diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR.py b/pylabrobot/liquid_handling/backends/hamilton/STAR.py index e86a2880117..5a6a94d7db7 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR.py @@ -1163,7 +1163,7 @@ def __init__( self._num_channels: Optional[int] = None self._core_parked: Optional[bool] = None self._extended_conf: Optional[dict] = None - self._traversal_height: float = 245.0 + self._traversal_height: float = 280.0 self.core_adjustment = Coordinate.zero() self._unsafe = UnSafe(self) diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py index a85bd3d50e7..6a0b64196a4 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py @@ -392,7 +392,7 @@ def test_tip_definition(self): async def test_tip_pickup_01(self): await self.lh.pick_up_tips(self.tip_rack["A1", "B1"]) self._assert_command_sent_once( - "C0TPid0000xp01179 01179 00000&yp2418 2328 0000tm1 1 0&tt01tp2244tz2164th2450td0", + "C0TPid0000xp01179 01179 00000&yp2418 2328 0000tm1 1 0&tt01tp2244tz2164th2800td0", PICKUP_TIP_FORMAT, ) @@ -400,7 +400,7 @@ async def test_tip_pickup_56(self): await self.lh.pick_up_tips(self.tip_rack["E1", "F1"], use_channels=[4, 5]) self._assert_command_sent_once( "C0TPid0000xp00000 00000 00000 00000 01179 01179 00000&yp0000 0000 0000 0000 2058 1968 " - "0000&tm0 0 0 0 1 1 0 &tt01tp2244tz2164th2450td0", + "0000&tm0 0 0 0 1 1 0 &tt01tp2244tz2164th2800td0", PICKUP_TIP_FORMAT, ) @@ -408,7 +408,7 @@ async def test_tip_pickup_15(self): await self.lh.pick_up_tips(self.tip_rack["A1", "F1"], use_channels=[0, 4]) self._assert_command_sent_once( "C0TPid0000xp01179 00000 00000 00000 01179 00000&yp2418 0000 0000 0000 1968 0000 " - "&tm1 0 0 0 1 0&tt01tp2244tz2164th2450td0", + "&tm1 0 0 0 1 0&tt01tp2244tz2164th2800td0", PICKUP_TIP_FORMAT, ) @@ -417,7 +417,7 @@ async def test_tip_drop_56(self): await self.lh.drop_tips(self.tip_rack["E1", "F1"], use_channels=[4, 5]) self._assert_command_sent_once( "C0TRid0000xp00000 00000 00000 00000 01179 01179 00000&yp0000 0000 0000 0000 2058 1968 " - "0000&tm0 0 0 0 1 1 0&tp2244tz2164th2450ti1", + "0000&tm0 0 0 0 1 1 0&tp2244tz2164th2800ti1", DROP_TIP_FORMAT, ) @@ -431,7 +431,7 @@ async def test_aspirate56(self): await self.lh.aspirate(self.plate["A1", "B1"], vols=[100, 100], use_channels=[4, 5]) self._assert_command_sent_once( "C0ASid0004at0 0 0 0 0 0 0&tm0 0 0 0 1 1 0&xp00000 00000 00000 " - "00000 02983 02983 00000&yp0000 0000 0000 0000 1457 1367 0000&th2450te2450lp2000 2000 2000 " + "00000 02983 02983 00000&yp0000 0000 0000 0000 1457 1367 0000&th2800te2800lp2000 2000 2000 " "2000 2000 2000 2000&ch000 000 000 000 000 000 000&zl1866 1866 1866 1866 1866 1866 1866&" "po0100 0100 0100 0100 0100 0100 0100&zu0032 0032 0032 0032 0032 0032 0032&zr06180 06180 " "06180 06180 06180 06180 06180&zx1866 1866 1866 1866 1866 1866 1866&ip0000 0000 0000 0000 " @@ -458,7 +458,7 @@ async def test_single_channel_aspiration(self): # This passes the test, but is not the real command. self._assert_command_sent_once( - "C0ASid0002at0 0&tm1 0&xp02983 00000&yp1457 0000&th2450te2450lp2000 2000&ch000 000&zl1866 " + "C0ASid0002at0 0&tm1 0&xp02983 00000&yp1457 0000&th2800te2800lp2000 2000&ch000 