polymer_dropcast_experiment_draft(1).ipynb

{
 "cells": [
  {
   "attachments": {},
   "cell_type": "markdown",
   "id": "53e1ce82",
   "metadata": {},
   "source": [
    "# Polymer dropcast experiment setup\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "6179f1a2",
   "metadata": {},
   "source": [
    "#### Necessary Imports \n",
    "\n",
    "As usual, let's start by importing the necessary packages we will need to run our demo.\n",
    "\n",
    "In this case, we will also set up our matplotlib- the package we will use to visualize the beautiful art that our Rob Ross will generate as an external window."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 875,
   "id": "7b24657e-16d1-4e88-b56e-36b13f775d13",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The autoreload extension is already loaded. To reload it, use:\n",
      "  %reload_ext autoreload\n"
     ]
    }
   ],
   "source": [
    "%load_ext autoreload\n",
    "\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 876,
   "id": "938fbdb1",
   "metadata": {},
   "outputs": [],
   "source": [
    "# ----------- Science Jubilee -------------\n",
    "from science_jubilee import Machine as Jub\n",
    "from science_jubilee.tools import Pipette\n",
    "\n",
    "# ------ Data visualization outside of the notebook ------\n",
    "import matplotlib\n",
    "import pandas as pd"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1c6d3f82",
   "metadata": {},
   "source": [
    "### Jubilee platfform connection and set-up"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 877,
   "id": "18476b27",
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "jubilee = Jub.Machine(address='192.168.1.2', simulated = False) "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cb6260ae",
   "metadata": {},
   "source": [
    "Before we can set up the `deck` of our `Jubilee` with all our labware, we will need to *home* **all** its axis.\n",
    "\n",
    "> Attention -- !!! **BEFORE** !!! running the next cell, make sure that NO labware is loaded onto the deck or the Tool Changer will crush into them. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 801,
   "id": "ed7d230f",
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "jubilee.home_all()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "986929fb",
   "metadata": {},
   "source": [
    "### Deck preparation and labware definition \n",
    "Awesome, now that we have our machine all ready to go, we will need to load all the labware onto it both *physically* and *digitally* . \n",
    "\n",
    "* Physically: place the desired/required labware for the Demo onto the deck of your Jubilee\n",
    "* Digitally: first, we need to define our `deck`; then define and load the `labware` we want to use and indicate on which `slot` each of them was assigned to"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 878,
   "id": "97e90bef",
   "metadata": {},
   "outputs": [],
   "source": [
    "# ---------------- Deck -------------------\n",
    "deck = jubilee.load_deck('lab_automation_deck.json')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "15cf3028",
   "metadata": {},
   "source": [
    "To run this *autonoous* color matching demo, we will need at least four types of labware:\n",
    "\n",
    "* A **Tiprack** that is suitable for the pipette you are using to transfer your liquids\n",
    "* A **Sample Labware** that will be used to collect the colors that your Rob Ross will make \n",
    "* A **Stock Labware** that will host the stock colors that your Rob Ross can mix together\n",
    "* A **trash** to collect the used tips"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 879,
   "id": "517eb33e-dfae-4bff-9dad-3cdaa114f708",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "10"
      ]
     },
     "execution_count": 879,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "deck.safe_z"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 880,
   "id": "3057dac8",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "New manual offset applied to opentrons_96_tiprack_300ul\n"
     ]
    }
   ],
   "source": [
    "# -------------- Labware ------------------\n",
    "tiprack = jubilee.load_labware('opentrons_96_tiprack_300ul.json', 0)\n",
    "tiprack.load_manualOffset()\n",
    "sample_wellplate = jubilee.load_labware('drop_casting_48_wellplate_8000ul.json', 2) #Replace this with custom labware for samples\n",
    "#samples.load_manualOffset()\n",
    "stocks = jubilee.load_labware('20mlscintillation_12_wellplate_18000ul.json', 3)\n",
    "trash = jubilee.load_labware('agilent_1_reservoir_290ml.json', 1)\n",
    "mixing_wellplate = jubilee.load_labware('mixing_48_wellplate_2000ul.json', 4)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 881,
   "id": "14501c58-6d6b-4e01-abe4-805869ea855e",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "New manual offset applied to opentrons_96_tiprack_300ul\n",
      "New manual offset applied to 20mlscintillation_12_wellplate_18000ul\n"
     ]
    }
   ],
   "source": [
    "#UL = (26.5, 174.0)\n",
    "#UR = (126.6, 173.4)\n",
    "#BR = (126.5, 110.9)\n",
    "#samples.manual_offset((UL, UR, BR))\n",
    "\n",
    "UL = (29.5, 80.4)\n",
    "UR = (126.1, 80.4)\n",
    "BR = (126.1, 18.9)\n",
    "tiprack.manual_offset((UL, UR, BR))\n",
    "\n",
    "\n",
    "UL = (174.5, 171.0)\n",
    "UR = (260.5, 170.0)\n",
    "BR = (260.5, 114.0)\n",
    "stocks.manual_offset((UL, UR, BR))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1c08909c",
   "metadata": {},
   "source": [
    "You can notice that the *tiprack* and the *samples* labware have a `manualOffset()` applied to them. This is to ensure that the labware coordinates are as precise as we can. The manual offset is **labware** and **slot** dependent, so you will need to run it prior to do so. You can find more information on how to run this in the `Science Jubilee` repository/documentation"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "0a923e9c",
   "metadata": {},
   "source": [
    "This next "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 882,
   "id": "544e3693",
   "metadata": {},
   "outputs": [],
   "source": [
    "# ------------- Stocks ------------\n",
    "stock_1 = stocks[0].bottom(+5)\n",
    "stock_2 = stocks[1].bottom(+5)\n",
    "stock_3 = stocks[2].bottom(+5)\n",
    "stock_4 = stocks[3].bottom(+5)\n",
    "stock_5 = stocks[4].bottom(+5)\n",
    "stock_6 = stocks[4].bottom(+5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 883,
   "id": "419a88b6-4125-40bc-b411-2e5d194c5ee1",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3)"
      ]
     },
     "execution_count": 883,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "stock_1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 884,
   "id": "744d96ff-3242-4de8-8024-ff9bd1a3d0c3",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'0': ((29.5, 80.4), (126.1, 80.4), (126.1, 18.9))}"
      ]
     },
     "execution_count": 884,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "tiprack.manualOffset"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1c07011c",
   "metadata": {},
   "source": [
    "### Tool import and set up\n",
    "\n",
    "Once again we will need to load all our tools onto our machine both *physically* and *digitally* . \n",
    "\n",
    "To learn how to load the tools *physically*, you can find more information and resources in the `Science_Jubilee` [documentation](https://machineagency.github.io/science_jubilee/building/building_tools.html#building-tools)\n",
    "\n",
    "Each tool will at minimum require a `tool_index`, an integer, and a `tool_name`. These should be the same as the ones defined in the machine's `config.g` file. \n",
    "Some tools will also required further information. You can defined these individually or in a config file for easier tool load. "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "363b8f5d",
   "metadata": {},
   "source": [
    "**Pipette Tool**"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 885,
   "id": "ed0510c0",
   "metadata": {},
   "outputs": [],
   "source": [
    "P300 = Pipette.Pipette.from_config(1, 'Pipette', 'P300_config.json')\n",
    "jubilee.load_tool(P300)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ff277a9e",
   "metadata": {},
   "source": [
    "Even though you will be able to use te pipette after these two single lines, you can also associate its `tiprack` to the tool, as well as define a `trash` location. This will just make the code more clean."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 886,
   "id": "33405bec-7810-41ab-8c2d-343b0e6c6ae2",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-100.8"
      ]
     },
     "execution_count": 886,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "P300.tool_offset"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 887,
   "id": "7bbeb5e9",
   "metadata": {},
   "outputs": [],
   "source": [
    "P300.add_tiprack(tiprack)\n",
    "P300.trash = trash[0]"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "05b5dee7-c0fd-4889-a607-cf576fb09592",
   "metadata": {},
   "source": [
    "## Load experiment definition files"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 888,
   "id": "96ee6f62-d9fe-4dbe-8864-9734e122184f",
   "metadata": {},
   "outputs": [],
   "source": [
    "import pandas as pd\n",
    "experiment_def = pd.read_csv('experiment_definition_draft(1).csv', sep=';')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 889,
   "id": "0984b593-f66c-4f25-b32d-ccc8b777e215",
   "metadata": {},
   "outputs": [
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       "      <th>20</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>21</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>22</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>23</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>24</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>25</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>26</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>27</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>28</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>29</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>30</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>31</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>32</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>33</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>34</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>35</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>36</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>37</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>38</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>39</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>40</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>41</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>42</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>43</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>44</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>45</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>46</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>47</th>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "      <td>NaN</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "    Unnamed: 0 Stock Location 1 Stock Location 2  Volume dispensed 1 [uL]  \\\n",
