DOOM from the realm of El Kulum, smelly gel fume Separating cell womb to Melle Mel, BOOM
tried recreate MF DOOM’s mask using an Opentrons liquid-handling robot to dispense droplets onto an agar plate. The idea was to map the visual geometry of the mask into a series of coordinate points, then translate those points into pipetting instructions constrained within a 40mm radius from the center of the plate.
For the picture, I used the simplest monochrome mask drawing I could find.
To convert pixel locations onto Cartesian coordinates, I used the MATLAB pic2points function: https://www.mathworks.com/matlabcentral/fileexchange/54799-convert-image-pixels-to-xy-coordinates. As pic2points put all the coordinates in the first quadrant, I subtracted half of the largest x-coordinate’s value from every x-coordinate, and same for the y-coordinates, to make sure the pixel locations were centered at the origin.
The initial result was not an accurate representation of the MF DOOM mask, but a loose approximation—a vaguely humanoid face.
from opentrons import types
import math
metadata = {
'protocolName': 'MF DOOM Mask Pattern',
'author': 'HTGAA',
'source': 'Custom Design for Petri Dish',
'apiLevel': '2.20'
}
TIP_RACK_DECK_SLOT = 9
COLORS_DECK_SLOT = 6
AGAR_DECK_SLOT = 5
PIPETTE_STARTING_TIP_WELL = 'A1'
well_colors = {
'A1' : 'Black',
'B1' : 'Yellow',
'C1' : 'Green',
'D1' : 'Cyan',
'E1' : 'Blue' # Black color for the MF DOOM mask outline
}
def run(protocol):
tips_20ul = protocol.load_labware('opentrons_96_tiprack_20ul', TIP_RACK_DECK_SLOT, 'Opentrons 20uL Tips')
pipette_20ul = protocol.load_instrument("p20_single_gen2", "right", [tips_20ul])
temperature_module = protocol.load_module('temperature module gen2', COLORS_DECK_SLOT)
temperature_plate = temperature_module.load_labware('opentrons_96_aluminumblock_generic_pcr_strip_200ul', 'Cold Plate')
color_plate = temperature_plate
agar_plate = protocol.load_labware('htgaa_agar_plate', AGAR_DECK_SLOT, 'Agar Plate')
center_location = agar_plate['A1'].top()
pipette_20ul.starting_tip = tips_20ul.well(PIPETTE_STARTING_TIP_WELL)
def location_of_color(color_string):
for well, color in well_colors.items():
if color.lower() == color_string.lower():
return color_plate[well]
raise ValueError(f"No well found with color {color_string}")
def dispense_and_jog(pipette, volume, location):
pipette.dispense(volume, location)
currLoc = pipette._get_last_location_by_api_version()
pipette.move_to(currLoc.move(types.Point(z=5)))
pipette.move_to(currLoc)
pipette_20ul.pick_up_tip()
mask_points = [ (-26, 26), (-26, 25), (-26, 24), (-26, 23), (-26, 22), (-26, 21), (-26, 20), (-26, 19), (-26, 18), (-26, 17), (-26, 16), (-26, 15), (-26, 14), (-26, 13), (-26, 12), (-26, 11), (-26, 10), (-26, 9), (-26, 8), (-26, 7), (-26, 6), (-26, 5), (-26, 4), (-26, 3), (-26, 2), (-26, 1), (-26, 0), (-26, -1), (-26, -2), (-26, -3), (-26, -4), (-26, -5), (-26, -6), (-26, -7), (-26, -8), (-26, -9), (-26, -10), (-26, -11), (-26, -12), (-26, -13), (-26, -14), (-26, -15), (-26, -16), (-26, -17), (-26, -18), (-26, -19), (-26, -20), (-26, -21), (-26, -22), (-26, -23), (-26, -24), (-26, -25), (-26, -26), (-26, -27), (-25, 26), (-25, 25), (-25, 24), (-25, 23), (-25, 22), (-25, 21), (-25, 20), (-25, 19), (-25, 18), (-25, 17), (-25, 16), (-25, 15), (-25, 