package

unitelabs.liquid_handling

unitelabs/liquid_handling/__init__.py

Attributes

__all__
= [ "unitelabs.liquid_handling.modules.gripper.Gripper", "unitelabs.liquid_handling.liquid_handler.LiquidHandler", "unitelabs.liquid_handling.modules.module.Module", "unitelabs.liquid_handling.modules.module_error.ModuleError", "unitelabs.liquid_handling.modules.pipette.Pipette", "unitelabs.liquid_handling.modules.pipettes.Pipettes", "unitelabs.liquid_handling.state.State" ]
connector_compatibility
= {'microlab_star': '>=0.3.0', 'microlab_vantage': '>=0.5.1', 'agilent_bravo': '>=0.6.0'}

Classes

LiquidHandler
class
Base class for robotic liquid handlers.
MRO
unitelabs.labware.resource.resource.Resource
└ unitelabs.labware.resource.labware.Labware
└─ unitelabs.labware.resource.instrument.Instrument
└── Module
└─── LiquidHandler
Methods
- __init__(self) -> None
- stop(self) -> None
  Stop execution.
- resume(self) -> None
  Resume execution.
- save(self) -> State
  Serialize this liquid handler's current state as a JSON-like, transferable dictionary.
  State
  The JSON-like dictionary with the resource's data.
- load(self, state : State) -> None
  Deserialize this liquid handler's state from a JSON-like, transferable dictionary.
  state
  State
  The JSON-like dictionary with the resource's data.
Attributes
- _configuration_type
  type[LiquidHandlerConfiguration] = LiquidHandlerConfiguration
- identifier
  = self.__class__.__name__
- deck
  = Deck()
- _configuration
  LiquidHandlerConfiguration | None = None
- configuration
  LiquidHandlerConfiguration = None
  The configuration of the liquid handler.
Gripper
class
Gripper to pick up and transfer labware.
MRO
unitelabs.labware.resource.resource.Resource
└ Module
└─ unitelabs.labware.groups.group.Group
└── unitelabs.labware.groups.spot.Spot
└─── Gripper
Bases
unitelabs.labware.groups.spot.Spot[T],
Decorators
dataclasses.dataclass
Methods
- __init__(
  self,
  _stage : Stage,
  children : collections.abc.Sequence[unitelabs.labware.groups.group.T],
  width_offset : decimal.Decimal
  ) -> None
  _stage
  Stage = INSTALLED
  children
  collections.abc.Sequence[unitelabs.labware.groups.group.T]
  width_offset
  decimal.Decimal
- @abc.abstractmethod
  current_location(self, **kwargs) -> unitelabs.labware.math.vector.Vector
  Get the current location of the gripper's center.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  unitelabs.labware.math.vector.Vector
  The absolute location of the gripper's center.
- @abc.abstractmethod
  move_to(
  self,
  location : unitelabs.labware.math.vector.Vector,
  **kwargs
  ) -> None
  Move the gripper to the given absolute location on a safe traverse height.
  location
  unitelabs.labware.math.vector.Vector
  The absolute location where to move the gripper's center to.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  move_by(self, offset : unitelabs.labware.math.vector.Vector, **kwargs) -> None
  Move the gripper by the given relative offset.
  offset
  unitelabs.labware.math.vector.Vector
  The relative offset by which to move the gripper's center.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  has_labware(self, **kwargs) -> bool
  Check whether the gripper currently holds labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  bool
  Whether the gripper currently holds labware.
- @abc.abstractmethod
  current_grip_width(self, **kwargs) -> decimal.Decimal
  Get the current distance between the grippers.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  decimal.Decimal
  The current distance between the grippers.
- @abc.abstractmethod
  open_to(self, width : unitelabs.labware.math.decimal.Number, **kwargs) -> None
  Open the gripper to the given width to release the currently held labware.
  width
  unitelabs.labware.math.decimal.Number
  The distance between the two grippers after opening them.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  open_by(self, offset : unitelabs.labware.math.decimal.Number, **kwargs) -> None
  Open the gripper by the given offset to release the currently held labware.
  offset
  unitelabs.labware.math.decimal.Number
  The relative distance to open the grippers by.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  close_to(self, width : unitelabs.labware.math.decimal.Number, **kwargs) -> None
  Close the gripper to the given width to hold labware in the gripper. This does not assign the labware to the gripper!
  width
  unitelabs.labware.math.decimal.Number
  The distance between the two grippers after closing them.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  close_by(self, offset : unitelabs.labware.math.decimal.Number, **kwargs) -> None
  Close the gripper by the given offset to hold labware in the gripper. This does not assign the labware to the gripper!
  offset
  unitelabs.labware.math.decimal.Number
  The relative distance to close the grippers by.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- can_transfer(
  self,
  labware : unitelabs.labware.resource.labware.Labware,
  target : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Verify whether the given labware can be transferred from its current location to the target carrier site.