       "0          0.0          stock_1          stock_1                    300.0   \n",
       "1          1.0          stock_1          stock_2                    300.0   \n",
       "2          2.0          stock_1          stock_1                    300.0   \n",
       "3          3.0          stock_1          stock_3                    300.0   \n",
       "4          4.0          stock_1          stock_2                    300.0   \n",
       "5          5.0          stock_1          stock_3                    300.0   \n",
       "6          6.0          stock_3          stock_2                    300.0   \n",
       "7          7.0          stock_3          stock_4                    300.0   \n",
       "8          8.0          stock_3          stock_3                    300.0   \n",
       "9          9.0          stock_3          stock_5                    300.0   \n",
       "10        10.0          stock_3          stock_6                    300.0   \n",
       "11        11.0          stock_3          stock_2                    300.0   \n",
       "12         NaN              NaN              NaN                      NaN   \n",
       "13         NaN              NaN              NaN                      NaN   \n",
       "14         NaN              NaN              NaN                      NaN   \n",
       "15         NaN              NaN              NaN                      NaN   \n",
       "16         NaN              NaN              NaN                      NaN   \n",
       "17         NaN              NaN              NaN                      NaN   \n",
       "18         NaN              NaN              NaN                      NaN   \n",
       "19         NaN              NaN              NaN                      NaN   \n",
       "20         NaN              NaN              NaN                      NaN   \n",
       "21         NaN              NaN              NaN                      NaN   \n",
       "22         NaN              NaN              NaN                      NaN   \n",
       "23         NaN              NaN              NaN                      NaN   \n",
       "24         NaN              NaN              NaN                      NaN   \n",
       "25         NaN              NaN              NaN                      NaN   \n",
       "26         NaN              NaN              NaN                      NaN   \n",
       "27         NaN              NaN              NaN                      NaN   \n",
       "28         NaN              NaN              NaN                      NaN   \n",
       "29         NaN              NaN              NaN                      NaN   \n",
       "30         NaN              NaN              NaN                      NaN   \n",
       "31         NaN              NaN              NaN                      NaN   \n",
       "32         NaN              NaN              NaN                      NaN   \n",
       "33         NaN              NaN              NaN                      NaN   \n",
       "34         NaN              NaN              NaN                      NaN   \n",
       "35         NaN              NaN              NaN                      NaN   \n",
       "36         NaN              NaN              NaN                      NaN   \n",
       "37         NaN              NaN              NaN                      NaN   \n",
       "38         NaN              NaN              NaN                      NaN   \n",
       "39         NaN              NaN              NaN                      NaN   \n",
       "40         NaN              NaN              NaN                      NaN   \n",
       "41         NaN              NaN              NaN                      NaN   \n",
       "42         NaN              NaN              NaN                      NaN   \n",
       "43         NaN              NaN              NaN                      NaN   \n",
       "44         NaN              NaN              NaN                      NaN   \n",
       "45         NaN              NaN              NaN                      NaN   \n",
       "46         NaN              NaN              NaN                      NaN   \n",
       "47         NaN              NaN              NaN                      NaN   \n",
       "\n",
       "    Volume dispensed 2 [uL]  Volume dispensed film [uL]  \\\n",
       "0                     300.0                       200.0   \n",
       "1                     300.0                       200.0   \n",
       "2                     300.0                       200.0   \n",
       "3                     300.0                       200.0   \n",
       "4                     300.0                       200.0   \n",
       "5                     300.0                       200.0   \n",
       "6                     300.0                       200.0   \n",
       "7                     300.0                       200.0   \n",
       "8                     300.0                       200.0   \n",
       "9                     300.0                       200.0   \n",
       "10                    300.0                       200.0   \n",
       "11                    300.0                       200.0   \n",
       "12                      NaN                         NaN   \n",
       "13                      NaN                         NaN   \n",
       "14                      NaN                         NaN   \n",
       "15                      NaN                         NaN   \n",
       "16                      NaN                         NaN   \n",
       "17                      NaN                         NaN   \n",
       "18                      NaN                         NaN   \n",
       "19                      NaN                         NaN   \n",
       "20                      NaN                         NaN   \n",
       "21                      NaN                         NaN   \n",
       "22                      NaN                         NaN   \n",
       "23                      NaN                         NaN   \n",
       "24                      NaN                         NaN   \n",
       "25                      NaN                         NaN   \n",
       "26                      NaN                         NaN   \n",
       "27                      NaN                         NaN   \n",
       "28                      NaN                         NaN   \n",
       "29                      NaN                         NaN   \n",
       "30                      NaN                         NaN   \n",
       "31                      NaN                         NaN   \n",
       "32                      NaN                         NaN   \n",
       "33                      NaN                         NaN   \n",
       "34                      NaN                         NaN   \n",
       "35                      NaN                         NaN   \n",
       "36                      NaN                         NaN   \n",
       "37                      NaN                         NaN   \n",
       "38                      NaN                         NaN   \n",
       "39                      NaN                         NaN   \n",
       "40                      NaN                         NaN   \n",
       "41                      NaN                         NaN   \n",
       "42                      NaN                         NaN   \n",
       "43                      NaN                         NaN   \n",
       "44                      NaN                         NaN   \n",
       "45                      NaN                         NaN   \n",
       "46                      NaN                         NaN   \n",
       "47                      NaN                         NaN   \n",
       "\n",
       "    Dispense offset from center X [mm]  Dispense offset from center Y [mm]  \\\n",
       "0                                  0.0                                 0.0   \n",
       "1                                  0.0                                 0.0   \n",
       "2                                  0.0                                 0.0   \n",
       "3                                  0.0                                 0.0   \n",
       "4                                  0.0                                 0.0   \n",
       "5                                  0.0                                 0.0   \n",
       "6                                  0.0                                 0.0   \n",
       "7                                  0.0                                 0.0   \n",
       "8                                  0.0                                 0.0   \n",
       "9                                  0.0                                 0.0   \n",
       "10                                 0.0                                 0.0   \n",
       "11                                 0.0                                 0.0   \n",
       "12                                 NaN                                 NaN   \n",
       "13                                 NaN                                 NaN   \n",
       "14                                 NaN                                 NaN   \n",
       "15                                 NaN                                 NaN   \n",
       "16                                 NaN                                 NaN   \n",
       "17                                 NaN                                 NaN   \n",
       "18                                 NaN                                 NaN   \n",
       "19                                 NaN                                 NaN   \n",
       "20                                 NaN                                 NaN   \n",
       "21                                 NaN                                 NaN   \n",
       "22                                 NaN                                 NaN   \n",
       "23                                 NaN                                 NaN   \n",
       "24                                 NaN                                 NaN   \n",
       "25                                 NaN                                 NaN   \n",
       "26                                 NaN                                 NaN   \n",
       "27                                 NaN                                 NaN   \n",
       "28                                 NaN                                 NaN   \n",
       "29                                 NaN                                 NaN   \n",
       "30                                 NaN                                 NaN   \n",
       "31                                 NaN                                 NaN   \n",
       "32                                 NaN                                 NaN   \n",
       "33                                 NaN                                 NaN   \n",
       "34                                 NaN                                 NaN   \n",
