-reference\u002Fgroundcontrol","10.technical-reference\u002F10.groundcontrol",[584,588],{"title":585,"path":586,"stem":587},"Install & Setup","\u002Ftechnical-reference\u002Fgroundcontrol\u002Finstall","10.technical-reference\u002F10.groundcontrol\u002F10.install",{"title":589,"path":590,"stem":591},"Changelog","\u002Ftechnical-reference\u002Fgroundcontrol\u002Fchangelog","10.technical-reference\u002F10.groundcontrol\u002F20.changelog",{"title":593,"path":594,"stem":595,"children":596,"page":42},"UniteLabs SDK","\u002Ftechnical-reference\u002Fpython-sdk","10.technical-reference\u002F20.python-sdk",[597,600],{"title":585,"path":598,"stem":599},"\u002Ftechnical-reference\u002Fpython-sdk\u002Finstall","10.technical-reference\u002F20.python-sdk\u002F10.install",{"title":589,"path":601,"stem":602},"\u002Ftechnical-reference\u002Fpython-sdk\u002Fchangelog","10.technical-reference\u002F20.python-sdk\u002F20.changelog",{"title":604,"path":605,"stem":606,"children":607,"page":42},"Liquid Handling SDK","\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk","10.technical-reference\u002F30.python-liquid-handling-sdk",[608,611],{"title":585,"path":609,"stem":610},"\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk\u002Finstall","10.technical-reference\u002F30.python-liquid-handling-sdk\u002F10.install",{"title":589,"path":612,"stem":613},"\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk\u002Fchangelog","10.technical-reference\u002F30.python-liquid-handling-sdk\u002F20.changelog",{"title":163,"path":615,"stem":616,"children":617,"page":42},"\u002Ftechnical-reference\u002Flabware","10.technical-reference\u002F40.labware",[618,621],{"title":585,"path":619,"stem":620},"\u002Ftechnical-reference\u002Flabware\u002Finstall","10.technical-reference\u002F40.labware\u002F10.install",{"title":589,"path":622,"stem":623},"\u002Ftechnical-reference\u002Flabware\u002Fchangelog","10.technical-reference\u002F40.labware\u002F20.changelog",{"title":625,"path":626,"stem":627,"children":628,"page":42},"Python Omnibus","\u002Ftechnical-reference\u002Fpython-omnibus","10.technical-reference\u002F50.python-omnibus",[629,632],{"title":585,"path":630,"stem":631},"\u002Ftechnical-reference\u002Fpython-omnibus\u002Finstall","10.technical-reference\u002F50.python-omnibus\u002F10.install",{"title":589,"path":633,"stem":634},"\u002Ftechnical-reference\u002Fpython-omnibus\u002Fchangelog","10.technical-reference\u002F50.python-omnibus\u002F20.changelog",{"title":636,"path":637,"stem":638,"children":639,"page":42},"Python CDK","\u002Ftechnical-reference\u002Fpython-cdk","10.technical-reference\u002F60.python-cdk",[640,643],{"title":585,"path":641,"stem":642},"\u002Ftechnical-reference\u002Fpython-cdk\u002Finstall","10.technical-reference\u002F60.python-cdk\u002F10.install",{"title":589,"path":644,"stem":645},"\u002Ftechnical-reference\u002Fpython-cdk\u002Fchangelog","10.technical-reference\u002F60.python-cdk\u002F20.changelog",{"title":647,"path":648,"stem":649,"children":650},"Connector Development (CDK)","\u002Fconnector-development","20.connector-development",[651,653,672,705,713,744],{"title":647,"path":648,"stem":652},"20.connector-development\u002Findex",{"title":654,"path":655,"stem":656,"children":657,"page":42},"Getting Started","\u002Fconnector-development\u002Fgetting-started","20.connector-development\u002F10.getting-started",[658,661,665,668],{"title":536,"path":659,"stem":660},"\u002Fconnector-development\u002Fgetting-started\u002Foverview","20.connector-development\u002F10.getting-started\u002F10.overview",{"title":662,"path":663,"stem":664},"What's new","\u002Fconnector-development\u002Fgetting-started\u002Fwhats-new","20.connector-development\u002F10.getting-started\u002F20.whats-new",{"title":77,"path":666,"stem":667},"\u002Fconnector-development\u002Fgetting-started\u002Finstallation","20.connector-development\u002F10.getting-started\u002F30.installation",{"title":669,"path":670,"stem":671},"Contributing","\u002Fconnector-development\u002Fgetting-started\u002Fcontributing","20.connector-development\u002F10.getting-started\u002F40.contributing",{"title":673,"path":674,"stem":675,"children":676,"page":42},"Tutorial","\u002Fconnector-development\u002Ftutorial","20.connector-development\u002F20.tutorial",[677,681,685,689,693,697,701],{"title":678,"path":679,"stem":680},"Walkthrough","\u002Fconnector-development\u002Ftutorial\u002Fwalkthrough","20.connector-development\u002F20.tutorial\u002F00.walkthrough",{"title":682,"path":683,"stem":684},"SiLA