  labware
  unitelabs.labware.resource.labware.Labware
  The labware to pick up and transfer.
  target
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The target carrier site where to put down the resource.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial and final gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- transfer(
  self,
  labware : unitelabs.labware.resource.labware.Labware,
  target : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Transfer the labware from the source carrier site to the target carrier site.
  labware
  unitelabs.labware.resource.labware.Labware
  The labware to pick up and transfer.
  target
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The target carrier site where to put down the resource.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial and final gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- transfer_from(
  self,
  source : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  target : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Transfer the labware from the source carrier site to the target carrier site.
  source
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The carrier site from where to pick up the labware.
  target
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The target carrier site where to put down the resource.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial and final gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- can_pick_up(
  self,
  labware : unitelabs.labware.resource.labware.Labware,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Verify whether the given labware can be picked up from its current location.
  labware
  unitelabs.labware.resource.labware.Labware
  The labware to pick up.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up(
  self,
  labware : unitelabs.labware.resource.labware.Labware,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Pick up the given labware from its current location.
  labware
  unitelabs.labware.resource.labware.Labware
  The labware to pick up.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up_from(
  self,
  source : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  width_offset : unitelabs.labware.math.decimal.Number,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Pick up the labware from the given carrier site.
  source
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The carrier site from where to pick up the labware.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy) in mm to adjust the pick up location.
  width_offset
  unitelabs.labware.math.decimal.Number
  An offset in mm to adjust the size of the labware.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The initial gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- can_put_down(
  self,
  target : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Verify whether the currently held labware can be put down into the given carrier site or plate.
  target
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The target carrier site or plate where to put down the resource.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The final gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- put_down(
  self,
  target : unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  grip_gap : unitelabs.labware.math.decimal.Number,
  **kwargs
  ) -> None
  Put down the currently held labware into the given carrier site.
  target
  unitelabs.labware.carriers.carrier_site.CarrierSite | unitelabs.labware.plates.plate.Plate
  The target carrier site where to put down the resource.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  grip_gap
  unitelabs.labware.math.decimal.Number
  The final gap between the gripper and the labware.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- drop_labware(self, **kwargs) -> T | None
  Discard the currently held labware at the current location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  T | None
  Returns the labware the gripper held.
- _get_grab_height_for_labware(self, labware : unitelabs.labware.resource.labware.Labware) -> decimal.Decimal
  Get the grab height from the value stored on the labware. A grab_height deeper than the labware itself would place the grip point below the deck, so it is ignored in favour of the labware midpoint.
  labware
  unitelabs.labware.resource.labware.Labware
  decimal.Decimal
  The grab height for this labware.
Attributes
- width_offset
  decimal.Decimal = decimal.Decimal('0')
Module
class
A hardware unit that usually performs a set of related actions.
MRO
unitelabs.labware.resource.resource.Resource
└ Module
Decorators
dataclasses.dataclass
Methods
- __init__(self, _stage : Stage) -> None
  _stage
  Stage = INSTALLED
- __post_init__(self, *kwargs) -> None
  *kwargs
  = ()
- is_configured(self) -> bool
  Verify whether the module is configured or requires more information.
  bool
  Whether the module is currently configured.
- configure(self, **_kwargs) -> None
  When a module is installed and detect, configure it with the required set of arguments.
  **_kwargs
  = {}
  The arguments required to properly configure the module.
