hamilton star: support both core gripper types

pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py

@@ -76,6 +76,7 @@
 from pylabrobot.resources.hamilton.hamilton_decks import (
   STAR_SIZE_X,
   STARLET_SIZE_X,
+  HamiltonCoreGrippers,
 )
 from pylabrobot.resources.liquid import Liquid
 from pylabrobot.resources.rotation import Rotation
@@ -5161,6 +5162,27 @@ async def dispense_pip(
 
   # -------------- 3.5.5 CoRe gripper commands --------------
 
+  def _get_core_front_back(self):
+    core_grippers = self.deck.get_resource("core_grippers")
+    assert isinstance(core_grippers, HamiltonCoreGrippers), "core_grippers must be CoReGrippers"
+    back_channel_y_center = round(
+      (
+        core_grippers.get_location_wrt(self.deck).y
+        + core_grippers.back_channel_y_center
+        + self.core_adjustment.y
+      )
+      * 10
+    )
+    front_channel_y_center = round(
+      (
+        core_grippers.get_location_wrt(self.deck).y
+        + core_grippers.front_channel_y_center
+        + self.core_adjustment.y
+      )
+      * 10
+    )
+    return back_channel_y_center, front_channel_y_center
+
   @need_iswap_parked
   async def get_core(self, p1: int, p2: int):
     """Get CoRe gripper tool from wasteblock mount."""
@@ -5182,8 +5204,7 @@ async def get_core(self, p1: int, p2: int):
       raise ValueError(f"Deck size {deck_size} not supported")
 
     channel_x_coord = round(xs + self.core_adjustment.x * 10)
-    back_channel_y_center = round(1250 + self.core_adjustment.y * 10)
-    front_channel_y_center = round(1070 + self.core_adjustment.y * 10)
+    back_channel_y_center, front_channel_y_center = self._get_core_front_back()
     begin_z_coord = round(2350 + self.core_adjustment.z * 10)
     end_z_coord = round(2250 + self.core_adjustment.z * 10)
 
@@ -5219,8 +5240,7 @@ async def put_core(self):
       raise ValueError(f"Deck size {deck_size} not supported")
 
     channel_x_coord = round(xs + self.core_adjustment.x * 10)
-    back_channel_y_center = round(1240 + self.core_adjustment.y * 10)
-    front_channel_y_center = round(1065 + self.core_adjustment.y * 10)
+    back_channel_y_center, front_channel_y_center = self._get_core_front_back()
     begin_z_coord = round(2150 + self.core_adjustment.z * 10)
     end_z_coord = round(2050 + self.core_adjustment.z * 10)
 

pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py

@@ -936,7 +936,7 @@ async def test_move_core(self):
           "C0ZRid0003xs03479xd0yj2102zj1876zi000zy0500yo0885th2800te2800"
         ),
         _any_write_and_read_command_call(
-          "C0ZSid0004xs07975xd0ya1240yb1065tp2150tz2050th2800te2800"
+          "C0ZSid0004xs07975xd0ya1250yb1070tp2150tz2050th2800te2800"
         ),
       ]
     )