Endpoints","\u002Fconnector-development\u002Ftutorial\u002Fsila-endpoints","20.connector-development\u002F20.tutorial\u002F10.sila-endpoints",{"title":686,"path":687,"stem":688},"Data Endpoints","\u002Fconnector-development\u002Ftutorial\u002Fdata-endpoints","20.connector-development\u002F20.tutorial\u002F20.data-endpoints",{"title":690,"path":691,"stem":692},"Controls","\u002Fconnector-development\u002Ftutorial\u002Fcontrols","20.connector-development\u002F20.tutorial\u002F30.controls",{"title":694,"path":695,"stem":696},"SiLA Data Types","\u002Fconnector-development\u002Ftutorial\u002Fdata-types","20.connector-development\u002F20.tutorial\u002F40.data-types",{"title":698,"path":699,"stem":700},"Feature","\u002Fconnector-development\u002Ftutorial\u002Fconnector-structure","20.connector-development\u002F20.tutorial\u002F70.connector-structure",{"title":702,"path":703,"stem":704},"Hardware Communication","\u002Fconnector-development\u002Ftutorial\u002Fhardware-communication","20.connector-development\u002F20.tutorial\u002F90.hardware-communication",{"title":94,"path":706,"stem":707,"children":708,"page":42},"\u002Fconnector-development\u002Fconcepts","20.connector-development\u002F30.concepts",[709],{"title":710,"path":711,"stem":712},"SiLA","\u002Fconnector-development\u002Fconcepts\u002Fsila","20.connector-development\u002F30.concepts\u002Fsila",{"title":187,"path":714,"stem":715,"children":716,"page":42},"\u002Fconnector-development\u002Fguides","20.connector-development\u002F40.guides",[717,721,725,729,733,736,740],{"title":718,"path":719,"stem":720},"Configuration","\u002Fconnector-development\u002Fguides\u002Fconfiguration","20.connector-development\u002F40.guides\u002F20.configuration",{"title":722,"path":723,"stem":724},"Deployment","\u002Fconnector-development\u002Fguides\u002Fdeployment","20.connector-development\u002F40.guides\u002F30.deployment",{"title":726,"path":727,"stem":728},"Security","\u002Fconnector-development\u002Fguides\u002Fsecurity","20.connector-development\u002F40.guides\u002F40.security",{"title":730,"path":731,"stem":732},"Subscriptions","\u002Fconnector-development\u002Fguides\u002Fsubscriptions","20.connector-development\u002F40.guides\u002F45.subscriptions",{"title":183,"path":734,"stem":735},"\u002Fconnector-development\u002Fguides\u002Ferror-handling","20.connector-development\u002F40.guides\u002F50.error-handling",{"title":737,"path":738,"stem":739},"Serial Troubleshooting","\u002Fconnector-development\u002Fguides\u002Fserial-troubleshooting","20.connector-development\u002F40.guides\u002F70.serial-troubleshooting",{"title":741,"path":742,"stem":743},"Testing","\u002Fconnector-development\u002Fguides\u002Ftesting","20.connector-development\u002F40.guides\u002F80.testing",{"title":745,"path":746,"stem":747,"children":748},"References","\u002Fconnector-development\u002Freference","20.connector-development\u002F50.reference\u002Findex",[749],{"title":745,"path":746,"stem":747},{"id":751,"title":274,"body":752,"description":1840,"extension":1841,"links":1842,"meta":1843,"navigation":851,"path":275,"seo":1844,"stem":276,"__hash__":1845},"docs\u002F03.operate\u002F30.devices\u002F10.hamilton-star\u002F20.core-gripper.md",{"type":753,"value":754,"toc":1828},"minimark",[755,759,762,768,797,802,805,910,914,917,1051,1061,1065,1072,1239,1243,1246,1268,1272,1279,1368,1375,1440,1455,1458,1510,1514,1517,1613,1621,1625,1632,1707,1710,1755,1759,1762,1784,1788,1817,1821,1824],[756,757,758],"p",{},"During liquid handling workflows, the need often arises to reposition labware across the deck. Whether you want to cover microplates or transport them to and from positions on the deck, e.g. into a reader, an efficient method to achieve this is through the integrated CO-RE gripper. Comprising two paddles, which are picked up by two pipetting channels during operation, this gripper streamlines the task. For more complex scenarios, such as labware rotation or transferring into stacked plate hotels, exploring the capabilities of the iSWAP gripper module is recommended.",[756,760,761],{},"This guide serves as a comprehensive walkthrough for