- is_initialized(self) -> bool
  Verify whether the module is initialized or requires initialization.
  bool
  Whether the module is currently initialized.
- initialize(self, **_kwargs) -> None
  Initialize the hardware to prepare and calibrate the motion motors for accurate movements.
  **_kwargs
  = {}
  The arguments required to properly initialize the hardware.
- is_active(self) -> bool
  Verify whether the module is activated and ready for usage.
  bool
  Whether the module is currently activated.
- can_activate(self) -> bool
  Verify whether the module can be activated.
  bool
  Whether the module can be activated.
- activate(self, **_kwargs) -> None
  Activate this module for usage.
  **_kwargs
  = {}
  The arguments required to properly setup the module.
- deactivate(self, **_kwargs) -> None
  Teardown this tool after usage to allow another one to be used.
  **_kwargs
  = {}
  The arguments required to properly teardown the module.
Attributes
- _stage
  Stage = dataclasses.field(default=(Stage.INSTALLED), metadata={'marshmallow_field': marshmallow.fields.Enum(Stage)})
  The lifecycle stage this module is currently in.
- stage
  Stage = None
  The lifecycle stage this module is currently in.
ModuleError
class
Raised when a module is used incorrectly by the user.
Bases
RuntimeError
Pipette
class
Pipette to aspirate and dispense liquid from its source to its destination labware. The pipette is used to pick up disposable tips to then aspirate and dispense liquid from its source to its destination labware.
MRO
unitelabs.labware.resource.resource.Resource
└ Module
└─ unitelabs.labware.groups.group.Group
└── unitelabs.labware.groups.spot.Spot
└─── unitelabs.labware.tips.tip_spot.TipSpot
└──── Pipette
Bases
unitelabs.labware.tips.tip_spot.TipSpot[T],
Decorators
dataclasses.dataclass
Methods
- __init__(
  self,
  _stage : Stage,
  children : collections.abc.Sequence[unitelabs.labware.groups.group.T],
  tip_source : unitelabs.labware.tips.tip_spot.TipSpot | None,
  pick_up_offset : unitelabs.labware.math.vector.Vector
  ) -> None
  _stage
  Stage = INSTALLED
  children
  collections.abc.Sequence[unitelabs.labware.groups.group.T]
  tip_source
  unitelabs.labware.tips.tip_spot.TipSpot | None = None
  pick_up_offset
  unitelabs.labware.math.vector.Vector
- @abc.abstractmethod
  current_location(self, **kwargs) -> unitelabs.labware.math.vector.Vector
  Get the current location of the pipette's tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  unitelabs.labware.math.vector.Vector
  The absolute location of the pipette's tip.
- @abc.abstractmethod
  move_to(
  self,
  location : unitelabs.labware.math.vector.Vector,
  **kwargs
  ) -> None
  Move the pipette to the given absolute location on a safe traverse height.
  location
  unitelabs.labware.math.vector.Vector
  The absolute location where to move the pipette's tip to.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  move_by(self, offset : unitelabs.labware.math.vector.Vector, **kwargs) -> None
  Move the pipette by the given relative offset.
  offset
  unitelabs.labware.math.vector.Vector
  The relative offset by which to move the pipette's tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- has_tip(self, **kwargs) -> bool
  Check whether the pipette currently holds a tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  bool
  Whether the pipette currently holds a tip.
- can_pick_up_tip(
  self,
  spot : unitelabs.labware.tips.tip_spot.TipSpot,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Verify whether the tip in the given spot can be picked up.
  spot
  unitelabs.labware.tips.tip_spot.TipSpot
  The spot from where to pick up the tip.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up_tip(
  self,
  spot : unitelabs.labware.tips.tip_spot.TipSpot,
  _pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Pick up a tip from the given spot and assign it to the pipette.
  spot
  unitelabs.labware.tips.tip_spot.TipSpot
  The spot from where to pick up the tip.
  _pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up_tip_from(
  self,
  rack : unitelabs.labware.tips.tip_rack.TipRack,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Pick up the next available tip from the given rack and assign it to the pipette.
  rack
  unitelabs.labware.tips.tip_rack.TipRack
  The rack from where to pick up the tip.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- can_put_down_tip(
  self,
  spot : unitelabs.labware.tips.tip_spot.TipSpot,
  _drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Verify whether the currently held tip can be put down into the given spot.
  spot
  unitelabs.labware.tips.tip_spot.TipSpot
  The spot where to put down the tip.
  _drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- put_down_tip(
  self,
  spot : unitelabs.labware.tips.tip_spot.TipSpot,
  _drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Put down the currently held tip into the given spot.
  spot
  unitelabs.labware.tips.tip_spot.TipSpot
  The spot where to put down the tip.
  _drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- put_down_tip_to(
  self,
