Fig. 6: “Digital Twin” of the robotic pendant drop.

a Snapshot of the robotic pendant drop in NVIDIA Isaac Sim. The electronic pipette is docked onto the mounting piece for the SA-XPCS measurement. The red arrows indicate the X-ray beams and the gray lines indicate the optical axes of the inline optical microscope. The key items (labeled 1–7) are explained in the Result section, and the technical details can be found in the Materials and Methods section. b Snapshot of the robotic pendant drop in the chemistry laboratory adjacent to beamline 8-ID-I. The electronic pipette is seen picking up a new pipette tip for liquid handling while attached to the end of the robotic arm via the tool changers. The inset figure shows an optical image of the pendant drop captured by the inline optical camera. Full motion of the robotic pendant drop can be found in Videos S1 and S2