utilizing the integrated CO-RE gripper on the Hamilton Microlab STAR. By adhering to these instructions, users can effortlessly and precisely maneuver labware around the deck with assurance.",[756,763,764],{},[765,766,767],"strong",{},"Prerequisites",[769,770,771,775,778,781,790],"ul",{},[772,773,774],"li",{},"A switched on Microlab STAR device",[772,776,777],{},"A plate carrier and a plate",[772,779,780],{},"A running Microlab STAR connector",[772,782,783,784,789],{},"Basic understanding of the liquid handler class (See the ",[785,786,788],"a",{"href":787},"\u002Foperate\u002Fdevices\u002Fhamilton-star\u002Fcore-gripper\u002F","liquid handler tutorial",")",[772,791,792,793,789],{},"Basic understanding of how labware is used (See the ",[785,794,796],{"href":795},"\u002Foperate\u002Fguides\u002Flabware\u002Fstandard-labware\u002F","using standard labware tutorial",[798,799,801],"h2",{"id":800},"connect-and-initialize","Connect and Initialize",[756,803,804],{},"Ensure that the Microlab STAR is powered on and ready for operation. Verify that the connector is running and connected to the UniteLabs platform.",[806,807,812],"pre",{"className":808,"code":809,"language":810,"meta":811,"style":811},"language-python shiki shiki-themes material-theme-lighter material-theme material-theme-palenight","from unitelabs.liquid_handling.hamilton import MicrolabSTAR\n\n# Initialize the Hamilton Microlab STAR\nhamilton = MicrolabSTAR(name=\"Microlab STAR\")\nawait hamilton.initialize()\n","python","",[813,814,815,846,853,860,893],"code",{"__ignoreMap":811},[816,817,820,824,828,832,835,837,840,843],"span",{"class":818,"line":819},"line",1,[816,821,823],{"class":822},"s7zQu","from",[816,825,827],{"class":826},"sTEyZ"," unitelabs",[816,829,831],{"class":830},"sMK4o",".",[816,833,834],{"class":826},"liquid_handling",[816,836,831],{"class":830},[816,838,839],{"class":826},"hamilton ",[816,841,842],{"class":822},"import",[816,844,845],{"class":826}," MicrolabSTAR\n",[816,847,849],{"class":818,"line":848},2,[816,850,852],{"emptyLinePlaceholder":851},true,"\n",[816,854,856],{"class":818,"line":855},3,[816,857,859],{"class":858},"sHwdD","# Initialize the Hamilton Microlab STAR\n",[816,861,863,865,868,872,875,879,881,884,888,890],{"class":818,"line":862},4,[816,864,839],{"class":826},[816,866,867],{"class":830},"=",[816,869,871],{"class":870},"s2Zo4"," MicrolabSTAR",[816,873,874],{"class":830},"(",[816,876,878],{"class":877},"sHdIc","name",[816,880,867],{"class":830},[816,882,883],{"class":830},"\"",[816,885,887],{"class":886},"sfazB","Microlab STAR",[816,889,883],{"class":830},[816,891,892],{"class":830},")\n",[816,894,896,899,902,904,907],{"class":818,"line":895},5,[816,897,898],{"class":822},"await",[816,900,901],{"class":826}," hamilton",[816,903,831],{"class":830},[816,905,906],{"class":870},"initialize",[816,908,909],{"class":830},"()\n",[798,911,913],{"id":912},"arrange-the-deck","Arrange the Deck",[756,915,916],{},"Arrange the deck layout using the components from the labware library. This guide uses a plate carrier with one standard 96 well microtiter plate that we move from one carrier site to another.",[806,918,920],{"className":808,"code":919,"language":810,"meta":811,"style":811},"from unitelabs.labware import Standard96Plate, Vector\nfrom unitelabs.labware.hamilton import PLT_CAR_L5MD_A00\n\nplate_carrier = PLT_CAR_L5MD_A00()\nplate = Standard96Plate()\n\nplate_carrier[0] = plate\nhamilton.deck.add(plate_carrier, track=1)\n",[813,921,922,944,964,968,980,991,996,1018],{"__ignoreMap":811},[816,923,924,926,928,930,933,935,938,941],{"class":818,"line":819},[816,925,823],{"class":822},[816,927,827],{"class":826},[816,929,831],{"class":830},[816,931,932],{"class":826},"labware ",[816,934,842],{"class":822},[816,936,937],{"class":826}," Standard96Plate",[816,939,940],{"class":830},",",[816,942,943],{"class":826}," Vector\n",[816,945,946,948,950,952,955,957,959,961],{"class":818,"line":848},[816,947,823],{"class":822},[816,949,827],{"class":826},[816,951,831],{"class":830},[816,953,954],{"class":826},"labware",[816,956,831],{"class":830},[816,958,839],{"class":826},[816,960,842],{"class":822},[816,962,963],{"class":826}," PLT_CAR_L5MD_A00\n",[816,965,966],{"class":818,"line":855},[816,967,852],{"emptyLinePlaceholder":851},[816,969,970,973,975,978],{"class":818,"line":862},[816,971,972],{"class":826},"plate_carrier ",[816,974,867],{"class":830},[816,976,977],{"class":870}," PLT_CAR_L5MD_A00",[816,979,909],{"class":830},[816,981,982,985,987,989],{"class":818,"line":895},[816,983,984],{"class":826},"plate ",[816,986,867],{"class":830},[816,988,937],{"class":870},[816,990,909],{"class":830},[816,992,994],{"class":818,"line":993},6,[816,995,852],{"emptyLinePlaceholder":851},[816,997,999,1002,1005,1009,1012,1015],{"class":818,"line":998},7,[816,1000,1001],{"class":826},"plate_carrier",[816,1003,1004],{"class":830},"[",[816,1006,1008],{"class":1007},"sbssI","0",[816,1010,1011],{"class":830},"]",[816,1013,1014],{"class":830}," =",[816,1016,1017],{"class":826}," plate\n",[816,1019,1021,1024,1026,1030,1032,1035,1037,1039,1041,1044,1046,1049],{"class":818,"line":1020},8,[816,1022,1023],{"class":826},"hamilton",[816,1025,831],{"class":830},[816,1027,1029],{"class":1028},"swJcz","deck",[816,1031,831],{"class":830},[816,1033,1034],{"class":870},"add",[816,1036,874],{"class":830},[816,1038,1001],{"class":870},[816,1040,940],{"class":830},[816,1042,1043],{"class":877}," track",[816,1045,867],{"class":830},[816,1047,1048],{"class":1007},"1",[816,1050,892],{"class":830},[1052,1053,1055],"callout",{"icon":1054},"i-heroicons-shield-exclamation",[756,1056,1057,1060],{},[765,1058,1059],{},"Safety tip",": For testing purposes, the actual deck can be left empty. Only the CO-RE gripper is required to run this guide without hardware errors.",[798,1062,1064],{"id":1063},"configure-the-gripper","Configure the Gripper",[756,1066,1067,1068,1071],{},"The storage location of the CO-RE gripper may vary in different environments. Therefore, configure the gripper module first by providing the locations for your setup. Learn how to teach the gripper paddle positions in the ",[785,1069,298],{"href":1070},"\u002Foperate\u002Fdevices\u002Fhamilton-star\u002Fgripper-positions\u002F"," guide.",[806,1073,1075],{"className":808,"code":1074,"language":810,"meta":811,"style":811},"from unitelabs.labware import Vector\n\ncore_gripper_locations = (\n    Vector(x=796, y=105, z=225),\n    Vector(x=796, y=79, z=225),\n)\n\nawait hamilton.core_gripper.configure(\n    park_location=core_gripper_locations,\n    channels=(6, 7),\n)\n",[813,1076,1077,1091,1095,1105,1143,1174,1178,1182,1201,1215,1234],{"__ignoreMap":811},[816,1078,1079,1081,1083,1085,1087,1089],{"class":818,"line":819},[816,1080,823],{"class":822},[816,1082,827],{"class":826},[816,1084,831],{"class":830},[816,1086,932],{"class":826},[816,1088,842],{"class":822},[816,1090,943],{"class":826},[816,1092,1093],{"class":818,"line":848},[816,1094,852],{"emptyLinePlaceholder":851},[816,1096,1097,1100,1102],{"class":818,"line":855},[816,1098,1099],{"class":826},"core_gripper_locations ",[816,1101,867],{"class":830},[816,1103,1104],{"class":830}," (\n",[816,1106,1107,1110,1112,1115,1117,1120,1122,1125,1127,1130,1132,1135,1137,1140],{"class":818,"line":862},[816,1108,1109],{"class":870},"    Vector",[816,1111,874],{"class":830},[816,1113,1114],{"class":877},"x",[816,1116,867],{"class":830},[816,1118,1119],{"class":1007},"796",[816,1121,940],{"class":830},[816,1123,1124],{"class":877}," y",[816,1126,867],{"class":830},[816,1128,1129],{"class":1007},"105",[816,1131,940],{"class":830},[816,1133,1134],{"class":877}," z",[816,1136,867],{"class":830},[816,1138,1139],{"class":1007},"225",[816,1141,1142],{"class":830},"),\n",[816,1144,1145,1147,1149,1151,1153,1155,1157,1159,1161,1164,1166,1168,1170,1172],{"class":818,"line":895},[816,1146,1109],{"class":870},[816,1148,874],{"class":830},[816,1150,1114],{"class":877},[816,1152,867],{"class":830},[816,1154,1119],{"class":1007},[816,1156,940],{"class":830},[816,1158,1124],{"class":877},[816,1160,867],{"class":830},[816,1162,1163],{"class":1007},"79",[816,1165,940],{"class":830},[816,1167,1134],{"class":877},[816,1169,867],{"class":830},[816,1171,1139],{"class":1007},[816,1173,1142],{"class":830},[816,1175,1176],{"class":818,"line":993},[816,1177,892],{"class":830},[816,1179,1180],{"class":818,"line":998},[816,1181,852],{"emptyLinePlaceholder":851},[816,1183,1184,1186,1188,1190,1193,1195,1198],{"class":818,"line":1020},[816,1185,898],{"class":822},[816,1187,901],{"class":826},[816,1189,831],{"class":830},[816,1191,1192],{"class":1028},"core_gripper",[816,1194,831],{"class":830},[816,1196,1197],{"class":870},"configure",[816,1199,1200],{"class":830},"(\n",[816,1202,1204,1207,1209,1212],{"class":818,"line":1203},9,[816,1205,1206],{"class":877},"    