14), (-25, 13), (-25, 12), (-25, 11), (-25, 10), (-25, 9), (-25, 8), (-25, 7), (-25, 6), (-25, 5), (-25, 4), (-25, 3), (-25, 2), (-25, 1), (-25, 0), (-25, -1), (-25, -2), (-25, -3), (-25, -4), (-25, -5), (-25, -6), (-25, -7), (-25, -8), (-25, 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26), (7, 25), (7, 24), (7, 23), (7, 22), (7, 19), (7, 18), (7, 17), (7, 16), (7, 15), (7, 14), (7, 13), (7, 9), (7, 8), (7, 5), (7, 4), (7, 3), (7, 2), (7, 1), (7, -1), (7, -4), (7, -5), (7, -6), (7, -10), (7, -16), (7, -19), (7, -20), (7, -21), (7, -26), (7, -27), (8, 26), (8, 25), (8, 24), (8, 20), (8, 19), (8, 18), (8, 17), (8, 16), (8, 15), (8, 14), (8, 13), (8, 12), (8, 11), (8, 9), (8, 8), (8, 5), (8, 4), (8, 3), (8, 2), (8, 1), (8, -1), (8, -2), (8, -8), (8, -9), (8, -10), (8, -18), (8, -19), (8, -20), (8, -21), (8, -22), (8, -24), (8, -26), (8, -27), (9, 26), (9, 25), (9, 24), (9, 23), (9, 22), (9, 21), (9, 18), (9, 17), (9, 16), (9, 15), (9, 14), (9, 13), (9, 11), (9, 10), (9, 8), (9, 7), (9, 5), (9, 4), (9, 3), (9, 2), (9, 1), (9, -1), (9, -5), (9, -6), (9, -7), (9, -8), (9, -9), (9, -10), (9, -11), (9, -12), (9, -13), (9, -14), (9, -15), (9, -16), (9, -17), (9, -20), (9, -21), (9, -27), (10, 26), (10, 25), (10, 24), (10, 23), (10, 22), (10, 19), (10, 18), (10, 17), (10, 16), (10, 15), (10, 14), (10, 9), (10, 8), (10, 7), (10, 5), (10, 4), (10, 3), (10, 2), (10, 1), (10, -3), (10, -4), (10, -5), (10, -6), (10, -7), (10, -8), (10, -9), (10, -10), (10, -11), (10, -12), (10, -13), (10, -16), (10, -22), (10, -25), (10, -26), (10, -27), (11, 26), (11, 25), (11, 24), (11, 23), (11, 22), (11, 21), (11, 20), (11, 17), (11, 16), (11, 15), (11, 14), (11, 11), (11, 10), (11, 9), (11, 8), (11, 7), (11, 5), (11, 4), (11, 3), (11, 2), (11, 1), (11, -1), (11, -2), (11, -4), (11, -5), (11, -6), (11, -7), (11, -8), (11, -11), (11, -18), (11, -21), (11, -22), (11, -23), (11, -24), (11, -25), (11, -26), (11, -27), (12, 26), (12, 25), (12, 24), (12, 23), (12, 22), (12, 21), (12, 18), (12, 17), (12, 16), (12, 15), (12, 14), (12, 13), (12, 11), (12, 10), (12, 9), (12, 8), (12, 7), (12, 5), (12, 4), (12, 3), (12, 2), (12, -4), (12, -5), (12, -6), (12, -7), (12, -13), (12, -16), (12, -17), (12, -18), (12, -19), (12, -20), (12, -21), (12, -22), (12, -23), (12, -24), (12, -25), (12, -26), (12, -27), (13, 26), (13, 25), (13, 24), (13, 23), (13, 22), (13, 21), (13, 20), (13, 15), (13, 14), (13, 13), (13, 11), (13, 10), (13, 9), (13, 8), (13, 5), (13, 4), (13, 3), (13, 2), (13, -1), (13, -2), (13, -3), (13, -4), (13, -5), (13, -12), (13, -13), (13, -14), (13, -15), (13, -16), (13, -17), (13, -18), (13, -19), (13, -20), (13, -21), (13, -22), (13, -23), (13, -24), (13, -25), (13, -26), (13, -27), (14, 26), (14, 25), (14, 24), (14, 23), (14, 22), (14, 21), (14, 20), (14, 17), (14, 15), (14, 14), (14, 12), (14, 11), (14, 10), (14, 9), (14, 8), (14, 5), (14, 4), (14, 3), (14, 0), (14, -4), (14, -5), (14, -6), (14, -10), (14, -11), (14, -12), (14, -13), (14, -14), (14, -15), (14, -16), (14, -17), (14, -18), (14, -19), (14, -20), (14, -21), (14, -22), (14, -23), (14, -24), (14, -25), (14, -26), (14, -27), (15, 26), (15, 25), (15, 24), (15, 23), (15, 22), (15, 21), (15, 20), (15, 19), (15, 15), (15, 14), (15, 11), (15, 10), (15, 9), (15, 8), (15, 5), (15, 4), (15, 