       "35                                 NaN                                 NaN   \n",
       "36                                 NaN                                 NaN   \n",
       "37                                 NaN                                 NaN   \n",
       "38                                 NaN                                 NaN   \n",
       "39                                 NaN                                 NaN   \n",
       "40                                 NaN                                 NaN   \n",
       "41                                 NaN                                 NaN   \n",
       "42                                 NaN                                 NaN   \n",
       "43                                 NaN                                 NaN   \n",
       "44                                 NaN                                 NaN   \n",
       "45                                 NaN                                 NaN   \n",
       "46                                 NaN                                 NaN   \n",
       "47                                 NaN                                 NaN   \n",
       "\n",
       "    Dispense rate [uL/S]  \n",
       "0                 2000.0  \n",
       "1                 2000.0  \n",
       "2                 2000.0  \n",
       "3                 2000.0  \n",
       "4                 2000.0  \n",
       "5                 2000.0  \n",
       "6                 2000.0  \n",
       "7                 2000.0  \n",
       "8                 2000.0  \n",
       "9                 2000.0  \n",
       "10                2000.0  \n",
       "11                2000.0  \n",
       "12                   NaN  \n",
       "13                   NaN  \n",
       "14                   NaN  \n",
       "15                   NaN  \n",
       "16                   NaN  \n",
       "17                   NaN  \n",
       "18                   NaN  \n",
       "19                   NaN  \n",
       "20                   NaN  \n",
       "21                   NaN  \n",
       "22                   NaN  \n",
       "23                   NaN  \n",
       "24                   NaN  \n",
       "25                   NaN  \n",
       "26                   NaN  \n",
       "27                   NaN  \n",
       "28                   NaN  \n",
       "29                   NaN  \n",
       "30                   NaN  \n",
       "31                   NaN  \n",
       "32                   NaN  \n",
       "33                   NaN  \n",
       "34                   NaN  \n",
       "35                   NaN  \n",
       "36                   NaN  \n",
       "37                   NaN  \n",
       "38                   NaN  \n",
       "39                   NaN  \n",
       "40                   NaN  \n",
       "41                   NaN  \n",
       "42                   NaN  \n",
       "43                   NaN  \n",
       "44                   NaN  \n",
       "45                   NaN  \n",
       "46                   NaN  \n",
       "47                   NaN  "
      ]
     },
     "execution_count": 889,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "experiment_def"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 890,
   "id": "cad13cb6-0e99-49e7-9e7b-368657247fdf",
   "metadata": {},
   "outputs": [],
   "source": [
    "### write wrapper code to get sample values extracted from dataframe"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 891,
   "id": "6d5aae7f-d60f-4e87-89f8-35b0d9a58f94",
   "metadata": {},
   "outputs": [],
   "source": [
    "stocks = {\n",
    "    'stock_1': stock_1,\n",
    "    'stock_2': stock_2,\n",
    "    'stock_3': stock_3,\n",
    "    'stock_4': stock_4,\n",
    "    'stock_5': stock_5,\n",
    "    'stock_6': stock_6\n",
    "}\n",
    "\n",
    "samples = [\n",
    "    {\n",
    "        'stock1': stocks.get(row['Stock Location 1'], None),\n",
    "        'stock2': stocks.get(row['Stock Location 2'], None),\n",
    "        'volume1': row['Volume dispensed 1 [uL]'],\n",
    "        'volume2': row['Volume dispensed 2 [uL]'],\n",
    "        'volume_film': row['Volume dispensed film [uL]'],\n",
    "        'dispense_offset': (\n",
    "            float(row['Dispense offset from center X [mm]']) if pd.notnull(row['Dispense offset from center X [mm]']) else None,\n",
    "            float(row['Dispense offset from center Y [mm]']) if pd.notnull(row['Dispense offset from center Y [mm]']) else None\n",
    "        ),\n",
    "        'dispense_rate': row['Dispense rate [uL/S]']\n",
    "    }\n",
    "    for _, row in experiment_def.iterrows()\n",
    "]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 892,
   "id": "96e6f683-9b04-4821-9ba3-80ded25101f6",
   "metadata": {},
   "outputs": [],
   "source": [
    "stock_location = stock_1\n",
    "volume = 200\n",
    "dispense_offset = (2,2)\n",
    "dispense_rate = 20\n",
    "\n",
    "sample_1 = {'stock':stock_1, 'volume':volume, 'dispense_offset':dispense_offset, 'dispense_rate':dispense_rate}"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 893,
   "id": "ec6ee9f1-b0f7-4f6e-b1dc-ba0e6402721d",
   "metadata": {},
   "outputs": [],
   "source": [
    "for i, sample in enumerate(samples):\n",
    "    sample['location'] = sample_wellplate[i]\n",
    "    \n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 894,
   "id": "09d4d5ce",
   "metadata": {},
   "outputs": [],
   "source": [
    "for i, sample in enumerate(samples):\n",
    "    sample['location_mixing'] = mixing_wellplate[i]"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "10310e8a-00a7-403b-b2a9-4e6013503c4f",
   "metadata": {},
   "source": [
    "## Run sample preparation experiment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 895,
   "id": "efdc189d-63d5-44c8-b6fd-610a95942b00",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[{'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(203.16812010181744, 170.8333305167096, 12.5), labware=Well A2 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(203.16812010181744, 170.8333305167096, 12.5), labware=Well A2 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(174.5, 171.0, 12.5), labware=Well A1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(203.16812010181744, 170.8333305167096, 12.5), labware=Well A2 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(260.5043603054523, 170.4999915501288, 12.5), labware=Well A4 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well A8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well A8 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well B1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(174.3372175555951, 143.0004731847877, 12.5), labware=Well B1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well B2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(174.3372175555951, 143.0004731847877, 12.5), labware=Well B1 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well B3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': Location(point=(231.83624020363487, 170.6666610334192, 12.5), labware=Well A3 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'stock2': Location(point=(203.16812010181744, 170.8333305167096, 12.5), labware=Well A2 form 20mLscintillation 12 Well Plate 18000 µL on slot 3),\n",
       "  'volume1': 300.0,\n",
       "  'volume2': 300.0,\n",
       "  'volume_film': 200.0,\n",
       "  'dispense_offset': (0.0, 0.0),\n",
       "  'dispense_rate': 2000.0,\n",
       "  'location': Well B4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well B5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well B6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well B7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well B8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well B8 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well C8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well C8 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well D8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well D8 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well E8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well E8 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F1 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F1 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F2 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F2 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F3 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F3 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F4 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F4 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F5 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F5 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F6 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F6 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F7 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F7 form - 48 Well Plate 2000 µL on slot 4},\n",
       " {'stock1': None,\n",
       "  'stock2': None,\n",
       "  'volume1': nan,\n",
       "  'volume2': nan,\n",
       "  'volume_film': nan,\n",
       "  'dispense_offset': (None, None),\n",
       "  'dispense_rate': nan,\n",
       "  'location': Well F8 form - 48 Well Plate 8000 µL on slot 2,\n",
       "  'location_mixing': Well F8 form - 48 Well Plate 2000 µL on slot 4}]"
      ]
     },
     "execution_count": 895,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "samples"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 896,
   "id": "b1fd434b-645a-4c27-8410-1cc8897c6621",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-100.8"
      ]
     },
     "execution_count": 896,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "P300.tool_offset"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 897,
   "id": "f61f5c15",
   "metadata": {},
   "outputs": [