park_location",[816,1208,867],{"class":830},[816,1210,1211],{"class":870},"core_gripper_locations",[816,1213,1214],{"class":830},",\n",[816,1216,1218,1221,1224,1227,1229,1232],{"class":818,"line":1217},10,[816,1219,1220],{"class":877},"    channels",[816,1222,1223],{"class":830},"=(",[816,1225,1226],{"class":1007},"6",[816,1228,940],{"class":830},[816,1230,1231],{"class":1007}," 7",[816,1233,1142],{"class":830},[816,1235,1237],{"class":818,"line":1236},11,[816,1238,892],{"class":830},[798,1240,1242],{"id":1241},"pick-up-the-gripper","Pick up the Gripper",[756,1244,1245],{},"Pick up the gripper from its configured location.",[806,1247,1249],{"className":808,"code":1248,"language":810,"meta":811,"style":811},"await hamilton.core_gripper.pick_up_gripper()\n",[813,1250,1251],{"__ignoreMap":811},[816,1252,1253,1255,1257,1259,1261,1263,1266],{"class":818,"line":819},[816,1254,898],{"class":822},[816,1256,901],{"class":826},[816,1258,831],{"class":830},[816,1260,1192],{"class":1028},[816,1262,831],{"class":830},[816,1264,1265],{"class":870},"pick_up_gripper",[816,1267,909],{"class":830},[798,1269,1271],{"id":1270},"pick-up-the-labware","Pick up the Labware",[756,1273,1274,1275,1278],{},"Labware can be picked up from carrier sites. Make sure that the plate is placed on the site and pass it to the gripper's ",[813,1276,1277],{},"pick_up"," method. The gripper moves on a safe traverse height to the site and picks up the plate. Grip strength, move speed, and close speed are set to defaults in this example and can be left out.",[806,1280,1282],{"className":808,"code":1281,"language":810,"meta":811,"style":811},"await hamilton.core_gripper.pick_up_from(\n    plate_carrier[0],\n    # The pressure to apply on the plate ranging from 0 (low) to 99 (high).\n    strength=30,\n    # The speed in mm\u002Fs when moving along the z-axis.\n    move_speed=128.7,\n    # The speed in mm\u002Fs along the y-axis when closing the gripper.\n    close_speed=277.8,\n)\n",[813,1283,1284,1301,1313,1318,1330,1335,1347,1352,1364],{"__ignoreMap":811},[816,1285,1286,1288,1290,1292,1294,1296,1299],{"class":818,"line":819},[816,1287,898],{"class":822},[816,1289,901],{"class":826},[816,1291,831],{"class":830},[816,1293,1192],{"class":1028},[816,1295,831],{"class":830},[816,1297,1298],{"class":870},"pick_up_from",[816,1300,1200],{"class":830},[816,1302,1303,1306,1308,1310],{"class":818,"line":848},[816,1304,1305],{"class":870},"    plate_carrier",[816,1307,1004],{"class":830},[816,1309,1008],{"class":1007},[816,1311,1312],{"class":830},"],\n",[816,1314,1315],{"class":818,"line":855},[816,1316,1317],{"class":858},"    # The pressure to apply on the plate ranging from 0 (low) to 99 (high).\n",[816,1319,1320,1323,1325,1328],{"class":818,"line":862},[816,1321,1322],{"class":877},"    strength",[816,1324,867],{"class":830},[816,1326,1327],{"class":1007},"30",[816,1329,1214],{"class":830},[816,1331,1332],{"class":818,"line":895},[816,1333,1334],{"class":858},"    # The speed in mm\u002Fs when moving along the z-axis.\n",[816,1336,1337,1340,1342,1345],{"class":818,"line":993},[816,1338,1339],{"class":877},"    move_speed",[816,1341,867],{"class":830},[816,1343,1344],{"class":1007},"128.7",[816,1346,1214],{"class":830},[816,1348,1349],{"class":818,"line":998},[816,1350,1351],{"class":858},"    # The speed in mm\u002Fs along the y-axis when closing the gripper.\n",[816,1353,1354,1357,1359,1362],{"class":818,"line":1020},[816,1355,1356],{"class":877},"    close_speed",[816,1358,867],{"class":830},[816,1360,1361],{"class":1007},"277.8",[816,1363,1214],{"class":830},[816,1365,1366],{"class":818,"line":1203},[816,1367,892],{"class":830},[756,1369,1370,1371,1374],{},"The parameters such as grip width and grip height are determined based on the ",[785,1372,1373],{"href":795},"definition of the labware"," that is being picked up while others have default values. All parameters can be specified explicitly if desired:",[769,1376,1377,1386,1394,1402,1415,1423,1431],{},[772,1378,1379,1382,1383,831],{},[813,1380,1381],{},"strength",": Grip pressure ranging from 0 (low) to 99 (high). Default: ",[813,1384,1385],{},"60",[772,1387,1388,1391,1392,831],{},[813,1389,1390],{},"move_speed",": Speed in mm\u002Fs when moving along the z-axis. Default: ",[813,1393,1344],{},[772,1395,1396,1399,1400,831],{},[813,1397,1398],{},"close_speed",": Speed in mm\u002Fs along the y-axis when closing the gripper. Default: ",[813,1401,1361],{},[772,1403,1404,1407,1408,1411,1412,831],{},[813,1405,1406],{},"pick_up_offset",": A ",[813,1409,1410],{},"Vector(dx, dy)"," offset in mm to adjust the pick up location. Default: ",[813,1413,1414],{},"None",[772,1416,1417,1420,1421,831],{},[813,1418,1419],{},"width_offset",": Offset in mm to adjust the labware size for grip width calculation. Default: ",[813,1422,1008],{},[772,1424,1425,1428,1429,831],{},[813,1426,1427],{},"grip_gap",": Initial gap in mm between the gripper and the labware, i.e. how wide the gripper opens before reaching for the labware. Default: ",[813,1430,1226],{},[772,1432,1433,1436,1437,1439],{},[813,1434,1435],{},"min_traverse_height",": Minimum traverse height in mm. Default: ",[813,1438,1414],{}," (uses global setting).",[1052,1441,1443],{"icon":1442},"i-heroicons-information-circle",[756,1444,1445,1448,1449,1451,1452,1454],{},[813,1446,1447],{},"grab_height"," is read from the labware definition and is not exposed as a pick-up parameter. To adjust the grip height, either edit the ",[813,1450,1447],{}," field on your labware definition or use ",[813,1453,1406],{}," for fine-tuning.",[756,1456,1457],{},"The plate is now accessible on the gripper and the carrier site should be empty.",[806,1459,1461],{"className":808,"code":1460,"language":810,"meta":811,"style":811},"assert plate_carrier[0].get() == None\nassert hamilton.core_gripper.get() == plate\n",[813,1462,1463,1490],{"__ignoreMap":811},[816,1464,1465,1468,1471,1473,1475,1478,1481,1484,1487],{"class":818,"line":819},[816,1466,1467],{"class":822},"assert",[816,1469,1470],{"class":826}," plate_carrier",[816,1472,1004],{"class":830},[816,1474,1008],{"class":1007},[816,1476,1477],{"class":830},"].",[816,1479,1480],{"class":870},"get",[816,1482,1483],{"class":830},"()",[816,1485,1486],{"class":830}," ==",[816,1488,1489],{"class":830}," None\n",[816,1491,1492,1494,1496,1498,1500,1502,1504,1506,1508],{"class":818,"line":848},[816,1493,1467],{"class":822},[816,1495,901],{"class":826},[816,1497,831],{"class":830},[816,1499,1192],{"class":1028},[816,1501,831],{"class":830},[816,1503,1480],{"class":870},[816,1505,1483],{"class":830},[816,1507,1486],{"class":830},[816,1509,1017],{"class":826},[798,1511,1513],{"id":1512},"move-to-position","Move to Position",[756,1515,1516],{},"Now that the plate is picked up, it can be moved to another position. The plate's center will be placed at the provided location.",[806,1518,1520],{"className":808,"code":1519,"language":810,"meta":811,"style":811},"# Location 20 mm above the 5th carrier site's center\ntarget_location = plate_carrier[4].absolute_location \\\n    + plate_carrier[4].center.update(z=20)\n\nawait hamilton.core_gripper.move_to(location=target_location)\n",[813,1521,1522,1527,1549,1582,1586],{"__ignoreMap":811},[816,1523,1524],{"class":818,"line":819},[816,1525,1526],{"class":858},"# Location 20 mm above the 5th carrier site's center\n",[816,1528,1529,1532,1534,1536,1538,1541,1543,1546],{"class":818,"line":848},[816,1530,1531],{"class":826},"target_location ",[816,1533,867],{"class":830},[816,1535,1470],{"class":826},[816,1537,1004],{"class":830},[816,1539,1540],{"class":1007},"4",[816,1542,1477],{"class":830},[816,1544,1545],{"class":1028},"absolute_location",[816,1547,1548],{"class":830}," \\\n",[816,1550,1551,1554,1556,1558,1560,1562,1565,1567,1570,1572,1575,1577,1580],{"class":818,"line":855},[816,1552,1553],{"class":830},"    +",[816,1555,1470],{"class":826},[816,1557,1004],{"class":830},[816,1559,1540],{"class":1007},[816,1561,1477],{"class":830},[816,1563,1564],{"class":1028},"center",[816,1566,831],{"class":830},[816,1568,1569],{"class":870},"update",[816,1571,874],{"class":830},[816,1573,1574],{"class":877},"z",[816,1576,867],{"class":830},[816,1578,1579],{"class":1007},"20",[816,1581,892],{"class":830},[816,1583,1584],{"class":818,"line":862},[816,1585,852],{"emptyLinePlaceholder":851},[816,1587,1588,1590,1592,1594,1596,1598,1601,1603,1606,1608,1611],{"class":818,"line":895},[816,1589,898],{"class":822},[816,1591,901],{"class":826},[816,1593,831],{"class":830},[816,1595,1192],{"class":1028},[816,1597,831],{"class":830},[816,1599,1600],{"class":870},"move_to",[816,1602,874],{"class":830},[816,1604,1605],{"class":877},"location",[816,1607,867],{"class":830},[816,1609,1610],{"class":870},"target_location",[816,1612,892],{"class":830},[1052,1614,1615],{"icon":1442},[756,1616,1617,1620],{},[765,1618,1619],{},"Note",": The