3), (15, -2), (15, -3), (15, -4), (15, -5), (15, -6), (15, -7), (15, -9), (15, -10), (15, -11), (15, -12), (15, -13), (15, -14), (15, -15), (15, -16), (15, -17), (15, -18), (15, -19), (15, -20), (15, -21), (15, -22), (15, -23), (15, -24), (15, -25), (15, -26), (15, -27), (16, 26), (16, 25), (16, 24), (16, 23), (16, 22), (16, 21), (16, 20), (16, 19), (16, 18), (16, 17), (16, 14), (16, 13), (16, 11), (16, 10), (16, 9), (16, 8), (16, 7), (16, 6), (16, 5), (16, 4), (16, 1), (16, -2), (16, -3), (16, -4), (16, -5), (16, -9), (16, -10), (16, -11), (16, -12), (16, -13), (16, -14), (16, -15), (16, -16), (16, -17), (16, -18), (16, -19), (16, -20), (16, -21), (16, -22), (16, -23), (16, -24), (16, -25), (16, -26), (16, -27), (17, 26), (17, 25), (17, 24), (17, 23), (17, 22), (17, 21), (17, 20), (17, 19), (17, 18), (17, 12), (17, 11), (17, 10), (17, 9), (17, 8), (17, 7), (17, 6), (17, 3), (17, 0), (17, -1), (17, -2), (17, -3), (17, -4), (17, -8), (17, -9), (17, -10), (17, -11), (17, -12), (17, -13), (17, -14), (17, -15), (17, -16), (17, -17), (17, -18), (17, -19), (17, -20), (17, -21), (17, -22), (17, -23), (17, -24), (17, -25), (17, -26), (17, -27), (18, 26), (18, 25), (18, 24), (18, 23), (18, 22), (18, 21), (18, 20), (18, 19), (18, 18), (18, 13), (18, 10), (18, 9), (18, 8), (18, 7), (18, 3), (18, 2), (18, 1), (18, 0), (18, -1), (18, -4), (18, -9), (18, -10), (18, -11), (18, -12), (18, -13), (18, -14), (18, -15), (18, -16), (18, -17), (18, -18), (18, -19), (18, -20), (18, -21), (18, -22), (18, -23), (18, -24), (18, -25), (18, -26), (18, -27), (19, 26), (19, 25), (19, 24), (19, 23), (19, 22), (19, 21), (19, 20), (19, 19), (19, 18), (19, 17), (19, 16), (19, 15), (19, 14), (19, 10), (19, 9), (19, 8), (19, 7), (19, 6), (19, 4), (19, 3), (19, -5), (19, -8), (19, -9), (19, -10), (19, -11), (19, -12), (19, -13), (19, -14), (19, -15), (19, -16), (19, -17), (19, -18), (19, -19), (19, -20), (19, -21), (19, -22), (19, -23), (19, -24), (19, -25), (19, -26), (19, -27), (20, 26), (20, 25), (20, 24), (20, 23), (20, 22), (20, 21), (20, 20), (20, 19), (20, 18), (20, 17), (20, 16), (20, 15), (20, 14), (20, 12), (20, -1), (20, -2), (20, -5), (20, -6), (20, -7), (20, -8), (20, -9), (20, -10), (20, -11), (20, -12), (20, -13), (20, -14), (20, -15), (20, -16), (20, -17), (20, -18), (20, -19), (20, -20), (20, -21), (20, -22), (20, -23), (20, -24), (20, -25), (20, -26), (20, -27), (21, 26), (21, 25), (21, 24), (21, 23), (21, 22), (21, 21), (21, 20), (21, 19), (21, 18), (21, 17), (21, 16), (21, 15), (21, 14), (21, 13), (21, 12), (21, 11), (21, 10), (21, 6), (21, 5), (21, 4), (21, 3), (21, 2), (21, 1), (21, 0), (21, -1), (21, -2), (21, -3), (21, -4), (21, -5), (21, -6), (21, -7), (21, -8), (21, -9), (21, -10), (21, -11), (21, -12), (21, -13), (21, -14), (21, -15), (21, -16), (21, -17), (21, -18), (21, -19), (21, -20), (21, -21), (21, -22), (21, -23), (21, -24), (21, -25), (21, -26), (21, -27), (22, 26), (22, 25), (22, 24), (22, 23), (22, 22), (22, 21), (22, 20), (22, 19), (22, 18), (22, 17), (22, 16), (22, 15), (22, 14), (22, 13), (22, 12), (22, 11), (22, 10), (22, 9), (22, 8), (22, 7), (22, 6), (22, 5), (22, 4), (22, 3), (22, 2), (22, 1), (22, 