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mConnectionResetError\u001b[0m                      Traceback (most recent call last)",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:748\u001b[0m, in \u001b[0;36mHTTPResponse._error_catcher\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    747\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 748\u001b[0m     \u001b[38;5;28;01myield\u001b[39;00m\n\u001b[1;32m    750\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m SocketTimeout \u001b[38;5;28;01mas\u001b[39;00m e:\n\u001b[1;32m    751\u001b[0m     \u001b[38;5;66;03m# FIXME: Ideally we'd like to include the url in the ReadTimeoutError but\u001b[39;00m\n\u001b[1;32m    752\u001b[0m     \u001b[38;5;66;03m# there is yet no clean way to get at it from this context.\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:873\u001b[0m, in \u001b[0;36mHTTPResponse._raw_read\u001b[0;34m(self, amt, read1)\u001b[0m\n\u001b[1;32m    872\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_error_catcher():\n\u001b[0;32m--> 873\u001b[0m     data \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_fp_read\u001b[49m\u001b[43m(\u001b[49m\u001b[43mamt\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mread1\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mread1\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m fp_closed \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;124mb\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    874\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m amt \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;129;01mand\u001b[39;00m amt \u001b[38;5;241m!=\u001b[39m \u001b[38;5;241m0\u001b[39m \u001b[38;5;129;01mand\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m data:\n\u001b[1;32m    875\u001b[0m         \u001b[38;5;66;03m# Platform-specific: Buggy versions of Python.\u001b[39;00m\n\u001b[1;32m    876\u001b[0m         \u001b[38;5;66;03m# Close the connection when no data is returned\u001b[39;00m\n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m    881\u001b[0m         \u001b[38;5;66;03m# not properly close the connection in all cases. There is\u001b[39;00m\n\u001b[1;32m    882\u001b[0m         \u001b[38;5;66;03m# no harm in redundantly calling close.\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:856\u001b[0m, in \u001b[0;36mHTTPResponse._fp_read\u001b[0;34m(self, amt, read1)\u001b[0m\n\u001b[1;32m    854\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    855\u001b[0m     \u001b[38;5;66;03m# StringIO doesn't like amt=None\u001b[39;00m\n\u001b[0;32m--> 856\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_fp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mread\u001b[49m\u001b[43m(\u001b[49m\u001b[43mamt\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;28;01mif\u001b[39;00m amt \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_fp\u001b[38;5;241m.\u001b[39mread()\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/http/client.py:466\u001b[0m, in \u001b[0;36mHTTPResponse.read\u001b[0;34m(self, amt)\u001b[0m\n\u001b[1;32m    465\u001b[0m     amt \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlength\n\u001b[0;32m--> 466\u001b[0m s \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mfp\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mread\u001b[49m\u001b[43m(\u001b[49m\u001b[43mamt\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    467\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m s \u001b[38;5;129;01mand\u001b[39;00m amt:\n\u001b[1;32m    468\u001b[0m     \u001b[38;5;66;03m# Ideally, we would raise IncompleteRead if the content-length\u001b[39;00m\n\u001b[1;32m    469\u001b[0m     \u001b[38;5;66;03m# wasn't satisfied, but it might break compatibility.\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/socket.py:705\u001b[0m, in \u001b[0;36mSocketIO.readinto\u001b[0;34m(self, b)\u001b[0m\n\u001b[1;32m    704\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 705\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_sock\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrecv_into\u001b[49m\u001b[43m(\u001b[49m\u001b[43mb\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    706\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m timeout:\n",
      "\u001b[0;31mConnectionResetError\u001b[0m: [Errno 54] Connection reset by peer",
      "\nThe above exception was the direct cause of the following exception:\n",
      "\u001b[0;31mProtocolError\u001b[0m                             Traceback (most recent call last)",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/models.py:820\u001b[0m, in \u001b[0;36mResponse.iter_content.<locals>.generate\u001b[0;34m()\u001b[0m\n\u001b[1;32m    819\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 820\u001b[0m     \u001b[38;5;28;01myield from\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mraw\u001b[38;5;241m.\u001b[39mstream(chunk_size, decode_content\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mTrue\u001b[39;00m)\n\u001b[1;32m    821\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m ProtocolError \u001b[38;5;28;01mas\u001b[39;00m e:\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:1060\u001b[0m, in \u001b[0;36mHTTPResponse.stream\u001b[0;34m(self, amt, decode_content)\u001b[0m\n\u001b[1;32m   1059\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m is_fp_closed(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_fp) \u001b[38;5;129;01mor\u001b[39;00m \u001b[38;5;28mlen\u001b[39m(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_decoded_buffer) \u001b[38;5;241m>\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[0;32m-> 1060\u001b[0m     data \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mread\u001b[49m\u001b[43m(\u001b[49m\u001b[43mamt\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mamt\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdecode_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mdecode_content\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   1062\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m data:\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:949\u001b[0m, in \u001b[0;36mHTTPResponse.read\u001b[0;34m(self, amt, decode_content, cache_content)\u001b[0m\n\u001b[1;32m    947\u001b[0m         \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_decoded_buffer\u001b[38;5;241m.\u001b[39mget(amt)\n\u001b[0;32m--> 949\u001b[0m data \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_raw_read\u001b[49m\u001b[43m(\u001b[49m\u001b[43mamt\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    951\u001b[0m flush_decoder \u001b[38;5;241m=\u001b[39m amt \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;129;01mor\u001b[39;00m (amt \u001b[38;5;241m!=\u001b[39m \u001b[38;5;241m0\u001b[39m \u001b[38;5;129;01mand\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m data)\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:872\u001b[0m, in \u001b[0;36mHTTPResponse._raw_read\u001b[0;34m(self, amt, read1)\u001b[0m\n\u001b[1;32m    870\u001b[0m fp_closed \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mgetattr\u001b[39m(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_fp, \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mclosed\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;28;01mFalse\u001b[39;00m)\n\u001b[0;32m--> 872\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_error_catcher():\n\u001b[1;32m    873\u001b[0m     data \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_fp_read(amt, read1\u001b[38;5;241m=\u001b[39mread1) \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m fp_closed \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;124mb\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m\"\u001b[39m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/contextlib.py:153\u001b[0m, in \u001b[0;36m_GeneratorContextManager.__exit__\u001b[0;34m(self, typ, value, traceback)\u001b[0m\n\u001b[1;32m    152\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 153\u001b[0m     \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mgen\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mthrow\u001b[49m\u001b[43m(\u001b[49m\u001b[43mtyp\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mvalue\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mtraceback\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    154\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m \u001b[38;5;167;01mStopIteration\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m exc:\n\u001b[1;32m    155\u001b[0m     \u001b[38;5;66;03m# Suppress StopIteration *unless* it's the same exception that\u001b[39;00m\n\u001b[1;32m    156\u001b[0m     \u001b[38;5;66;03m# was passed to throw().  This prevents a StopIteration\u001b[39;00m\n\u001b[1;32m    157\u001b[0m     \u001b[38;5;66;03m# raised inside the \"with\" statement from being suppressed.\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/response.py:775\u001b[0m, in \u001b[0;36mHTTPResponse._error_catcher\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    774\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m (HTTPException, \u001b[38;5;167;01mOSError\u001b[39;00m) \u001b[38;5;28;01mas\u001b[39;00m e:\n\u001b[0;32m--> 775\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ProtocolError(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mConnection broken: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00me\u001b[38;5;132;01m!r}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m, e) \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01me\u001b[39;00m\n\u001b[1;32m    777\u001b[0m \u001b[38;5;66;03m# If no exception is thrown, we should avoid cleaning up\u001b[39;00m\n\u001b[1;32m    778\u001b[0m \u001b[38;5;66;03m# unnecessarily.\u001b[39;00m\n",
      "\u001b[0;31mProtocolError\u001b[0m: (\"Connection broken: ConnectionResetError(54, 'Connection reset by peer')\", ConnectionResetError(54, 'Connection reset by peer'))",
      "\nDuring handling of the above exception, another exception occurred:\n",
      "\u001b[0;31mChunkedEncodingError\u001b[0m                      Traceback (most recent call last)",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:466\u001b[0m, in \u001b[0;36mMachine.gcode\u001b[0;34m(self, cmd, timeout, response_wait)\u001b[0m\n\u001b[1;32m    464\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[1;32m    465\u001b[0m     \u001b[38;5;66;03m# Try sending the command with requests.post\u001b[39;00m\n\u001b[0;32m--> 466\u001b[0m     response \u001b[38;5;241m=\u001b[39m \u001b[43mrequests\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mpost\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    467\u001b[0m \u001b[43m        \u001b[49m\u001b[38;5;124;43mf\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mhttp://\u001b[39;49m\u001b[38;5;132;43;01m{\u001b[39;49;00m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43maddress\u001b[49m\u001b[38;5;132;43;01m}\u001b[39;49;00m\u001b[38;5;124;43m/machine/code\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdata\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;124;43mf\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;132;43;01m{\u001b[39;49;00m\u001b[43mcmd\u001b[49m\u001b[38;5;132;43;01m}\u001b[39;49;00m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mtimeout\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mtimeout\u001b[49m\n\u001b[1;32m    468\u001b[0m \u001b[43m    \u001b[49m\u001b[43m)\u001b[49m\u001b[38;5;241m.\u001b[39mtext\n\u001b[1;32m    469\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mrejected\u001b[39m\u001b[38;5;124m\"\u001b[39m \u001b[38;5;129;01min\u001b[39;00m response:\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/api.py:115\u001b[0m, in \u001b[0;36mpost\u001b[0;34m(url, data, json, **kwargs)\u001b[0m\n\u001b[1;32m    104\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124mr\u001b[39m\u001b[38;5;124;03m\"\"\"Sends a POST request.\u001b[39;00m\n\u001b[1;32m    105\u001b[0m \n\u001b[1;32m    106\u001b[0m \u001b[38;5;124;03m:param url: URL for the new :class:`Request` object.\u001b[39;00m\n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m    112\u001b[0m \u001b[38;5;124;03m:rtype: requests.Response\u001b[39;00m\n\u001b[1;32m    113\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[0;32m--> 115\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mrequest\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mpost\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdata\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mdata\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mjson\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjson\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/api.py:59\u001b[0m, in \u001b[0;36mrequest\u001b[0;34m(method, url, **kwargs)\u001b[0m\n\u001b[1;32m     58\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m sessions\u001b[38;5;241m.