romainbrette
commented
7 years ago This is partially implemented, except for speed control. The MP moves first on a horizontal plane, then along its X axis. One check remains to be implemented: that the intersection of X axis and horizontal plane is within reach.
Currently we only specify the target of movements, not the path. This could lead to collisions, or to inappropriate movements in tissue. The basic feature should be: any manipulator movement should be done first on the focal plane, then along the X-axis. Later we might want to implement collision detection, in particular between pipettes. Finally speed should be controlled: currently it is set at the fast value. Instead we might want to have a decreasing speed, or use a speed proportional to the magnitude of the movement to be performed.