gripper can be moved to any location even without carrying labware.",[798,1622,1624],{"id":1623},"release-the-labware","Release the Labware",[756,1626,1627,1628,1631],{},"Labware can only be placed on carrier sites. Make sure that the site is empty and pass it to the gripper's ",[813,1629,1630],{},"put_down"," method. The method automatically transfers the plate from the gripper module to the site. Gripper pressure and move speed are set to defaults in this example and can be left out.",[806,1633,1635],{"className":808,"code":1634,"language":810,"meta":811,"style":811},"await hamilton.core_gripper.put_down(\n    # The carrier's 5th site\n    carrier_site=plate_carrier[4],\n    # The pressure in mm to apply on the bottom.\n    pressure=0,\n    # The speed in mm\u002Fs when moving along the z-axis.\n    move_speed=128.7,\n)\n",[813,1636,1637,1653,1658,1673,1678,1689,1693,1703],{"__ignoreMap":811},[816,1638,1639,1641,1643,1645,1647,1649,1651],{"class":818,"line":819},[816,1640,898],{"class":822},[816,1642,901],{"class":826},[816,1644,831],{"class":830},[816,1646,1192],{"class":1028},[816,1648,831],{"class":830},[816,1650,1630],{"class":870},[816,1652,1200],{"class":830},[816,1654,1655],{"class":818,"line":848},[816,1656,1657],{"class":858},"    # The carrier's 5th site\n",[816,1659,1660,1663,1665,1667,1669,1671],{"class":818,"line":855},[816,1661,1662],{"class":877},"    carrier_site",[816,1664,867],{"class":830},[816,1666,1001],{"class":870},[816,1668,1004],{"class":830},[816,1670,1540],{"class":1007},[816,1672,1312],{"class":830},[816,1674,1675],{"class":818,"line":862},[816,1676,1677],{"class":858},"    # The pressure in mm to apply on the bottom.\n",[816,1679,1680,1683,1685,1687],{"class":818,"line":895},[816,1681,1682],{"class":877},"    pressure",[816,1684,867],{"class":830},[816,1686,1008],{"class":1007},[816,1688,1214],{"class":830},[816,1690,1691],{"class":818,"line":993},[816,1692,1334],{"class":858},[816,1694,1695,1697,1699,1701],{"class":818,"line":998},[816,1696,1339],{"class":877},[816,1698,867],{"class":830},[816,1700,1344],{"class":1007},[816,1702,1214],{"class":830},[816,1704,1705],{"class":818,"line":1020},[816,1706,892],{"class":830},[756,1708,1709],{},"The plate is now accessible on the carrier site and the gripper should be empty again.",[806,1711,1713],{"className":808,"code":1712,"language":810,"meta":811,"style":811},"assert hamilton.core_gripper.get() == None\nassert plate_carrier[4].get() == plate\n",[813,1714,1715,1735],{"__ignoreMap":811},[816,1716,1717,1719,1721,1723,1725,1727,1729,1731,1733],{"class":818,"line":819},[816,1718,1467],{"class":822},[816,1720,901],{"class":826},[816,1722,831],{"class":830},[816,1724,1192],{"class":1028},[816,1726,831],{"class":830},[816,1728,1480],{"class":870},[816,1730,1483],{"class":830},[816,1732,1486],{"class":830},[816,1734,1489],{"class":830},[816,1736,1737,1739,1741,1743,1745,1747,1749,1751,1753],{"class":818,"line":848},[816,1738,1467],{"class":822},[816,1740,1470],{"class":826},[816,1742,1004],{"class":830},[816,1744,1540],{"class":1007},[816,1746,1477],{"class":830},[816,1748,1480],{"class":870},[816,1750,1483],{"class":830},[816,1752,1486],{"class":830},[816,1754,1017],{"class":826},[798,1756,1758],{"id":1757},"put-down-the-gripper","Put Down the Gripper",[756,1760,1761],{},"Repeat the above steps as necessary to manipulate additional labware. To return the CO-RE gripper to its storing location,",[806,1763,1765],{"className":808,"code":1764,"language":810,"meta":811,"style":811},"await hamilton.core_gripper.put_down_gripper()\n",[813,1766,1767],{"__ignoreMap":811},[816,1768,1769,1771,1773,1775,1777,1779,1782],{"class":818,"line":819},[816,1770,898],{"class":822},[816,1772,901],{"class":826},[816,1774,831],{"class":830},[816,1776,1192],{"class":1028},[816,1778,831],{"class":830},[816,1780,1781],{"class":870},"put_down_gripper",[816,1783,909],{"class":830},[798,1785,1787],{"id":1786},"troubleshooting","Troubleshooting",[1789,1790,1792,1804,1809],"u-accordion",{":items":1791},"[{\"label\":\"The