0), (22, -1), (22, -2), (22, -3), (22, -4), (22, -5), (22, -6), (22, -7), (22, -8), (22, -9), (22, -10), (22, -11), (22, -12), (22, -13), (22, -14), (22, -15), (22, -16), (22, -17), (22, -18), (22, -19), (22, -20), (22, -21), (22, -22), (22, -23), (22, -24), (22, -25), (22, -26), (22, -27), (23, 26), (23, 25), (23, 24), (23, 23), (23, 22), (23, 21), (23, 20), (23, 19), (23, 18), (23, 17), (23, 16), (23, 15), (23, 14), (23, 13), (23, 12), (23, 11), (23, 10), (23, 9), (23, 8), (23, 7), (23, 6), (23, 5), (23, 4), (23, 3), (23, 2), (23, 1), (23, 0), (23, -1), (23, -2), (23, -3), (23, -4), (23, -5), (23, -6), (23, -7), (23, -8), (23, -9), (23, -10), (23, -11), (23, -12), (23, -13), (23, -14), (23, -15), (23, -16), (23, -17), (23, -18), (23, -19), (23, -20), (23, -21), (23, -22), (23, -23), (23, -24), (23, -25), (23, -26), (23, -27), (24, 26), (24, 25), (24, 24), (24, 23), (24, 22), (24, 21), (24, 20), (24, 19), (24, 18), (24, 17), (24, 16), (24, 15), (24, 14), (24, 13), (24, 12), (24, 11), (24, 10), (24, 9), (24, 8), (24, 7), (24, 6), (24, 5), (24, 4), (24, 3), (24, 2), (24, 1), (24, 0), (24, -1), (24, -2), (24, -3), (24, -4), (24, -5), (24, -6), (24, -7), (24, -8), (24, -9), (24, -10), (24, -11), (24, -12), (24, -13), (24, -14), (24, -15), (24, -16), (24, -17), (24, -18), (24, -19), (24, -20), (24, -21), (24, -22), (24, -23), (24, -24), (24, -25), (24, -26), (24, -27), (25, 26), (25, 25), (25, 24), (25, 23), (25, 22), (25, 21), (25, 20), (25, 19), (25, 18), (25, 17), (25, 16), (25, 15), (25, 14), (25, 13), (25, 12), (25, 11), (25, 10), (25, 9), (25, 8), (25, 7), (25, 6), (25, 5), (25, 4), (25, 3), (25, 2), (25, 1), (25, 0), (25, -1), (25, -2), (25, -3), (25, -4), (25, -5), (25, -6), (25, -7), (25, -8), (25, -9), (25, -10), (25, -11), (25, -12), (25, -13), (25, -14), (25, -15), (25, -16), (25, -17), (25, -18), (25, -19), (25, -20), (25, -21), (25, -22), (25, -23), (25, -24), (25, -25), (25, -26), (25, -27), (26, 26), (26, 25), (26, 24), (26, 23), (26, 22), (26, 21), (26, 20), (26, 19), (26, 18), (26, 17), (26, 16), (26, 15), (26, 14), (26, 13), (26, 12), (26, 11), (26, 10), (26, 9), (26, 8), (26, 7), (26, 6), (26, 5), (26, 4), (26, 3), (26, 2), (26, 1), (26, 0), (26, -1), (26, -2), (26, -3), (26, -4), (26, -5), (26, -6), (26, -7), (26, -8), (26, -9), (26, -10), (26, -11), (26, -12), (26, -13), (26, -14), (26, -15), (26, -16), (26, -17), (26, -18), (26, -19), (26, -20), (26, -21), (26, -22), (26, -23), (26, -24), (26, -25), (26, -26), (26, -27), (27, 26), (27, 25), (27, 24), (27, 23), (27, 22), (27, 21), (27, 20), (27, 19), (27, 18), (27, 17), (27, 16), (27, 15), (27, 14), (27, 13), (27, 12), (27, 11), (27, 10), (27, 9), (27, 8), (27, 7), (27, 6), (27, 5), (27, 4), (27, 3), (27, 2), (27, 1), (27, 0), (27, -1), (27, -2), (27, -3), (27, -4), (27, -5), (27, -6), (27, -7), (27, -8), (27, -9), (27, -10), (27, -11), (27, -12), (27, -13), (27, -14), (27, -15), (27, -16), (27, -17), (27, -18), (27, -19), (27, -20), (27, -21), (27, -22), (27, -23), (27, -24), (27, -25), (27, -26), (27, -27)
# Closing the loop
]
for x, y in mask_points:
adjusted_location = center_location.move(types.Point(x=x, y=y))
pipette_20ul.aspirate(.05, location_of_color('Blue'))
dispense_and_jog(pipette_20ul, .05, adjusted_location)
pipette_20ul.drop_tip()
After the lab, I kept playing with the code and seeing if I could get a better rendition. I think I’ve made a lot of improvement!