000&zl1866 " "1866&po0100 0100&zu0032 0032&zr06180 06180&zx1866 1866&ip0000 0000&it0 0&fp0000 0000&" "av01072 01072&as1000 1000&ta000 000&ba0000 0000&oa000 000&lm0 0&ll1 1&lv1 1&zo000 000&" "ld00 00&de0020 0020&wt10 10&mv00000 00000&mc00 00&mp000 000&ms1000 1000&mh0000 0000&" @@ -478,7 +478,7 @@ async def test_single_channel_aspiration_liquid_height(self): # This passes the test, but is not the real command. self._assert_command_sent_once( - "C0ASid0002at0 0&tm1 0&xp02983 00000&yp1457 0000&th2450te2450lp2000 2000&ch000 000&zl1966 " + "C0ASid0002at0 0&tm1 0&xp02983 00000&yp1457 0000&th2800te2800lp2000 2000&ch000 000&zl1966 " "1966&po0100 0100&zu0032 0032&zr06180 06180&zx1866 1866&ip0000 0000&it0 0&fp0000 0000&" "av01072 01072&as1000 1000&ta000 000&ba0000 0000&oa000 000&lm0 0&ll1 1&lv1 1&zo000 000&" "ld00 00&de0020 0020&wt10 10&mv00000 00000&mc00 00&mp000 000&ms1000 1000&mh0000 0000&" @@ -499,7 +499,7 @@ async def test_multi_channel_aspiration(self): # This passes the test, but is not the real command. self._assert_command_sent_once( - "C0ASid0002at0 0 0&tm1 1 0&xp02983 02983 00000&yp1457 1367 0000&th2450te2450lp2000 2000 2000&" + "C0ASid0002at0 0 0&tm1 1 0&xp02983 02983 00000&yp1457 1367 0000&th2800te2800lp2000 2000 2000&" "ch000 000 000&zl1866 1866 1866&po0100 0100 0100&zu0032 0032 0032&zr06180 06180 06180&" "zx1866 1866 1866&ip0000 0000 0000&it0 0 0&fp0000 0000 0000&av01072 01072 01072&as1000 1000 " "1000&ta000 000 000&ba0000 0000 0000&oa000 000 000&lm0 0 0&ll1 1 1&lv1 1 1&zo000 000 000&" @@ -521,7 +521,7 @@ async def test_aspirate_single_resource(self): ) self._assert_command_sent_once( "C0ASid0002at0 0 0 0 0 0&tm1 1 1 1 1 0&xp04865 04865 04865 04865 04865 00000&yp2098 1962 " - "1825 1688 1552 0000&th2450te2450lp2000 2000 2000 2000 2000 2000&ch000 000 000 000 000 000&" + "1825 1688 1552 0000&th2800te2800lp2000 2000 2000 2000 2000 2000&ch000 000 000 000 000 000&" "zl1210 1210 1210 1210 1210 1210&po0100 0100 0100 0100 0100 0100&zu0032 0032 0032 0032 0032 " "0032&zr06180 06180 06180 06180 06180 06180&zx1200 1200 1200 1200 1200 1200&ip0000 0000 0000 " "0000 0000 0000&it0 0 0 0 0 0&fp0000 0000 0000 0000 0000 0000&av00119 00119 00119 00119 " @@ -552,7 +552,7 @@ async def test_dispense_single_resource(self): "1825 1688 1552 0000&zx1200 1200 1200 1200 1200 1200&lp2000 2000 2000 2000 2000 2000&zl1210 " "1210 1210 1210 1210 1210&po0100 0100 0100 0100 0100 0100&ip0000 0000 0000 0000 0000 0000&" "it0 0 0 0 0 0&fp0000 0000 0000 0000 0000 0000&zu0032 0032 0032 0032 0032 0032&zr06180 06180 " - "06180 06180 06180 06180&th2450te2450dv00116 00116 00116 00116 00116 00116&ds1800 1800 1800 " + "06180 06180 06180 06180&th2800te2800dv00116 00116 00116 00116 00116 00116&ds1800 1800 1800 " "1800 1800 1800&ss0050 0050 0050 0050 0050 0050&rv000 000 000 000 000 000&ta050 050 050 050 " "050 050&ba0300 0300 0300 0300 0300 0300&lm0 0 0 0 0 0&dj00zo000 000 000 000 000 000&ll1 1 1 " "1 1 1&lv1 1 1 1 1 1&de0010 0010 0010 0010 0010 0010&wt00 00 00 00 00 00&mv00000 00000 00000 " @@ -569,7 +569,7 @@ async def test_single_channel_dispense(self): await self.lh.dispense(self.plate["A1"], vols=[100], jet=[True], blow_out=[True]) self._assert_command_sent_once( "C0DSid0002dm1 