  rack : unitelabs.labware.tips.tip_rack.TipRack,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Put down the currently held tip into the first available, free spot in the given rack.
  rack
  unitelabs.labware.tips.tip_rack.TipRack
  The rack in which to put down the tip.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- discard_tip(
  self,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Discard the currently held tip into the waste.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- return_tip(self, **kwargs) -> None
  Put down the currently held tip into its original spot in the rack.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- drop_tip(self, **kwargs) -> unitelabs.labware.tips.tip.Tip | None
  Discard the currently held tip at the current location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  unitelabs.labware.tips.tip.Tip | None
- @abc.abstractmethod
  current_volume(self, **kwargs) -> decimal.Decimal
  Get the current volume in the pipette's tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  decimal.Decimal
  The current volume in the pipette's tip.
- aspirate(
  self,
  source : unitelabs.labware.pipettable.pipettable.PipettableTarget,
  mode : AspiratePipetteMode,
  volume : unitelabs.labware.math.decimal.Number | None,
  liquid_class : unitelabs.labware.liquids.liquid_class.LiquidClass | None,
  offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Aspirate liquid from the source container.
  source
  unitelabs.labware.pipettable.pipettable.PipettableTarget
  The source container from where to aspirate liquid.
  mode
  AspiratePipetteMode = SURFACE
  Whether to aspirate at the liquid surface or at the container's bottom. Defaults to surface mode.
  volume
  unitelabs.labware.math.decimal.Number | None = None
  The volume in µl to aspirate from the container. Omit this to aspirate until either the pipette is full or the container is empty.
  liquid_class
  unitelabs.labware.liquids.liquid_class.LiquidClass | None = None
  The liquid class used to parametrise the pipetting operation.
  offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the aspirate location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- dispense(
  self,
  target : unitelabs.labware.pipettable.pipettable.PipettableTarget | collections.abc.Sequence[unitelabs.labware.pipettable.pipettable.PipettableTarget],
  mode : DispensePipetteMode,
  volume : unitelabs.labware.math.decimal.Number | None,
  liquid_class : unitelabs.labware.liquids.liquid_class.LiquidClass | None,
  offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Dispense liquid into the target container.
  target
  unitelabs.labware.pipettable.pipettable.PipettableTarget | collections.abc.Sequence[unitelabs.labware.pipettable.pipettable.PipettableTarget]
  The target container where to dispense liquid into.
  mode
  DispensePipetteMode = BOTTOM
  Whether to dispense at the liquid surface or at the container's bottom. Defaults to bottom mode.
  volume
  unitelabs.labware.math.decimal.Number | None = None
  The volume in µl to dispense into the container. Omit this to dispense until either the container is full or the pipette is empty.
  liquid_class
  unitelabs.labware.liquids.liquid_class.LiquidClass | None = None
  The liquid class used to parametrise the pipetting operation.
  offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the dispense location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- empty(
  self,
  target : unitelabs.labware.pipettable.pipettable.PipettableTarget,
  offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Empty the contents of the tip in the target container.
  target
  unitelabs.labware.pipettable.pipettable.PipettableTarget
  The target container where to dispense liquid into.
  offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the dispense location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- mix(
  self,
  source : unitelabs.labware.pipettable.pipettable.PipettableTarget,
  cycles : int,
  aspirate_mode : PipetteMode,
  dispense_mode : PipetteMode,
  volume : unitelabs.labware.math.decimal.Number | None,
  liquid_class : unitelabs.labware.liquids.liquid_class.LiquidClass | None,
  offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Mix liquid in the source container.
  source
  unitelabs.labware.pipettable.pipettable.PipettableTarget
  The source container where to mix liquid.
  cycles
  int
  The number of mix cycles.
  aspirate_mode
  PipetteMode
  Whether to aspirate at the liquid surface or at the container's bottom. Defaults to surface mode.
  dispense_mode
  PipetteMode
  Whether to aspirate at the liquid surface or at the container's bottom. Defaults to surface mode.
  volume
  unitelabs.labware.math.decimal.Number | None = None
  The volume in µl to aspirate and dispense sequentially. Omit this to aspirate until either the pipette is full or the container is empty.
  liquid_class
  unitelabs.labware.liquids.liquid_class.LiquidClass | None = None
  The liquid class used to parametrise the pipetting operation.
  offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pipetting location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
Attributes
- PipetteMode
  = _PipetteMode