\u001b[39mSession() \u001b[38;5;28;01mas\u001b[39;00m session:\n\u001b[0;32m---> 59\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43msession\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[43m(\u001b[49m\u001b[43mmethod\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mmethod\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43murl\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/sessions.py:589\u001b[0m, in \u001b[0;36mSession.request\u001b[0;34m(self, method, url, params, data, headers, cookies, files, auth, timeout, allow_redirects, proxies, hooks, stream, verify, cert, json)\u001b[0m\n\u001b[1;32m    588\u001b[0m send_kwargs\u001b[38;5;241m.\u001b[39mupdate(settings)\n\u001b[0;32m--> 589\u001b[0m resp \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msend\u001b[49m\u001b[43m(\u001b[49m\u001b[43mprep\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43msend_kwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    591\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m resp\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/sessions.py:746\u001b[0m, in \u001b[0;36mSession.send\u001b[0;34m(self, request, **kwargs)\u001b[0m\n\u001b[1;32m    745\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m stream:\n\u001b[0;32m--> 746\u001b[0m     \u001b[43mr\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcontent\u001b[49m\n\u001b[1;32m    748\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m r\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/models.py:902\u001b[0m, in \u001b[0;36mResponse.content\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    901\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[0;32m--> 902\u001b[0m         \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_content \u001b[38;5;241m=\u001b[39m \u001b[38;5;124;43mb\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mjoin\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43miter_content\u001b[49m\u001b[43m(\u001b[49m\u001b[43mCONTENT_CHUNK_SIZE\u001b[49m\u001b[43m)\u001b[49m\u001b[43m)\u001b[49m \u001b[38;5;129;01mor\u001b[39;00m \u001b[38;5;124mb\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    904\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_content_consumed \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mTrue\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/models.py:822\u001b[0m, in \u001b[0;36mResponse.iter_content.<locals>.generate\u001b[0;34m()\u001b[0m\n\u001b[1;32m    821\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m ProtocolError \u001b[38;5;28;01mas\u001b[39;00m e:\n\u001b[0;32m--> 822\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ChunkedEncodingError(e)\n\u001b[1;32m    823\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m DecodeError \u001b[38;5;28;01mas\u001b[39;00m e:\n",
      "\u001b[0;31mChunkedEncodingError\u001b[0m: (\"Connection broken: ConnectionResetError(54, 'Connection reset by peer')\", ConnectionResetError(54, 'Connection reset by peer'))",
      "\nDuring handling of the above exception, another exception occurred:\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[897], line 53\u001b[0m\n\u001b[1;32m     51\u001b[0m i \u001b[38;5;241m+\u001b[39m\u001b[38;5;241m=\u001b[39m \u001b[38;5;241m1\u001b[39m\n\u001b[1;32m     52\u001b[0m P300\u001b[38;5;241m.\u001b[39maspirate(volume_1, solution_1)\n\u001b[0;32m---> 53\u001b[0m \u001b[43mP300\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdispense\u001b[49m\u001b[43m(\u001b[49m\u001b[43mvolume_1\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mlocation_mixing\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     54\u001b[0m P300\u001b[38;5;241m.\u001b[39mreturn_tip(tip)\n\u001b[1;32m     55\u001b[0m P300\u001b[38;5;241m.\u001b[39mpickup_tip()\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Tool.py:49\u001b[0m, in \u001b[0;36mrequires_active_tool.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     45\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     46\u001b[0m         \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: Tool \u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mname\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m is not the current `Active Tool`. Cannot perform this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     47\u001b[0m     )\n\u001b[1;32m     48\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[0;32m---> 49\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mfunc\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Pipette.py:27\u001b[0m, in \u001b[0;36mtip_check.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     23\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     24\u001b[0m         \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: No tip is attached. Cannot complete this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     25\u001b[0m     )\n\u001b[1;32m     26\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[0;32m---> 27\u001b[0m     \u001b[43mfunc\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Pipette.py:241\u001b[0m, in \u001b[0;36mPipette.dispense\u001b[0;34m(self, vol, location, s)\u001b[0m\n\u001b[1;32m    238\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    239\u001b[0m     \u001b[38;5;28;01mpass\u001b[39;00m\n\u001b[0;32m--> 241\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_machine\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msafe_z_movement\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    242\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_machine\u001b[38;5;241m.\u001b[39mmove_to(x\u001b[38;5;241m=\u001b[39mx, y\u001b[38;5;241m=\u001b[39my)\n\u001b[1;32m    243\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_machine\u001b[38;5;241m.\u001b[39mmove_to(z\u001b[38;5;241m=\u001b[39mz)\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:833\u001b[0m, in \u001b[0;36mMachine.safe_z_movement\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    831\u001b[0m safe_z \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mdeck\u001b[38;5;241m.\u001b[39msafe_z\n\u001b[1;32m    832\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mfloat\u001b[39m(current_z) \u001b[38;5;241m<\u001b[39m safe_z:\n\u001b[0;32m--> 833\u001b[0m     \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mmove_to\u001b[49m\u001b[43m(\u001b[49m\u001b[43mz\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43msafe_z\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m+\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;241;43m20\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m    834\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    835\u001b[0m     \u001b[38;5;28;01mpass\u001b[39;00m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:749\u001b[0m, in \u001b[0;36mMachine.move_to\u001b[0;34m(self, x, y, z, e, v, s, param, wait)\u001b[0m\n\u001b[1;32m    731\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124;03m\"\"\"Move to an absolute X/Y/Z/E/V position.\u001b[39;00m\n\u001b[1;32m    732\u001b[0m \n\u001b[1;32m    733\u001b[0m \u001b[38;5;124;03m:param x: x position on the bed, in whatever units have been set (default mm)\u001b[39;00m\n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m    745\u001b[0m \n\u001b[1;32m    746\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    747\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_set_absolute_positioning()\n\u001b[0;32m--> 749\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_move_xyzev\u001b[49m\u001b[43m(\u001b[49m\u001b[43mx\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mx\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43my\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43my\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mz\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mz\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43me\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43me\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mv\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mv\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ms\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43ms\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mparam\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mparam\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mwait\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mwait\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:56\u001b[0m, in \u001b[0;36mmachine_homed.<locals>.homing_check\u001b[0;34m(self, *args, **kwds)\u001b[0m\n\u001b[1;32m     54\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m func(\u001b[38;5;28mself\u001b[39m, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwds)\n\u001b[1;32m     55\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maxes_homed \u001b[38;5;129;01mand\u001b[39;00m \u001b[38;5;28mall\u001b[39m(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maxes_homed):\n\u001b[0;32m---> 56\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mfunc\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwds\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     57\u001b[0m \u001b[38;5;66;03m# Request homing status from the object model if not known.\u001b[39;00m\n\u001b[1;32m     58\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maxes_homed \u001b[38;5;241m=\u001b[39m json\u001b[38;5;241m.\u001b[39mloads(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mgcode(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mM409 K\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mmove.axes[].homed\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m'\u001b[39m))[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mresult\u001b[39m\u001b[38;5;124m\"\u001b[39m]\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:716\u001b[0m, in \u001b[0;36mMachine._move_xyzev\u001b[0;34m(self, x, y, z, e, v, s, param, wait)\u001b[0m\n\u001b[1;32m    713\u001b[0m     param_cmd \u001b[38;5;241m=\u001b[39m param\n\u001b[1;32m    715\u001b[0m cmd \u001b[38;5;241m=\u001b[39m \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mG0 \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mz_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mx_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00my_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00me_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mv_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mf_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mparam_cmd\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m\n\u001b[0;32m--> 716\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mgcode\u001b[49m\u001b[43m(\u001b[49m\u001b[43mcmd\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    717\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m wait:\n\u001b[1;32m    718\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mgcode(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mM400\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/Machine.py:488\u001b[0m, in \u001b[0;36mMachine.gcode\u001b[0;34m(self, cmd, timeout, response_wait)\u001b[0m\n\u001b[1;32m    486\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m \u001b[38;5;28;01mTrue\u001b[39;00m:\n\u001b[1;32m    487\u001b[0m     \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 488\u001b[0m         new_reply_count \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msession\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mget\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    489\u001b[0m \u001b[43m            \u001b[49m\u001b[38;5;124;43mf\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mhttp://\u001b[39;49m\u001b[38;5;132;43;01m{\u001b[39;49;00m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43maddress\u001b[49m\u001b[38;5;132;43;01m}\u001b[39;49;00m\u001b[38;5;124;43m/rr_model?key=seqs\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\n\u001b[1;32m    490\u001b[0m \u001b[43m        \u001b[49m\u001b[43m)\u001b[49m\u001b[38;5;241m.