1&tm1 0&xp02983 00000&yp1457 0000&zx1866 1866&lp2000 2000&zl1866 1866&" - "po0100 0100&ip0000 0000&it0 0&fp0000 0000&zu0032 0032&zr06180 06180&th2450te2450" + "po0100 0100&ip0000 0000&it0 0&fp0000 0000&zu0032 0032&zr06180 06180&th2800te2800" "dv01072 01072&ds1800 1800&ss0050 0050&rv000 000&ta050 050&ba0300 03000&lm0 0&" "dj00zo000 000&ll1 1&lv1 1&de0010 0010&wt00 00&mv00000 00000&mc00 00&mp000 000&" "ms0010 0010&mh0000 0000&gi000 000&gj0gk0", @@ -592,7 +592,7 @@ async def test_multi_channel_dispense(self): self._assert_command_sent_once( "C0DSid0002dm1 1 1&tm1 1 0&xp02983 02983 00000&yp1457 1367 0000&zx1866 1866 1866&lp2000 2000 " "2000&zl1866 1866 1866&po0100 0100 0100&ip0000 0000 0000&it0 0 0&fp0000 0000 0000&zu0032 " - "0032 0032&zr06180 06180 06180&th2450te2450dv01072 01072 01072&ds1800 1800 1800&" + "0032 0032&zr06180 06180 06180&th2800te2800dv01072 01072 01072&ds1800 1800 1800&" "ss0050 0050 0050&rv000 000 000&ta050 050 050&ba0300 0300 0300&lm0 0 0&dj00zo000 000 000&" "ll1 1 1&lv1 1 1&de0010 0010 0010&wt00 00 00&mv00000 00000 00000&mc00 00 00&mp000 000 000&" "ms0010 0010 0010&mh0000 0000 0000&gi000 000 000&gj0gk0", @@ -611,7 +611,7 @@ async def test_core_96_tip_pickup(self): await self.lh.pick_up_tips96(self.tip_rack) self._assert_command_sent_once( - "C0EPid0208xs01179xd0yh2418tt01wu0za2164zh2450ze2450", + "C0EPid0208xs01179xd0yh2418tt01wu0za2164zh2800ze2800", "xs#####xd#yh####tt##wu#za####zh####ze####", ) @@ -620,7 +620,7 @@ async def test_core_96_tip_drop(self): await self.lh.drop_tips96(self.tip_rack) self._assert_command_sent_once( - "C0ERid0213xs01179xd0yh2418za2164zh2450ze2450", + "C0ERid0213xs01179xd0yh2418za2164zh2800ze2800", "xs#####xd#yh####za####zh####ze####", ) @@ -629,7 +629,7 @@ async def test_core_96_tip_discard(self): await self.lh.discard_tips96() self._assert_command_sent_once( - "C0ERid0213xs00420xd1yh1203za2164zh2450ze2450", + "C0ERid0213xs00420xd1yh1203za2164zh2800ze2800", "xs#####xd#yh####za####zh####ze####", ) @@ -643,7 +643,7 @@ async def test_core_96_aspirate(self): # volume used to be 01072, but that was generated using a non-core liquid class. self._assert_command_sent_once( - "C0EAid0001aa0xs02983xd0yh1457zh2450ze2450lz1999zt1866zm1866iw000ix0fh000af01083ag2500vt050" + "C0EAid0001aa0xs02983xd0yh1457zh2800ze2800lz1999zt1866zm1866iw000ix0fh000af01083ag2500vt050" "bv00000wv00050cm0cs1bs0020wh10hv00000hc00hp000hs1200zv0032zq06180mj000cj0cx0cr000" "cwFFFFFFFFFFFFFFFFFFFFFFFFpp0100", "xs#####xd#yh####zh####ze####lz####zt####zm####iw###ix#fh###af#####ag####vt###" @@ -662,7 +662,7 @@ async def test_core_96_dispense(self): # volume used to be 01072, but that was generated using a non-core liquid class. self._assert_command_sent_once( - "C0EDid0001da3xs02983xd0yh1457zh2450ze2450lz1999zt1866zm1866iw000ix0fh000df01083dg1200vt050" + "C0EDid0001da3xs02983xd0yh1457zh2800ze2800lz1999zt1866zm1866iw000ix0fh000df01083dg1200vt050" "bv00000cm0cs1bs0020wh00hv00000hc00hp000hs1200es0050ev000zv0032ej00zq06180mj000cj0cx0cr000" "cwFFFFFFFFFFFFFFFFFFFFFFFFpp0100", "da#xs#####xd#yh##6#zh####ze####lz####zt####zm##6#iw###ix#fh###df#####dg####vt###" @@ -685,11 +685,11 @@ async def test_iswap(self): pickup_distance_from_top=13.2 - 3.33, ) self._assert_command_sent_once( - "C0PPid0011xs03479xd0yj1142yd0zj1874zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0011xs03479xd0yj1142yd0zj1874zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", "xs#####xd#yj####yd#zj####zd#gr#th####te####gw#go####gb####gt##ga#gc#", ) self._assert_command_sent_once( - "C0PRid0012xs03479xd0yj3062yd0zj1874zd0th2450te2450gr1go1308ga0", + "C0PRid0012xs03479xd0yj3062yd0zj1874zd0th2800te2800gr1go1308ga0", "xs#####xd#yj####yd#zj####zd#th####te####go####ga#", ) @@ -732,14 +732,14 @@ async def test_iswap_plate_reader(self): f"C0PPid0003xs{plate_origin_location['xs']}xd{plate_origin_location['xd']}" f"yj{plate_origin_location['yj']}yd{plate_origin_location['yd']}" f"zj{plate_origin_location['zj']}zd{plate_origin_location['zd']}" - f"th2450te2450gw4gb1245go1308gt20gr1ga0gc1", + f"th2800te2800gw4gb1245go1308gt20gr1ga0gc1", "xs#####xd#yj####yd#zj####zd#th####te####gw#gb####go####gt##gr#ga#gc#", ) self._assert_command_sent_once( f"C0PRid0004xs{plate_reader_location['xs']}xd{plate_reader_location['xd']}" f"yj{plate_reader_location['yj']}yd{plate_reader_location['yd']}" f"zj{plate_reader_location['zj']}zd{plate_reader_location['zd']}" - f"th2450te2450go1308gr4ga0", + f"th2800te2800go1308gr4ga0", "xs#####xd#yj####yd#zj####zd#th####te####go####gr#ga#", ) @@ -758,14 +758,14 @@ async def test_iswap_plate_reader(self): f"C0PPid0005xs{plate_reader_location['xs']}xd{plate_reader_location['xd']}" f"yj{plate_reader_location['yj']}yd{plate_reader_location['yd']}" f"zj{plate_reader_location['zj']}zd{plate_reader_location['zd']}" - f"gr4th2450te2450gw4go1308gb1245gt20ga0gc1", + f"gr4th2800te2800gw4go1308gb1245gt20ga0gc1", "xs#####xd#yj####yd#zj####zd#gr#th####te####gw#go####gb####gt##ga#gc#", ) self._assert_command_sent_once( f"C0PRid0006xs{plate_origin_location['xs']}xd{plate_origin_location['xd']}" f"yj{plate_origin_location['yj']}yd{plate_origin_location['yd']}" f"zj{plate_origin_location['zj']}zd{plate_origin_location['zd']}" - f"th2450te2450gr1go1308ga0", + f"th2800te2800gr1go1308ga0", "xs#####xd#yj####yd#zj####zd#th####te####gr#go####ga#", ) @@ -775,11 +775,11 @@ async def test_iswap_move_lid(self): await self.lh.move_lid(self.plate.lid, self.other_plate) self._assert_command_sent_once( - "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( # zj sent = 1849 - "C0PRid0003xs03479xd0yj2102yd0zj1950zd0th2450te2450gr1go1308ga0", + "C0PRid0003xs03479xd0yj2102yd0zj1950zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -793,22 +793,22 @@ async def test_iswap_stacking_area(self): assert self.plate.lid is not None await self.lh.move_lid(self.plate.lid, stacking_area) self._assert_command_sent_once( - "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0003xs00699xd0yj4567yd0zj2305zd0th2450te2450gr1go1308ga0", + "C0PRid0003xs00699xd0yj4567yd0zj2305zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) # Move lids back (reverse order) await