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

TCode location schemas.

class tcode_api.schemas.location.LocationAsLabwareHolder(**data)

Location specified by a labware holder’s name.

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationAsLabwareHolder'])

  • robot_id (str)

  • labware_holder_name (str)

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationAsLabwareIndex(**data)

Location specifed as a specific feature of a Labware (ex. bottom of well A1).

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationAsLabwareIndex'])

  • labware_id (str)

  • location_index (int)

  • well_part (str)

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationAsNodeId(**data)

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

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationAsNodeId'])

  • node_id (str)

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationRelativeToCurrentPosition(**data)

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

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationRelativeToCurrentPosition'])

  • matrix (Annotated[list[list[float]], FieldInfo(annotation=NoneType, required=True, description='A 3D 4x4 transformation matrix represented in row-major order. Used to represent the position and orientation in 3D space.')])

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationRelativeToLabware(**data)

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

This location type is designed to define points on continuous-surface labware

(ex. agar plates.)

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationRelativeToLabware'])

  • labware_id (str)

  • matrix (Annotated[list[list[float]], FieldInfo(annotation=NoneType, required=True, description='A 3D 4x4 transformation matrix represented in row-major order. Used to represent the position and orientation in 3D space.')])

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationRelativeToRobot(**data)

Location relative to the robot’s root node.

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationRelativeToRobot'])

  • robot_id (str)

  • matrix (Annotated[list[list[float]], FieldInfo(annotation=NoneType, required=True, description='A 3D 4x4 transformation matrix represented in row-major order. Used to represent the position and orientation in 3D space.')])

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class tcode_api.schemas.location.LocationRelativeToWorld(**data)

Location specified relative to the fleet’s root node.

Parameters:

  • schema_version (Literal[1])

  • type (Literal['LocationRelativeToWorld'])

  • matrix (Annotated[list[list[float]], FieldInfo(annotation=NoneType, required=True, description='A 3D 4x4 transformation matrix represented in row-major order. Used to represent the position and orientation in 3D space.')])

model_config: ClassVar[ConfigDict] = {'extra': 'ignore', 'strict': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].