Liquidmover

This module provides a high-level interface for liquid handling operations, including aspirating, dispensing, and tip management.

CLASS	DESCRIPTION
`LiquidMover`	High-level interface for liquid handling operations

Documentation last updated: 2025-06-11

LiquidMover

LiquidMover(
    *args,
    parts: dict[str, Part],
    speed_factor_lateral: float | None = None,
    speed_factor_up: float = 0.2,
    speed_factor_down: float = 0.2,
    speed_factor_pick_tip: float = 0.01,
    tip_approach_distance: float = 20,
    verbose=False,
    **kwargs,
)

Bases: Compound

LiquidMover provides a high-level interface for liquid handling operations

ATTRIBUTE	DESCRIPTION
`speed_factor_lateral`	speed factor for lateral movement TYPE: `float`
`speed_factor_up`	speed factor for upward movement TYPE: `float`
`speed_factor_down`	speed factor for downward movement TYPE: `float`
`liquid`	liquid transfer tool TYPE: `Liquid`
`mover`	movement / translation robot TYPE: `Mover`
`connection_details`	connection details of each part TYPE: `dict`
`parts`	namespace of parts TYPE: `SimpleNamespace[str, Part]`
`flags`	flags of class TYPE: `SimpleNamespace[str, bool]`
`is_busy`	whether any part is busy TYPE: `bool`
`is_connected`	whether all parts are connected TYPE: `bool`
`verbose`	verbosity of class TYPE: `bool`
`bin_slots`	dictionary of bin slots TYPE: `dict[int, Labware]`
`current_tip_detail`	dictionary of current tip details TYPE: `dict[str, str \| ndarray]`
`speed_factor_pick_tip`	speed factor to pick up tip TYPE: `float`
`tip_approach_distance`	distance in mm from top to travel down to pick tip TYPE: `float`
`tip_racks`	dictionary of tip racks TYPE: `dict[int, Labware]`
`tip_lists`	dictionary of tip lists TYPE: `dict[int, list[str]]`

METHOD	DESCRIPTION
`align`	align the tool tip to the target coordinates, while also considering any additional offset
`aspirateAt`	aspirate specified volume at target location, at desired speed
`dispenseAt`	dispense specified volume at target location, at desired speed
`touchTip`	touch the tip against the inner walls of the well
`assignBin`	assign a bin by its slot
`assignTipRack`	assign a tip rack by its slot
`attachTip`	attach new pipette tip from next available rack position
`attachTipAt`	attach new pipette tip from specified location
`ejectTip`	eject the pipette tip at the bin
`ejectTipAt`	eject the pipette tip at the specified location
`findTipRacks`	find all tip racks on the deck
`resetTips`	reset (i.e. clear) all tip racks
`returnTip`	return current tip to its original rack position
`updateStartTip`	set the name of the first available pipette tip

Initialize LiquidMover class

PARAMETER	DESCRIPTION
`parts`	dictionary of parts TYPE: `dict[str, Part]`
`speed_factor_lateral`	speed factor for lateral movement. Defaults to None. TYPE: `float` DEFAULT: `None`
`speed_factor_up`	speed factor for upward movement. Defaults to 0.2. TYPE: `float` DEFAULT: `0.2`
`speed_factor_down`	speed factor for downward movement. Defaults to 0.2. TYPE: `float` DEFAULT: `0.2`
`speed_factor_pick_tip`	speed factor to pick up tip. Defaults to 0.01. TYPE: `float` DEFAULT: `0.01`
`tip_approach_distance`	distance in mm from top to travel down to pick tip. Defaults to 20. TYPE: `float` DEFAULT: `20`
`verbose`	verbosity of output. Defaults to False. TYPE: `bool` DEFAULT: `False`

liquid `property`

liquid: Liquid

Liquid transfer tool

mover `property`

mover: Mover

Movement / translation robot

align

align(
    coordinates: Sequence[float] | ndarray,
    offset: Sequence[float] = (0, 0, 0),
) -> Position

Align the tool tip to the target coordinates, while also considering any additional offset

PARAMETER	DESCRIPTION
`coordinates`	target coordinates TYPE: `Sequence[float] \| ndarray`
`offset`	additional x,y,z offset from tool tip. Defaults to (0,0,0). TYPE: `Sequence[float]` DEFAULT: `(0, 0, 0)`

RETURNS	DESCRIPTION
`Position`	final coordinates of tool tip TYPE: `Position`

aspirateAt

aspirateAt(
    coordinates: Sequence[float] | ndarray,
    volume: float,
    speed: float | None = None,
    *,
    channel: int | None = None,
)

