Locations¶

Locations are the data structures that represent physical locations in the space of a fleet. Locations can be defined in many ways (transforms, objects, coordinates, etc.) and relative to many other entites.

Tip

Many locations use the tcode_api.types.Matrix structure to represent 3D transforms. To create these easily, see tcode_api.utilities.create_transform method.

Documentation¶

Data structures for defining locations in 3D space through TCode.

pydantic model tcode_api.api.location.LocationRelativeToCurrentPosition¶

Location specified by a transformation matrix relative to position of the robot’s current control node.

Show JSON schema

{
   "title": "LocationRelativeToCurrentPosition",
   "description": "Location specified by a transformation matrix relative to position of the robot's current control node.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationRelativeToCurrentPosition",
         "default": "LocationRelativeToCurrentPosition",
         "title": "Type",
         "type": "string"
      },
      "matrix": {
         "items": {
            "items": {
               "type": "number"
            },
            "type": "array"
         },
         "title": "Matrix",
         "type": "array"
      }
   },
   "required": [
      "matrix"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

matrix (list[list[float]])
type (Literal['LocationRelativeToCurrentPosition'])

field type: Literal['LocationRelativeToCurrentPosition'] = 'LocationRelativeToCurrentPosition'¶

field matrix: list[list[float]] [Required]¶

pydantic model tcode_api.api.location.LocationAsLabwareHolder¶

Location specified by a labware holder’s name.

Show JSON schema

{
   "title": "LocationAsLabwareHolder",
   "description": "Location specified by a labware holder's name.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationAsLabwareHolder",
         "default": "LocationAsLabwareHolder",
         "title": "Type",
         "type": "string"
      },
      "robot_id": {
         "title": "Robot Id",
         "type": "string"
      },
      "labware_holder_name": {
         "title": "Labware Holder Name",
         "type": "string"
      }
   },
   "required": [
      "robot_id",
      "labware_holder_name"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

labware_holder_name (str)
robot_id (str)
type (Literal['LocationAsLabwareHolder'])

field type: Literal['LocationAsLabwareHolder'] = 'LocationAsLabwareHolder'¶

field robot_id: str [Required]¶

field labware_holder_name: str [Required]¶

pydantic model tcode_api.api.location.LocationAsLabwareIndex¶

Location specified by a tuple of labware id and labware location index.

Show JSON schema

{
   "title": "LocationAsLabwareIndex",
   "description": "Location specified by a tuple of labware id and labware location index.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationAsLabwareIndex",
         "default": "LocationAsLabwareIndex",
         "title": "Type",
         "type": "string"
      },
      "labware_id": {
         "title": "Labware Id",
         "type": "string"
      },
      "location_index": {
         "title": "Location Index",
         "type": "integer"
      },
      "well_part": {
         "title": "Well Part",
         "type": "string"
      }
   },
   "required": [
      "labware_id",
      "location_index",
      "well_part"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

labware_id (str)
location_index (int)
type (Literal['LocationAsLabwareIndex'])
well_part (str)

field type: Literal['LocationAsLabwareIndex'] = 'LocationAsLabwareIndex'¶

field labware_id: str [Required]¶

field location_index: int [Required]¶

field well_part: str [Required]¶

pydantic model tcode_api.api.location.LocationAsNodeId¶

Location specified by a node ID in the fleet’s transform tree.

Show JSON schema

{
   "title": "LocationAsNodeId",
   "description": "Location specified by a node ID in the fleet's transform tree.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationAsNodeId",
         "default": "LocationAsNodeId",
         "title": "Type",
         "type": "string"
      },
      "node_id": {
         "title": "Node Id",
         "type": "string"
      }
   },
   "required": [
      "node_id"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

node_id (str)
type (Literal['LocationAsNodeId'])

field type: Literal['LocationAsNodeId'] = 'LocationAsNodeId'¶

field node_id: str [Required]¶

pydantic model tcode_api.api.location.LocationRelativeToLabware¶

Location specified by a transformation matrix relative to a labware’s base node.

Show JSON schema

{
   "title": "LocationRelativeToLabware",
   "description": "Location specified by a transformation matrix relative to a labware's base node.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationRelativeToLabware",
         "default": "LocationRelativeToLabware",
         "title": "Type",
         "type": "string"
      },
      "labware_id": {
         "title": "Labware Id",
         "type": "string"
      },
      "matrix": {
         "items": {
            "items": {
               "type": "number"
            },
            "type": "array"
         },
         "title": "Matrix",
         "type": "array"
      }
   },
   "required": [
      "labware_id",
      "matrix"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

labware_id (str)
matrix (list[list[float]])
type (Literal['LocationRelativeToLabware'])

field type: Literal['LocationRelativeToLabware'] = 'LocationRelativeToLabware'¶

field labware_id: str [Required]¶

field matrix: list[list[float]] [Required]¶

pydantic model tcode_api.api.location.LocationRelativeToWorld¶

Location specified by a transformation matrix relative to the fleet’s root node.

Show JSON schema

{
   "title": "LocationRelativeToWorld",
   "description": "Location specified by a transformation matrix relative to the fleet's root node.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationRelativeToWorld",
         "default": "LocationRelativeToWorld",
         "title": "Type",
         "type": "string"
      },
      "matrix": {
         "items": {
            "items": {
               "type": "number"
            },
            "type": "array"
         },
         "title": "Matrix",
         "type": "array"
      }
   },
   "required": [
      "matrix"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

matrix (list[list[float]])
type (Literal['LocationRelativeToWorld'])

field type: Literal['LocationRelativeToWorld'] = 'LocationRelativeToWorld'¶

field matrix: list[list[float]] [Required]¶

pydantic model tcode_api.api.location.LocationRelativeToRobot¶

Location specified by a transformation matrix relative to the robot’s root node.

Show JSON schema

{
   "title": "LocationRelativeToRobot",
   "description": "Location specified by a transformation matrix relative to the robot's root node.",
   "type": "object",
   "properties": {
      "type": {
         "const": "LocationRelativeToRobot",
         "default": "LocationRelativeToRobot",
         "title": "Type",
         "type": "string"
      },
      "robot_id": {
         "title": "Robot Id",
         "type": "string"
      },
      "matrix": {
         "items": {
            "items": {
               "type": "number"
            },
            "type": "array"
         },
         "title": "Matrix",
         "type": "array"
      }
   },
   "required": [
      "robot_id",
      "matrix"
   ]
}

Config:

strict: bool = True
extra: str = ignore

Fields:

matrix (list[list[float]])
robot_id (str)
type (Literal['LocationRelativeToRobot'])

field type: Literal['LocationRelativeToRobot'] = 'LocationRelativeToRobot'¶

field robot_id: str [Required]¶

field matrix: list[list[float]] [Required]¶