channel was not able to pick up the CO-RE gripper\",\"slot\":\"initialize-failed\"},{\"label\":\"The CO-RE gripper is unable to pick up the plate\",\"slot\":\"pick-up-failed\"},{\"label\":\"The CO-RE gripper dropped the plate unexpectedly\",\"slot\":\"unexpected-drop\"}]",[1793,1794,1795],"template",{"v-slot:initialize-failed":811},[1796,1797,1798,1801],"ol",{},[772,1799,1800],{},"There are different sizes of CO-RE grippers. One for the 1000 μl pipetting channels and one for the 5 ml pipetting channels. Make sure to use the appropriate CO-RE gripper for your pipetting channel size.",[772,1802,1803],{},"The locations of the CO-RE grippers may differ on your setup. Use a teaching needle to find the correct pick up location for the configuration step.",[1793,1805,1806],{"v-slot:pick-up-failed":811},[756,1807,1808],{},"Some labware might have slightly different dimensions than expected. You can provide an offset vector to almost every method to adjust the used locations.",[1793,1810,1811],{"v-slot:unexpected-drop":811},[756,1812,1813,1814,1816],{},"Either the CO-RE gripper should grab the plate on another position or you could increase the strength applied to holding the plate in the ",[813,1815,1277],{}," method.",[798,1818,1820],{"id":1819},"conclusion","Conclusion",[756,1822,1823],{},"You should now be able to utilize the integrated CO-RE gripper as an efficient solution for transporting labware during liquid handling workflows.",[1825,1826,1827],"style",{},"html pre.shiki code .s7zQu, html code.shiki .s7zQu{--shiki-light:#39ADB5;--shiki-light-font-style:italic;--shiki-default:#89DDFF;--shiki-default-font-style:italic;--shiki-dark:#89DDFF;--shiki-dark-font-style:italic}html pre.shiki code .sTEyZ, html code.shiki .sTEyZ{--shiki-light:#90A4AE;--shiki-default:#EEFFFF;--shiki-dark:#BABED8}html pre.shiki code .sMK4o, html code.shiki .sMK4o{--shiki-light:#39ADB5;--shiki-default:#89DDFF;--shiki-dark:#89DDFF}html pre.shiki code .sHwdD, html code.shiki .sHwdD{--shiki-light:#90A4AE;--shiki-light-font-style:italic;--shiki-default:#546E7A;--shiki-default-font-style:italic;--shiki-dark:#676E95;--shiki-dark-font-style:italic}html pre.shiki code .s2Zo4, html code.shiki .s2Zo4{--shiki-light:#6182B8;--shiki-default:#82AAFF;--shiki-dark:#82AAFF}html pre.shiki code .sHdIc, html code.shiki .sHdIc{--shiki-light:#90A4AE;--shiki-light-font-style:italic;--shiki-default:#EEFFFF;--shiki-default-font-style:italic;--shiki-dark:#BABED8;--shiki-dark-font-style:italic}html pre.shiki code .sfazB, html code.shiki .sfazB{--shiki-light:#91B859;--shiki-default:#C3E88D;--shiki-dark:#C3E88D}html .light .shiki span {color: var(--shiki-light);background: var(--shiki-light-bg);font-style: var(--shiki-light-font-style);font-weight: var(--shiki-light-font-weight);text-decoration: var(--shiki-light-text-decoration);}html.light .shiki span {color: var(--shiki-light);background: var(--shiki-light-bg);font-style: var(--shiki-light-font-style);font-weight: var(--shiki-light-font-weight);text-decoration: var(--shiki-light-text-decoration);}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .sbssI, html code.shiki .sbssI{--shiki-light:#F76D47;--shiki-default:#F78C6C;--shiki-dark:#F78C6C}html pre.shiki code .swJcz, html code.shiki .swJcz{--shiki-light:#E53935;--shiki-default:#F07178;--shiki-dark:#F07178}",{"title":811,"searchDepth":819,"depth":848,"links":1829},[1830,1831,1832,1833,1834,1835,1836,1837,1838,1839],{"id":800,"depth":848,"text":801},{"id":912,"depth":848,"text":913},{"id":1063,"depth":848,"text":1064},{"id":1241,"depth":848,"text":1242},{"id":1270,"depth":848,"text":1271},{"id":1512,"depth":848,"text":1513},{"id":1623,"depth":848,"text":1624},{"id":1757,"depth":848,"text":1758},{"id":1786,"depth":848,"text":1787},{"id":1819,"depth":848,"text":1820},"Moving labware with the integrated CO-RE gripper.","md",null,{},{"title":274,"description":1840},"zfYZPMweCVNT0SP1b09d4fbhpr7Vglvb4r9oSg9qXwk",[1847,1849],{"title":270,"path":271,"stem":272,"description":1848},"From moving to specific positions to reading out the current position.",{"title":278,"path":279,"stem":280,"description":1850},"Use the iSWAP module for plate handling.",1783607772867]