- tip_source
  unitelabs.labware.tips.tip_spot.TipSpot | None = None
- pick_up_offset
  unitelabs.labware.math.vector.Vector = dataclasses.field(default_factory=(lambda: Vector()))
Pipettes
class
Pipettes to aspirate and dispense liquid from its source to its destination labware. A set of individual pipettes that can be used concurrently to pick up disposable tips to then aspirate and dispense liquid from its source to its destination labware.
MRO
unitelabs.labware.resource.resource.Resource
└ Module
└─ unitelabs.labware.groups.group.Group
└── unitelabs.labware.groups.rack.Rack
└─── Pipettes
Bases
unitelabs.labware.groups.rack.Rack[S, T],
Decorators
dataclasses.dataclass
Methods
- __init__(
  self,
  _stage : Stage,
  children : collections.abc.Sequence[unitelabs.labware.groups.rack.S],
  filled_with : dataclasses.InitVar[None | unitelabs.labware.groups.rack.T | type[unitelabs.labware.groups.rack.T]],
  filled_at : dataclasses.InitVar[collections.abc.Sequence[int | str] | None],
  rows : int,
  cols : int
  ) -> None
  _stage
  Stage = INSTALLED
  children
  collections.abc.Sequence[unitelabs.labware.groups.rack.S]
  filled_with
  dataclasses.InitVar[None | unitelabs.labware.groups.rack.T | type[unitelabs.labware.groups.rack.T]] = None
  filled_at
  dataclasses.InitVar[collections.abc.Sequence[int | str] | None] = None
  rows
  int = 0
  cols
  int = 1
- @abc.abstractmethod
  current_locations(self, **kwargs) -> list[unitelabs.labware.math.vector.Vector]
  Get the current locations of all pipette's tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  list[unitelabs.labware.math.vector.Vector]
  The absolute location of each pipette's tip.
- @abc.abstractmethod
  move_to(
  self,
  locations : collections.abc.Sequence[unitelabs.labware.math.vector.Vector | None],
  **kwargs
  ) -> None
  Move all pipettes to the given absolute location on a safe traverse height.
  locations
  collections.abc.Sequence[unitelabs.labware.math.vector.Vector | None]
  An absolute location for each pipette where to move the pipette's tip to. Provide None to ignore the pipette.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- @abc.abstractmethod
  move_by(self, offsets : collections.abc.Sequence[unitelabs.labware.math.vector.Vector | None], **kwargs) -> None
  Move all pipettes by the given relative offset.
  offsets
  collections.abc.Sequence[unitelabs.labware.math.vector.Vector | None]
  The relative offset for each pipette by which to move the pipette's tip. Provide None to ignore the pipette.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- has_tips(self, **kwargs) -> list[bool]
  Check which of the pipettes currently holds a tip.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  list[bool]
  A flag of each pipette whether the channel currently holds a tip.
- has_tip(self, channel : int, **kwargs) -> bool
  Check whether the pipette currently holds a tip.
  channel
  int
  The channel to check.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  bool
  Whether the pipette currently holds a tip.
- can_pick_up_tips(
  self,
  channels : collections.abc.Sequence[int],
  spots : collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot],
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Verify whether the tips in the given spots can be picked up.
  channels
  collections.abc.Sequence[int]
  The channels used to pick up the tips.
  spots
  collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot]
  The spots from where to pick up the tips.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up_tips(
  self,
  channels : collections.abc.Sequence[int],
  spots : collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot],
  _pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Pick up tips from the given spots and assign them to the pipette channels.
  channels
  collections.abc.Sequence[int]
  The channels used to pick up the tips.
  spots
  collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot]
  The spots from where to pick up the tips.
  _pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- pick_up_tips_from(
  self,
  channels : collections.abc.Sequence[int],
  rack : unitelabs.labware.tips.tip_rack.TipRack,
  pick_up_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Pick up the next available tips from the given rack and assign them to the pipette channels.
  channels
  collections.abc.Sequence[int]
  The channels used to pick up the tips.
  rack
  unitelabs.labware.tips.tip_rack.TipRack
  The rack from where to pick up the tips.
  pick_up_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the pick up location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- can_put_down_tips(
  self,
  spots : collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot],
  channels : collections.abc.Sequence[int] | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Verify whether the currently held tips can be put down into the given spots.
  spots
  collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot]
  The spots where to put down the tips.
  channels
  collections.abc.Sequence[int] | None = None