self.lh.move_lid(cast(Lid, stacking_area.get_top_item()), self.plate) self._assert_command_sent_once( - "C0PPid0004xs00699xd0yj4567yd0zj2305zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0004xs00699xd0yj4567yd0zj2305zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0005xs03479xd0yj1142yd0zj1950zd0th2450te2450gr1go1308ga0", + "C0PRid0005xs03479xd0yj1142yd0zj1950zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -822,21 +822,21 @@ async def test_iswap_stacking_area_2lids(self): await self.lh.move_lid(self.plate.lid, stacking_area) self._assert_command_sent_once( - "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0002xs03479xd0yj1142yd0zj1950zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0003xs00699xd0yj4567yd0zj2305zd0th2450te2450gr1go1308ga0", + "C0PRid0003xs00699xd0yj4567yd0zj2305zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) await self.lh.move_lid(self.other_plate.lid, stacking_area) self._assert_command_sent_once( - "C0PPid0004xs03479xd0yj2102yd0zj1950zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0004xs03479xd0yj2102yd0zj1950zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0005xs00699xd0yj4567yd0zj2405zd0th2450te2450gr1go1308ga0", + "C0PRid0005xs00699xd0yj4567yd0zj2405zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -845,11 +845,11 @@ async def test_iswap_stacking_area_2lids(self): assert isinstance(top_item, Lid) await self.lh.move_lid(top_item, self.plate) self._assert_command_sent_once( - "C0PPid0004xs00699xd0yj4567yd0zj2405zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0004xs00699xd0yj4567yd0zj2405zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0005xs03479xd0yj1142yd0zj1950zd0th2450te2450gr1go1308ga0", + "C0PRid0005xs03479xd0yj1142yd0zj1950zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -857,11 +857,11 @@ async def test_iswap_stacking_area_2lids(self): assert isinstance(top_item, Lid) await self.lh.move_lid(top_item, self.other_plate) self._assert_command_sent_once( - "C0PPid0004xs00699xd0yj4567yd0zj2305zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0004xs00699xd0yj4567yd0zj2305zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0005xs03479xd0yj2102yd0zj1950zd0th2450te2450gr1go1308ga0", + "C0PRid0005xs03479xd0yj2102yd0zj1950zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -877,19 +877,19 @@ async def test_iswap_move_with_intermediate_locations(self): ) self._assert_command_sent_once( - "C0PPid0023xs03479xd0yj1142yd0zj1874zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0023xs03479xd0yj1142yd0zj1874zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PMid0024xs02979xd0yj4022yd0zj2432zd0gr1th2450ga1xe4 1", + "C0PMid0024xs02979xd0yj4022yd0zj2432zd0gr1th2800ga1xe4 1", INTERMEDIATE_FMT, ) self._assert_command_sent_once( - "C0PMid0025xs03979xd0yj3062yd0zj2432zd0gr1th2450ga1xe4 1", + "C0PMid0025xs03979xd0yj3062yd0zj2432zd0gr1th2800ga1xe4 1", INTERMEDIATE_FMT, ) self._assert_command_sent_once( - "C0PRid0026xs03479xd0yj2102yd0zj1874zd0th2450te2450gr1go1308ga0", + "C0PRid0026xs03479xd0yj2102yd0zj1874zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT, ) @@ -898,7 +898,7 @@ async def test_discard_tips(self): await self.lh.discard_tips() self._assert_command_sent_once( "C0TRid0206xp08000 08000 08000 08000 08000 08000 08000 08000yp3427 3337 3247 