Overview

Working with a non-standard pipette tip length. I can calibrate to the new length just fine. However, if I also want to use standard pipettes in the same python protocol it is not currently possible. If I calibrate with a standard tip I can set the height via the location definition. However, when aspirating it first moves to the set calibration height before moving to the specified height above the well. This would smash the non-standard pipette tip into the deck.

Implementation details

I would propose that the robot calculates where to move and aspirate from it’s current position instead of the calibration point if given a specific location or that if a move_to() call is used prior to an aspirate() that the robot determines it’s path based on it’s current position instead of from the calibration position.

Design

Ideally, I would like to calibrate and use a standard pipette tip along side a custom tip length. So calibrating with a standard tip length but specifying a custom aspirate height without smashing the custom tip would be helpful for some procedures. Ideally some custom setter to tell the robot when the tip is attached would be an added benefit. I’m currently just telling the OT-2 to pick up a tip from an empty location and then pausing to add the custom pipette.

Acceptance criteria

Pipetting from a set location above the well does not dip to calibration point before aspirating. Or other suitable workaround.