  The channels used to drop the tips. Provide None to involve all channels with a tip.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- put_down_tips(
  self,
  spots : collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot],
  channels : collections.abc.Sequence[int] | None,
  _drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Put down the currently held tips into the given spots.
  spots
  collections.abc.Sequence[unitelabs.labware.tips.tip_spot.TipSpot]
  The spots where to put down the tips.
  channels
  collections.abc.Sequence[int] | None = None
  The channels used to drop the tips. Provide None to involve all channels with a tip.
  _drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- put_down_tips_to(
  self,
  rack : unitelabs.labware.tips.tip_rack.TipRack,
  channels : collections.abc.Sequence[int] | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Put down the currently held tip into the first available, free spot in the given rack.
  rack
  unitelabs.labware.tips.tip_rack.TipRack
  The rack in which to put down the tips.
  channels
  collections.abc.Sequence[int] | None = None
  The channels used to drop the tips. Provide None to involve all channels with a tip.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- discard_tips(
  self,
  channels : collections.abc.Sequence[int] | None,
  drop_offset : unitelabs.labware.math.vector.Vector | None,
  **kwargs
  ) -> None
  Discard the currently held tips into the waste.
  channels
  collections.abc.Sequence[int] | None = None
  The channels used to drop the tips. Provide None to involve all channels with a tip.
  drop_offset
  unitelabs.labware.math.vector.Vector | None = None
  An offset (dx, dy, dz) in mm to adjust the drop location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- return_tips(self, **kwargs) -> None
  Put down the currently held tips into their original spots in the rack.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- drop_tips(self, **kwargs) -> list[unitelabs.labware.tips.tip.Tip] | None
  Discard the currently held tips at the current location.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
  list[unitelabs.labware.tips.tip.Tip] | None
- aspirate(
  self,
  fillables : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.pipettable.pipettable.PipettableTarget],
  channels : collections.abc.Sequence[int],
  volumes : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.decimal.Number],
  liquid_class : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.liquids.liquid_class.LiquidClass | None],
  offsets : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.vector.Vector | None],
  **kwargs
  ) -> None
  Aspirate liquid from the specified container.
  fillables
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.pipettable.pipettable.PipettableTarget]
  The source of the liquid.
  channels
  collections.abc.Sequence[int]
  The zero-based indices of the channels involved.
  volumes
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.decimal.Number]
  How much volume in µl to aspirate.
  liquid_class
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.liquids.liquid_class.LiquidClass | None] = None
  The liquid class used for aspiration.
  offsets
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.vector.Vector | None] = None
  An optional offset applied to the aspirate location in mm.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
- dispense(
  self,
  fillables : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.pipettable.pipettable.PipettableTarget],
  channels : collections.abc.Sequence[int],
  volumes : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.decimal.Number],
  liquid_class : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.liquids.liquid_class.LiquidClass | None],
  offsets : unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.vector.Vector | None],
  **kwargs
  ) -> None
  Dispense liquid into the specified container.
  fillables
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.pipettable.pipettable.PipettableTarget]
  The target for the liquid.
  channels
  collections.abc.Sequence[int]
  The zero-based indices of the channels involved.
  volumes
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.decimal.Number]
  How much volume in µl to dispense.
  liquid_class
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.liquids.liquid_class.LiquidClass | None] = None
  The liquid class used for dispensation.
  offsets
  unitelabs.labware.utils.list.MaybeList[unitelabs.labware.math.vector.Vector | None] = None
  An optional offset applied to the dispense location in mm.
  **kwargs
  = {}
  Additional arguments for the liquid handler.
Attributes
- rows
  int = 0
- cols
  int = 1
State
class
The structure used when serializing the state of a liquid handling system.
Bases
typing_extensions.TypedDict
Attributes
- deck
  unitelabs.labware.resource.schema.JsonSchema | None = None
- configuration
  dict[str, typing_extensions.Any] | None = None

unitelabs.liquid_handling

Packages

Attributes

Classes

LiquidHandler

Methods

Attributes

Gripper

Methods

Attributes

Module

Methods

Attributes

ModuleError

Pipette

Methods

Attributes

Pipettes

Methods

Attributes

State

Attributes