\u001b[39mjson()[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mresult\u001b[39m\u001b[38;5;124m\"\u001b[39m][\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mreply\u001b[39m\u001b[38;5;124m\"\u001b[39m]\n\u001b[1;32m    491\u001b[0m         \u001b[38;5;28;01mif\u001b[39;00m new_reply_count \u001b[38;5;241m!=\u001b[39m reply_count:\n\u001b[1;32m    492\u001b[0m             response \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39msession\u001b[38;5;241m.\u001b[39mget(\n\u001b[1;32m    493\u001b[0m                 \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mhttp://\u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39maddress\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m/rr_reply\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m    494\u001b[0m             )\u001b[38;5;241m.\u001b[39mtext\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/sessions.py:602\u001b[0m, in \u001b[0;36mSession.get\u001b[0;34m(self, url, **kwargs)\u001b[0m\n\u001b[1;32m    594\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124mr\u001b[39m\u001b[38;5;124;03m\"\"\"Sends a GET request. Returns :class:`Response` object.\u001b[39;00m\n\u001b[1;32m    595\u001b[0m \n\u001b[1;32m    596\u001b[0m \u001b[38;5;124;03m:param url: URL for the new :class:`Request` object.\u001b[39;00m\n\u001b[1;32m    597\u001b[0m \u001b[38;5;124;03m:param \\*\\*kwargs: Optional arguments that ``request`` takes.\u001b[39;00m\n\u001b[1;32m    598\u001b[0m \u001b[38;5;124;03m:rtype: requests.Response\u001b[39;00m\n\u001b[1;32m    599\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    601\u001b[0m kwargs\u001b[38;5;241m.\u001b[39msetdefault(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mallow_redirects\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;28;01mTrue\u001b[39;00m)\n\u001b[0;32m--> 602\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mGET\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/sessions.py:589\u001b[0m, in \u001b[0;36mSession.request\u001b[0;34m(self, method, url, params, data, headers, cookies, files, auth, timeout, allow_redirects, proxies, hooks, stream, verify, cert, json)\u001b[0m\n\u001b[1;32m    584\u001b[0m send_kwargs \u001b[38;5;241m=\u001b[39m {\n\u001b[1;32m    585\u001b[0m     \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtimeout\u001b[39m\u001b[38;5;124m\"\u001b[39m: timeout,\n\u001b[1;32m    586\u001b[0m     \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mallow_redirects\u001b[39m\u001b[38;5;124m\"\u001b[39m: allow_redirects,\n\u001b[1;32m    587\u001b[0m }\n\u001b[1;32m    588\u001b[0m send_kwargs\u001b[38;5;241m.\u001b[39mupdate(settings)\n\u001b[0;32m--> 589\u001b[0m resp \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msend\u001b[49m\u001b[43m(\u001b[49m\u001b[43mprep\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43msend_kwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    591\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m resp\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/sessions.py:703\u001b[0m, in \u001b[0;36mSession.send\u001b[0;34m(self, request, **kwargs)\u001b[0m\n\u001b[1;32m    700\u001b[0m start \u001b[38;5;241m=\u001b[39m preferred_clock()\n\u001b[1;32m    702\u001b[0m \u001b[38;5;66;03m# Send the request\u001b[39;00m\n\u001b[0;32m--> 703\u001b[0m r \u001b[38;5;241m=\u001b[39m \u001b[43madapter\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msend\u001b[49m\u001b[43m(\u001b[49m\u001b[43mrequest\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    705\u001b[0m \u001b[38;5;66;03m# Total elapsed time of the request (approximately)\u001b[39;00m\n\u001b[1;32m    706\u001b[0m elapsed \u001b[38;5;241m=\u001b[39m preferred_clock() \u001b[38;5;241m-\u001b[39m start\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/requests/adapters.py:667\u001b[0m, in \u001b[0;36mHTTPAdapter.send\u001b[0;34m(self, request, stream, timeout, verify, cert, proxies)\u001b[0m\n\u001b[1;32m    664\u001b[0m     timeout \u001b[38;5;241m=\u001b[39m TimeoutSauce(connect\u001b[38;5;241m=\u001b[39mtimeout, read\u001b[38;5;241m=\u001b[39mtimeout)\n\u001b[1;32m    666\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 667\u001b[0m     resp \u001b[38;5;241m=\u001b[39m \u001b[43mconn\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43murlopen\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    668\u001b[0m \u001b[43m        \u001b[49m\u001b[43mmethod\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mmethod\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    669\u001b[0m \u001b[43m        \u001b[49m\u001b[43murl\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    670\u001b[0m \u001b[43m        \u001b[49m\u001b[43mbody\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mbody\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    671\u001b[0m \u001b[43m        \u001b[49m\u001b[43mheaders\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mheaders\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    672\u001b[0m \u001b[43m        \u001b[49m\u001b[43mredirect\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mFalse\u001b[39;49;00m\u001b[43m,\u001b[49m\n\u001b[1;32m    673\u001b[0m \u001b[43m        \u001b[49m\u001b[43massert_same_host\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mFalse\u001b[39;49;00m\u001b[43m,\u001b[49m\n\u001b[1;32m    674\u001b[0m \u001b[43m        \u001b[49m\u001b[43mpreload_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mFalse\u001b[39;49;00m\u001b[43m,\u001b[49m\n\u001b[1;32m    675\u001b[0m \u001b[43m        \u001b[49m\u001b[43mdecode_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mFalse\u001b[39;49;00m\u001b[43m,\u001b[49m\n\u001b[1;32m    676\u001b[0m \u001b[43m        \u001b[49m\u001b[43mretries\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mmax_retries\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    677\u001b[0m \u001b[43m        \u001b[49m\u001b[43mtimeout\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mtimeout\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    678\u001b[0m \u001b[43m        \u001b[49m\u001b[43mchunked\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mchunked\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    679\u001b[0m \u001b[43m    \u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    681\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m (ProtocolError, \u001b[38;5;167;01mOSError\u001b[39;00m) \u001b[38;5;28;01mas\u001b[39;00m err:\n\u001b[1;32m    682\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mConnectionError\u001b[39;00m(err, request\u001b[38;5;241m=\u001b[39mrequest)\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/connectionpool.py:789\u001b[0m, in \u001b[0;36mHTTPConnectionPool.urlopen\u001b[0;34m(self, method, url, body, headers, retries, redirect, assert_same_host, timeout, pool_timeout, release_conn, chunked, body_pos, preload_content, decode_content, **response_kw)\u001b[0m\n\u001b[1;32m    786\u001b[0m response_conn \u001b[38;5;241m=\u001b[39m conn \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m release_conn \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m\n\u001b[1;32m    788\u001b[0m \u001b[38;5;66;03m# Make the request on the HTTPConnection object\u001b[39;00m\n\u001b[0;32m--> 789\u001b[0m response \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_make_request\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    790\u001b[0m \u001b[43m    \u001b[49m\u001b[43mconn\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    791\u001b[0m \u001b[43m    \u001b[49m\u001b[43mmethod\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    792\u001b[0m \u001b[43m    \u001b[49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    793\u001b[0m \u001b[43m    \u001b[49m\u001b[43mtimeout\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mtimeout_obj\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    794\u001b[0m \u001b[43m    \u001b[49m\u001b[43mbody\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mbody\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    795\u001b[0m \u001b[43m    \u001b[49m\u001b[43mheaders\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mheaders\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    796\u001b[0m \u001b[43m    \u001b[49m\u001b[43mchunked\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mchunked\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    797\u001b[0m \u001b[43m    \u001b[49m\u001b[43mretries\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mretries\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    798\u001b[0m \u001b[43m    \u001b[49m\u001b[43mresponse_conn\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mresponse_conn\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    799\u001b[0m \u001b[43m    \u001b[49m\u001b[43mpreload_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mpreload_content\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    800\u001b[0m \u001b[43m    \u001b[49m\u001b[43mdecode_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mdecode_content\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    801\u001b[0m \u001b[43m    \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mresponse_kw\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    802\u001b[0m \u001b[43m\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    804\u001b[0m \u001b[38;5;66;03m# Everything went great!\u001b[39;00m\n\u001b[1;32m    805\u001b[0m clean_exit \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mTrue\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/connectionpool.py:495\u001b[0m, in \u001b[0;36mHTTPConnectionPool._make_request\u001b[0;34m(self, conn, method, url, body, headers, retries, timeout, chunked, response_conn, preload_content, decode_content, enforce_content_length)\u001b[0m\n\u001b[1;32m    492\u001b[0m \u001b[38;5;66;03m# conn.request() calls http.client.*.request, not the method in\u001b[39;00m\n\u001b[1;32m    493\u001b[0m \u001b[38;5;66;03m# urllib3.request. It also calls makefile (recv) on the socket.