3157 3067 2977 " - "2887 2797tp1970tz1870th2450te2450tm1 1 1 1 1 1 1 1ti0", + "2887 2797tp1970tz1870th2800te2800tm1 1 1 1 1 1 1 1ti0", DROP_TIP_FORMAT, ) @@ -916,7 +916,7 @@ async def test_portrait_tip_rack_handling(self): self._assert_command_sent_once( "C0TPid0035xp01360 01360 01360 01360 00000&" - "yp1380 1290 1200 1110 0000&tm1 1 1 1 0&tt01tp2263tz2163th2450td0", + "yp1380 1290 1200 1110 0000&tm1 1 1 1 0&tt01tp2263tz2163th2800td0", PICKUP_TIP_FORMAT, ) @@ -924,7 +924,7 @@ async def test_portrait_tip_rack_handling(self): self._assert_command_sent_once( "C0TRid0036xp01360 01360 01360 01360 00000&" - "yp1380 1290 1200 1110 0000&tm1 1 1 1 0&tp2263tz2183th2450ti1", + "yp1380 1290 1200 1110 0000&tm1 1 1 1 0&tp2263tz2183th2800ti1", DROP_TIP_FORMAT, ) @@ -947,19 +947,19 @@ async def test_move_core(self): return_core_gripper=True, ) self._assert_command_sent_once( - "C0ZTid0020xs07975xd0ya1240yb1065pa07pb08tp2350tz2250th2450tt14", + "C0ZTid0020xs07975xd0ya1240yb1065pa07pb08tp2350tz2250th2800tt14", "xs#####xd#ya####yb####pa##pb##tp####tz####th####tt##", ) self._assert_command_sent_once( - "C0ZPid0021xs03479xd0yj1142yv0050zj1876zy0500yo0885yg0825yw15" "th2450te2450", + "C0ZPid0021xs03479xd0yj1142yv0050zj1876zy0500yo0885yg0825yw15" "th2800te2800", "xs#####xd#yj####yv####zj####zy####yo####yg####yw##th####te####", ) self._assert_command_sent_once( - "C0ZRid0022xs03479xd0yj2102zj1876zi000zy0500yo0885th2450te2450", + "C0ZRid0022xs03479xd0yj2102zj1876zi000zy0500yo0885th2800te2800", "xs#####xd#yj####zj####zi###zy####yo####th####te####", ) self._assert_command_sent_once( - "C0ZSid0023xs07975xd0ya1240yb1065tp2150tz2050th2450te2450", + "C0ZSid0023xs07975xd0ya1240yb1065tp2150tz2050th2800te2800", "xs#####xd#ya####yb####tp####tz####th####te####", ) @@ -1038,59 +1038,59 @@ async def test_simple_movement(self): await self.lh.move_plate(self.plate, self.plt_car[1]) self._assert_command_sent_once( - "C0PPid0011xs04829xd0yj1141yd0zj2143zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0011xs04829xd0yj1141yd0zj2143zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0012xs04829xd0yj2101yd0zj2143zd0th2450te2450gr1go1308ga0", PUT_PLATE_FMT + "C0PRid0012xs04829xd0yj2101yd0zj2143zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT ) await self.lh.move_plate(self.plate, self.plt_car[0]) self._assert_command_sent_once( - "C0PPid0013xs04829xd0yj2101yd0zj2143zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0013xs04829xd0yj2101yd0zj2143zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0014xs04829xd0yj1141yd0zj2143zd0th2450te2450gr1go1308ga0", PUT_PLATE_FMT + "C0PRid0014xs04829xd0yj1141yd0zj2143zd0th2800te2800gr1go1308ga0", PUT_PLATE_FMT ) async def test_movement_to_portrait_site_left(self): await self.lh.move_plate(self.plate, self.plt_car2[0], drop_direction=GripDirection.LEFT) self._assert_command_sent_once( - "C0PPid0015xs04829xd0yj1141yd0zj2143zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0015xs04829xd0yj1141yd0zj2143zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0016xs02317xd0yj1644yd0zj1884zd0th2450te2450gr4go1308ga0", PUT_PLATE_FMT + "C0PRid0016xs02317xd0yj1644yd0zj1884zd0th2800te2800gr4go1308ga0", PUT_PLATE_FMT ) await self.lh.move_plate(self.plate, self.plt_car[0], drop_direction=GripDirection.LEFT) self._assert_command_sent_once( - "C0PPid0017xs02317xd0yj1644yd0zj1884zd0gr1th2450te2450gw4go0881gb0818gt20ga0gc1", + "C0PPid0017xs02317xd0yj1644yd0zj1884zd0gr1th2800te2800gw4go0881gb0818gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0018xs04829xd0yj1141yd0zj2143zd0th2450te2450gr4go0881ga0", PUT_PLATE_FMT + "C0PRid0018xs04829xd0yj1141yd0zj2143zd0th2800te2800gr4go0881ga0", PUT_PLATE_FMT ) async def test_movement_to_portrait_site_right(self): await self.lh.move_plate(self.plate, self.plt_car2[0], drop_direction=GripDirection.RIGHT) self._assert_command_sent_once( - "C0PPid0019xs04829xd0yj1141yd0zj2143zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0019xs04829xd0yj1141yd0zj2143zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0020xs02317xd0yj1644yd0zj1884zd0th2450te2450gr2go1308ga0", PUT_PLATE_FMT + "C0PRid0020xs02317xd0yj1644yd0zj1884zd0th2800te2800gr2go1308ga0", PUT_PLATE_FMT ) await self.lh.move_plate(self.plate, self.plt_car[0], drop_direction=GripDirection.RIGHT) self._assert_command_sent_once( - "C0PPid0021xs02317xd0yj1644yd0zj1884zd0gr1th2450te2450gw4go0881gb0818gt20ga0gc1", + "C0PPid0021xs02317xd0yj1644yd0zj1884zd0gr1th2800te2800gw4go0881gb0818gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0022xs04829xd0yj1141yd0zj2143zd0th2450te2450gr2go0881ga0", PUT_PLATE_FMT + "C0PRid0022xs04829xd0yj1141yd0zj2143zd0th2800te2800gr2go0881ga0", PUT_PLATE_FMT ) async def test_move_lid_across_rotated_resources(self): @@ -1107,32 +1107,32 @@ async def test_move_lid_across_rotated_resources(self): assert self.plate.lid is not None await self.lh.move_lid(self.plate.lid, plate2, drop_direction=GripDirection.LEFT) self._assert_command_sent_once( - "C0PPid0009xs04829xd0yj1142yd0zj2242zd0gr1th2450te2450gw4go1308gb1245gt20ga0gc1", + "C0PPid0009xs04829xd0yj1142yd0zj2242zd0gr1th2800te2800gw4go1308gb1245gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0010xs02318xd0yj1644yd0zj1983zd0th2450te2450gr4go1308ga0", + "C0PRid0010xs02318xd0yj1644yd0zj1983zd0th2800te2800gr4go1308ga0", PUT_PLATE_FMT, ) assert plate2.lid is not None await self.lh.move_lid(plate2.lid, plate3, drop_direction=GripDirection.BACK) self._assert_command_sent_once( - "C0PPid0011xs02318xd0yj1644yd0zj1983zd0gr1th2450te2450gw4go0885gb0822gt20ga0gc1", + "C0PPid0011xs02318xd0yj1644yd0zj1983zd0gr1th2800te2800gw4go0885gb0822gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0012xs02315xd0yj3104yd0zj1983zd0th2450te2450gr3go0885ga0", + "C0PRid0012xs02315xd0yj3104yd0zj1983zd0th2800te2800gr3go0885ga0", PUT_PLATE_FMT, ) assert plate3.lid is not None await self.lh.move_lid(plate3.lid, self.plate, drop_direction=GripDirection.LEFT) self._assert_command_sent_once( - "C0PPid0013xs02315xd0yj3104yd0zj1983zd0gr1th2450te2450gw4go0885gb0822gt20ga0gc1", + "C0PPid0013xs02315xd0yj3104yd0zj1983zd0gr1th2800te2800gw4go0885gb0822gt20ga0gc1", GET_PLATE_FMT, ) self._assert_command_sent_once( - "C0PRid0014xs04829xd0yj1142yd0zj2242zd0th2450te2450gr4go0885ga0", + "C0PRid0014xs04829xd0yj1142yd0zj2242zd0th2800te2800gr4go0885ga0", PUT_PLATE_FMT, )