Aspirate specified volume at target location, at desired speed

PARAMETER	DESCRIPTION
`coordinates`	target coordinates TYPE: `Sequence[float] \| ndarray`
`volume`	volume in uL TYPE: `float`
`speed`	speed to aspirate at (uL/s). Defaults to None. TYPE: `float \| None` DEFAULT: `None`
`channel`	channel to use. Defaults to None. TYPE: `int \| None` DEFAULT: `None`

assignBin

assignBin(slot: str, zone: str | None = None)

Assign a bin by its slot

PARAMETER	DESCRIPTION
`slot`	name of slot with bin TYPE: `str`
`zone`	name of zone. Defaults to None. TYPE: `str \| None` DEFAULT: `None`

assignTipRack

assignTipRack(
    slot: str,
    zone: str | None = None,
    *,
    use_by_columns: bool = True,
    start_tip: str | None = None,
)

Assign a tip rack by its slot

PARAMETER	DESCRIPTION
`slot`	name of slot with tip rack TYPE: `str`
`zone`	name of zone. Defaults to None. TYPE: `str \| None` DEFAULT: `None`
`use_by_columns`	whether to use tips by columns. Defaults to True. TYPE: `bool` DEFAULT: `True`
`start_tip`	name of start tip. Defaults to None. TYPE: `str \| None` DEFAULT: `None`

attachTip

attachTip() -> ndarray

Attach new pipette tip from next available rack position

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of attach tip location

attachTipAt

attachTipAt(
    coordinates: Sequence[float] | ndarray,
    tip_length: float,
) -> ndarray

Attach new pipette tip from specified location

PARAMETER	DESCRIPTION
`coordinates`	coordinates of pipette tip TYPE: `Sequence[float] \| ndarray`
`tip_length`	length of pipette tip TYPE: `float`

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of attach tip location

dispenseAt

dispenseAt(
    coordinates: Sequence[float] | ndarray,
    volume: float,
    speed: float | None = None,
    *,
    channel: int | None = None,
)

Dispense specified volume at target location, at desired speed

PARAMETER	DESCRIPTION
`coordinates`	target coordinates TYPE: `Sequence[float] \| ndarray`
`volume`	volume in uL TYPE: `float`
`speed`	speed to dispense at (uL/s). Defaults to None. TYPE: `float \| None` DEFAULT: `None`
`channel`	channel to use. Defaults to None. TYPE: `int \| None` DEFAULT: `None`

ejectTip

ejectTip() -> ndarray

Eject the pipette tip at the bin

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of eject tip location

ejectTipAt

ejectTipAt(
    coordinates: Sequence[float] | ndarray,
) -> ndarray

Eject the pipette tip at the specified location

PARAMETER	DESCRIPTION
`coordinates`	coordinate of where to eject tip TYPE: `Sequence[float] \| ndarray`

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of eject tip location

findTipRacks

findTipRacks()

Find all tip racks on the deck

resetTips

resetTips()

Reset (i.e. clear) all tip racks

returnTip

returnTip(
    offset_from_top: Sequence[float] | ndarray = (
        0,
        0,
        -20,
    ),
) -> ndarray

Return current tip to its original rack position

PARAMETER	DESCRIPTION
`offset_from_top`	offset from top to eject tip. Defaults to (0,0,-20). TYPE: `Sequence[float] \| ndarray` DEFAULT: `(0, 0, -20)`

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of eject tip location

touchTip

touchTip(
    well: Well,
    fraction_depth_from_top: float = 0.05,
    safe_move: bool = False,
    speed_factor: float = 0.2,
) -> ndarray

Touch the tip against the inner walls of the well

PARAMETER	DESCRIPTION
`well`	`Well` object TYPE: `Well`
`fraction_depth_from_top`	fraction of well depth from top to travel down. Defaults to 0.05. TYPE: `float` DEFAULT: `0.05`
`safe_move`	whether to move safely (i.e. go back to safe height first). Defaults to False. TYPE: `bool` DEFAULT: `False`
`speed_factor`	fraction of maximum speed to perform touch tip. Defaults to 0.2. TYPE: `float` DEFAULT: `0.2`

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: coordinates of top of well

updateStartTip

updateStartTip(start_tip: str)

Set the name of the first available pipette tip

PARAMETER	DESCRIPTION
`start_tip`	well name of the first available pipette tip TYPE: `str`