\u001b[39;00m\n\u001b[1;32m    494\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 495\u001b[0m     \u001b[43mconn\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrequest\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    496\u001b[0m \u001b[43m        \u001b[49m\u001b[43mmethod\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    497\u001b[0m \u001b[43m        \u001b[49m\u001b[43murl\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    498\u001b[0m \u001b[43m        \u001b[49m\u001b[43mbody\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mbody\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    499\u001b[0m \u001b[43m        \u001b[49m\u001b[43mheaders\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mheaders\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    500\u001b[0m \u001b[43m        \u001b[49m\u001b[43mchunked\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mchunked\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    501\u001b[0m \u001b[43m        \u001b[49m\u001b[43mpreload_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mpreload_content\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    502\u001b[0m \u001b[43m        \u001b[49m\u001b[43mdecode_content\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mdecode_content\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    503\u001b[0m \u001b[43m        \u001b[49m\u001b[43menforce_content_length\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43menforce_content_length\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    504\u001b[0m \u001b[43m    \u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    506\u001b[0m \u001b[38;5;66;03m# We are swallowing BrokenPipeError (errno.EPIPE) since the server is\u001b[39;00m\n\u001b[1;32m    507\u001b[0m \u001b[38;5;66;03m# legitimately able to close the connection after sending a valid response.\u001b[39;00m\n\u001b[1;32m    508\u001b[0m \u001b[38;5;66;03m# With this behaviour, the received response is still readable.\u001b[39;00m\n\u001b[1;32m    509\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m \u001b[38;5;167;01mBrokenPipeError\u001b[39;00m:\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/connection.py:398\u001b[0m, in \u001b[0;36mHTTPConnection.request\u001b[0;34m(self, method, url, body, headers, chunked, preload_content, decode_content, enforce_content_length)\u001b[0m\n\u001b[1;32m    396\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m header, value \u001b[38;5;129;01min\u001b[39;00m headers\u001b[38;5;241m.\u001b[39mitems():\n\u001b[1;32m    397\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mputheader(header, value)\n\u001b[0;32m--> 398\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mendheaders\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    400\u001b[0m \u001b[38;5;66;03m# If we're given a body we start sending that in chunks.\u001b[39;00m\n\u001b[1;32m    401\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m chunks \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/http/client.py:1278\u001b[0m, in \u001b[0;36mHTTPConnection.endheaders\u001b[0;34m(self, message_body, encode_chunked)\u001b[0m\n\u001b[1;32m   1276\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m   1277\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m CannotSendHeader()\n\u001b[0;32m-> 1278\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_send_output\u001b[49m\u001b[43m(\u001b[49m\u001b[43mmessage_body\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mencode_chunked\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mencode_chunked\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/http/client.py:1038\u001b[0m, in \u001b[0;36mHTTPConnection._send_output\u001b[0;34m(self, message_body, encode_chunked)\u001b[0m\n\u001b[1;32m   1036\u001b[0m msg \u001b[38;5;241m=\u001b[39m \u001b[38;5;124mb\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;130;01m\\r\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_buffer)\n\u001b[1;32m   1037\u001b[0m \u001b[38;5;28;01mdel\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_buffer[:]\n\u001b[0;32m-> 1038\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msend\u001b[49m\u001b[43m(\u001b[49m\u001b[43mmsg\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   1040\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m message_body \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m   1041\u001b[0m \n\u001b[1;32m   1042\u001b[0m     \u001b[38;5;66;03m# create a consistent interface to message_body\u001b[39;00m\n\u001b[1;32m   1043\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mhasattr\u001b[39m(message_body, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mread\u001b[39m\u001b[38;5;124m'\u001b[39m):\n\u001b[1;32m   1044\u001b[0m         \u001b[38;5;66;03m# Let file-like take precedence over byte-like.  This\u001b[39;00m\n\u001b[1;32m   1045\u001b[0m         \u001b[38;5;66;03m# is needed to allow the current position of mmap'ed\u001b[39;00m\n\u001b[1;32m   1046\u001b[0m         \u001b[38;5;66;03m# files to be taken into account.\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/http/client.py:976\u001b[0m, in \u001b[0;36mHTTPConnection.send\u001b[0;34m(self, data)\u001b[0m\n\u001b[1;32m    974\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39msock \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[1;32m    975\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mauto_open:\n\u001b[0;32m--> 976\u001b[0m         \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mconnect\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    977\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m    978\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m NotConnected()\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/connection.py:236\u001b[0m, in \u001b[0;36mHTTPConnection.connect\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    235\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mconnect\u001b[39m(\u001b[38;5;28mself\u001b[39m) \u001b[38;5;241m-\u001b[39m\u001b[38;5;241m>\u001b[39m \u001b[38;5;28;01mNone\u001b[39;00m:\n\u001b[0;32m--> 236\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39msock \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_new_conn\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    237\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_tunnel_host:\n\u001b[1;32m    238\u001b[0m         \u001b[38;5;66;03m# If we're tunneling it means we're connected to our proxy.\u001b[39;00m\n\u001b[1;32m    239\u001b[0m         \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_has_connected_to_proxy \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mTrue\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/connection.py:196\u001b[0m, in \u001b[0;36mHTTPConnection._new_conn\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    191\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124;03m\"\"\"Establish a socket connection and set nodelay settings on it.\u001b[39;00m\n\u001b[1;32m    192\u001b[0m \n\u001b[1;32m    193\u001b[0m \u001b[38;5;124;03m:return: New socket connection.\u001b[39;00m\n\u001b[1;32m    194\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m    195\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m--> 196\u001b[0m     sock \u001b[38;5;241m=\u001b[39m \u001b[43mconnection\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcreate_connection\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m    197\u001b[0m \u001b[43m        \u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_dns_host\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mport\u001b[49m\u001b[43m)\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    198\u001b[0m \u001b[43m        \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mtimeout\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    199\u001b[0m \u001b[43m        \u001b[49m\u001b[43msource_address\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msource_address\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    200\u001b[0m \u001b[43m        \u001b[49m\u001b[43msocket_options\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msocket_options\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m    201\u001b[0m \u001b[43m    \u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    202\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m socket\u001b[38;5;241m.\u001b[39mgaierror \u001b[38;5;28;01mas\u001b[39;00m e:\n\u001b[1;32m    203\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m NameResolutionError(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mhost, \u001b[38;5;28mself\u001b[39m, e) \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01me\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/site-packages/urllib3/util/connection.py:60\u001b[0m, in \u001b[0;36mcreate_connection\u001b[0;34m(address, timeout, source_address, socket_options)\u001b[0m\n\u001b[1;32m     57\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m \u001b[38;5;167;01mUnicodeError\u001b[39;00m:\n\u001b[1;32m     58\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m LocationParseError(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mhost\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m, label empty or too long\u001b[39m\u001b[38;5;124m\"\u001b[39m) \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m\n\u001b[0;32m---> 60\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m res \u001b[38;5;129;01min\u001b[39;00m \u001b[43msocket\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mgetaddrinfo\u001b[49m\u001b[43m(\u001b[49m\u001b[43mhost\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mport\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mfamily\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43msocket\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mSOCK_STREAM\u001b[49m\u001b[43m)\u001b[49m:\n\u001b[1;32m     61\u001b[0m     af, socktype, proto, canonname, sa \u001b[38;5;241m=\u001b[39m res\n\u001b[1;32m     62\u001b[0m     sock \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mNone\u001b[39;00m\n",
      "File \u001b[0;32m~/miniconda3/envs/jubilee/lib/python3.10/socket.py:955\u001b[0m, in \u001b[0;36mgetaddrinfo\u001b[0;34m(host, port, family, type, proto, flags)\u001b[0m\n\u001b[1;32m    952\u001b[0m \u001b[38;5;66;03m# We override this function since we want to translate the numeric family\u001b[39;00m\n\u001b[1;32m    953\u001b[0m \u001b[38;5;66;03m# and socket type values to enum constants.\u001b[39;00m\n\u001b[1;32m    954\u001b[0m addrlist \u001b[38;5;241m=\u001b[39m []\n\u001b[0;32m--> 955\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m res \u001b[38;5;129;01min\u001b[39;00m \u001b[43m_socket\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mgetaddrinfo\u001b[49m\u001b[43m(\u001b[49m\u001b[43mhost\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mport\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mfamily\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mtype\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mproto\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mflags\u001b[49m\u001b[43m)\u001b[49m:\n\u001b[1;32m    956\u001b[0m     af, socktype, proto, canonname, sa \u001b[38;5;241m=\u001b[39m res\n\u001b[1;32m    957\u001b[0m     addrlist\u001b[38;5;241m.\u001b[39mappend((_intenum_converter(af, AddressFamily),\n\u001b[1;32m    958\u001b[0m                      _intenum_converter(socktype, SocketKind),\n\u001b[1;32m    959\u001b[0m                      proto, canonname, sa))\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    }
   ],
   "source": [
    "jubilee.pickup_tool(P300)\n",
    "\n",
    "i=0\n",
    "stock_tips = {\n",
    "    'stock_1': None,\n",
    "    'stock_2': None,\n",
    "    'stock_3': None\n",
    "}\n",
    "        \n",
    "\n",
    "for sample in samples:\n",
    "    solution_1 = sample['stock1']\n",
    "    solution_2 = sample['stock2']\n",
    "    volume_1 = sample['volume1']\n",
    "    volume_2 = sample['volume2']\n",
    "    volume_film = sample['volume_film']\n",
    "    dispense_offset = sample['dispense_offset']\n",
    "    dispense_rate = sample['dispense_rate']\n",
    "    location = sample['location']\n",
    "    location_mixing = sample['location_mixing']\n",
    "    location.x += dispense_offset[0]\n",
    "    location.y += dispense_offset[1]\n",
    "    location.bottom(+20)\n",
    "\n",
    "    if solution_1 == stock_1 and stock_tips['stock_1'] is None:\n",
    "        P300.pickup_tip()\n",
    "        tip_1 = tiprack[i]\n",
    "        tip = tiprack[i]\n",
    "        stock_tips['stock_1'] = 1\n",
    "    elif solution_1 == stock_2 and stock_tips['stock_2'] is None:\n",
    "        P300.pickup_tip()\n",
    "        tip_2 = tiprack[i]\n",
    "        tip = tiprack[i]\n",
    "        stock_tips['stock_2'] = 1\n",
    "    elif solution_1 == stock_3 and stock_tips['stock_3'] is None:\n",
    "        P300.pickup_tip()\n",
    "        tip_3 = tiprack[i]\n",
    "        tip = tiprack[i]\n",
    "        stock_tips['stock_3'] = 1\n",
    "    else:\n",
    "        if solution_1 == stock_1:\n",
    "            P300.pickup_tip(tip_1)\n",
    "            tip = tip_1\n",
    "        if solution_1 == stock_2:\n",
    "            P300.pickup_tip(tip_2)\n",
    "            tip = tip_2\n",
    "        if solution_1 == stock_3:\n",
    "            P300.pickup_tip(tip_3)\n",
    "            tip = tip_3\n",
    "\n",
    "    i += 1\n",
    "    P300.aspirate(volume_1, solution_1)\n",
    "    P300.dispense(volume_1, location_mixing)\n",
    "    P300.return_tip(tip)\n",
    "    P300.pickup_tip()\n",
    "    P300.aspirate(volume_2, solution_2)\n",
    "    P300.dispense(volume_2, location_mixing)\n",
    "\n",
    "    for _ in range(3):\n",
    "        P300.aspirate(volume_2, location_mixing)\n",
    "        P300.dispense(volume_2, location_mixing)\n",
    "\n",
    "    P300.aspirate(volume_film, location_mixing)\n",
    "    P300.dispense(volume_film, location, s=dispense_rate)\n",
    "    P300.drop_tip()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "id": "ab627263-5288-45a9-8c68-9675dc321fd7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1"
      ]
     },
     "execution_count": 58,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "P300.index"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 643,
   "id": "a5ce70b6-cdc7-4887-ac65-106a562f7ceb",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-100.8"
      ]
     },
     "execution_count": 643,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "P300.tool_offset"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 873,
   "id": "387e75d0-28a5-42f7-85ea-67f5c2f064ff",
   "metadata": {},
   "outputs": [],
   "source": [
    "jubilee.park_tool()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 672,
   "id": "f7cbc8c1-8dcb-4edd-981a-1eaf0ea331a7",
   "metadata": {},
   "outputs": [],
   "source": [
    "jubilee.pickup_tool(P300)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 295,
   "id": "efb1bc02-db96-4830-97ae-094fd37f4a87",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Location(point=(41.2, 178.76999999999998, 22.41), labware=Well A1 form Falcon 48 Well Plate 1500 µL on slot 2)"
      ]
     },
     "execution_count": 295,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "stock = stock_1\n",
    "volume = 200\n",
    "dispense_offset = (0,0)\n",
    "dispense_rate = 1000\n",
    "location = sample_wellplate[0]\n",
    "\n",
    "location.x = location.x + dispense_offset[0]\n",
    "location.y = location.y + dispense_offset[1]\n",
    "location.bottom(+20)\n",
    "\n",
    "#convert dispense rate into mL/minute"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 296,
   "id": "d2613555-b22e-418e-b2b4-9e1bc7949f55",
   "metadata": {},
   "outputs": [],
   "source": [
    "P300.pickup_tip()\n",
    "P300.aspirate(volume, stock)\n",
    "\n",
    "P300.dispense(volume, location, s = dispense_rate)\n",
    "P300.drop_tip()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 872,
   "id": "dad5645e-f012-4a33-9ae3-68dda3291ccb",
   "metadata": {},
   "outputs": [
    {
     "ename": "ToolStateError",
     "evalue": "Error: No tip is attached. Cannot complete this action",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mToolStateError\u001b[0m                            Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[872], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43mP300\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdrop_tip\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Tool.py:49\u001b[0m, in \u001b[0;36mrequires_active_tool.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     45\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     46\u001b[0m         \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: Tool \u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mname\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m is not the current `Active Tool`. Cannot perform this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     47\u001b[0m     )\n\u001b[1;32m     48\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[0;32m---> 49\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mfunc\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Pipette.py:23\u001b[0m, in \u001b[0;36mtip_check.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     21\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mwrapper\u001b[39m(\u001b[38;5;28mself\u001b[39m, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs):\n\u001b[1;32m     22\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mhas_tip \u001b[38;5;241m==\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m:\n\u001b[0;32m---> 23\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     24\u001b[0m             \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: No tip is attached. Cannot complete this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     25\u001b[0m         )\n\u001b[1;32m     26\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m     27\u001b[0m         func(\u001b[38;5;28mself\u001b[39m, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs)\n",
      "\u001b[0;31mToolStateError\u001b[0m: Error: No tip is attached. Cannot complete this action"
     ]
    }
   ],
   "source": [
    "P300.drop_tip()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 674,
   "id": "15636507-fd48-4990-bc41-b54526430972",
   "metadata": {},
   "outputs": [
    {
     "ename": "ToolStateError",
     "evalue": "Error: No tip is attached. Cannot complete this action",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mToolStateError\u001b[0m                            Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[674], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43mP300\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdispense\u001b[49m\u001b[43m(\u001b[49m\u001b[43mvolume\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mlocation\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ms\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m \u001b[49m\u001b[43mdispense_rate\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Tool.py:49\u001b[0m, in \u001b[0;36mrequires_active_tool.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     45\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     46\u001b[0m         \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: Tool \u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mname\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m is not the current `Active Tool`. Cannot perform this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     47\u001b[0m     )\n\u001b[1;32m     48\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[0;32m---> 49\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mfunc\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43margs\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwargs\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/Code/science-jubilee/src/science_jubilee/tools/Pipette.py:23\u001b[0m, in \u001b[0;36mtip_check.<locals>.wrapper\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m     21\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mwrapper\u001b[39m(\u001b[38;5;28mself\u001b[39m, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs):\n\u001b[1;32m     22\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mhas_tip \u001b[38;5;241m==\u001b[39m \u001b[38;5;28;01mFalse\u001b[39;00m:\n\u001b[0;32m---> 23\u001b[0m         \u001b[38;5;28;01mraise\u001b[39;00m ToolStateError(\n\u001b[1;32m     24\u001b[0m             \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mError: No tip is attached. Cannot complete this action\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m     25\u001b[0m         )\n\u001b[1;32m     26\u001b[0m     \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m     27\u001b[0m         func(\u001b[38;5;28mself\u001b[39m, \u001b[38;5;241m*\u001b[39margs, \u001b[38;5;241m*\u001b[39m\u001b[38;5;241m*\u001b[39mkwargs)\n",
      "\u001b[0;31mToolStateError\u001b[0m: Error: No tip is attached. Cannot complete this action"
     ]
    }
   ],
   "source": [
    "P300.dispense(volume, location, s = dispense_rate)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 675,
   "id": "2ebb7779-2150-4b3d-a283-0810430b07f2",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Well B5 form - 48 Well Plate 2000 µL on slot 4"
      ]
     },
     "execution_count": 675,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "location_mixing"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 388,
   "id": "2386a670-9636-4bd5-80ce-08678e7e10f5",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Well A1 form Falcon 48 Well Plate 1500 µL on slot 2"
      ]
     },
     "execution_count": 388,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "location"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 870,
   "id": "c04b06ba-4a6d-404a-a497-1fec144bfcc0",
   "metadata": {},
   "outputs": [],
   "source": [
    "jubilee.pickup_tool(P300)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "c4696d85-b8c2-4c6c-af41-06e2dc8640bf",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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