pylabrobot/resources/hamilton/hamilton_deck_tests.py

@@ -44,28 +44,29 @@ def test_summary(self):
       deck.summary(),
       textwrap.dedent(
         """
-    Rail  Resource                      Type           Coordinates (mm)
-    =================================================================================
-    (-6)  ├── trash_core96              Trash          (-58.200, 106.000, 216.400)
+    Rail  Resource                      Type                 Coordinates (mm)
+    =======================================================================================
+    (-6)  ├── trash_core96              Trash                (-58.200, 106.000, 216.400)
           │
-    (1)   ├── tip_carrier               TipCarrier     (100.000, 063.000, 100.000)
-          │   ├── tip_rack_01           TipRack        (106.200, 073.000, 214.950)
-          │   ├── tip_rack_02           TipRack        (106.200, 169.000, 214.950)
+    (1)   ├── tip_carrier               TipCarrier           (100.000, 063.000, 100.000)
+          │   ├── tip_rack_01           TipRack              (106.200, 073.000, 214.950)
+          │   ├── tip_rack_02           TipRack              (106.200, 169.000, 214.950)
           │   ├── <empty>
-          │   ├── tip_rack_04           TipRack        (106.200, 361.000, 214.950)
+          │   ├── tip_rack_04           TipRack              (106.200, 361.000, 214.950)
           │   ├── <empty>
           │
-    (21)  ├── plate carrier             PlateCarrier   (550.000, 063.000, 100.000)
-          │   ├── aspiration plate      Plate          (554.000, 071.500, 183.120)
+    (21)  ├── plate carrier             PlateCarrier         (550.000, 063.000, 100.000)
+          │   ├── aspiration plate      Plate                (554.000, 071.500, 183.120)
           │   ├── <empty>
-          │   ├── dispense plate        Plate          (554.000, 263.500, 183.120)
+          │   ├── dispense plate        Plate                (554.000, 263.500, 183.120)
           │   ├── <empty>
           │   ├── <empty>
           │
-    (31)  ├── waste_block               Resource       (775.000, 115.000, 100.000)
-          │   ├── teaching_tip_rack     TipRack        (780.900, 461.100, 100.000)
+    (31)  ├── waste_block               Resource             (775.000, 115.000, 100.000)
+          │   ├── teaching_tip_rack     TipRack              (780.900, 461.100, 100.000)
+          │   ├── core_grippers         HamiltonCoreGrippers (797.500, 125.000, 205.000)
           │
-    (32)  ├── trash                     Trash          (800.000, 190.600, 137.100)
+    (32)  ├── trash                     Trash                (800.000, 190.600, 137.100)
     """[1:]
       ),
     )

pylabrobot/resources/hamilton/hamilton_decks.py

@@ -2,7 +2,7 @@
 
 import logging
 from abc import ABCMeta, abstractmethod
-from typing import Optional, cast
+from typing import Literal, Optional, cast
 
 from pylabrobot.resources.carrier import ResourceHolder
 from pylabrobot.resources.coordinate import Coordinate
@@ -167,7 +167,13 @@ def assign_child_resource(
     else:
       raise ValueError("Either rails or location must be provided.")
 
-    if not ignore_collision:
+    def should_check_collision(res: Resource) -> bool:
+      """Determine if collision detection should be performed for this resource."""
+      if isinstance(res, HamiltonCoreGrippers):
+        return False
+      return True
+
+    if not ignore_collision and should_check_collision(resource):
       if resource_location is not None:  # collision detection
         if (
           resource_location.x + resource.get_absolute_size_x()
@@ -262,7 +268,7 @@ def find_longest_type_name(resource: Resource):
     name_column_length = max(
       max_name_length + 4, 30
     )  # 4 per depth (by find_longest_child), 4 extra
-    type_column_length = max_type_length + 3 - 4
+    type_column_length = max_type_length + 1
     location_column_length = 30
 
     # Print header
@@ -349,6 +355,75 @@ def print_tree(resource: Resource, depth=0):
     return summary_
 
 
+class HamiltonCoreGrippers(Resource):
+  def __init__(
+    self,
+    name: str,
+    back_channel_y_center: float,
+    front_channel_y_center: float,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    model,
+    rotation=None,
+    category="core_grippers",
+    barcode=None,
+  ):
+    super().__init__(
+      name=name,
+      size_x=size_x,
+      size_y=size_y,
+      size_z=size_z,
+      rotation=rotation,
+      category=category,
+      model=model,
+      barcode=barcode,
+    )
+    self.back_channel_y_center = back_channel_y_center
+    self.front_channel_y_center = front_channel_y_center
+
+  def serialize(self):
+    return {
+      **super().serialize(),
+      "back_channel_y_center": self.back_channel_y_center,
+      "front_channel_y_center": self.front_channel_y_center,
+    }
+
+
+def hamilton_core_gripper_1000ul_at_waste() -> HamiltonCoreGrippers:
+  # inner hole diameter is 8.6mm
+  # distance from base of rack to outer base of containers: -7mm
+  # left outer edge of rack is 22.5mm
+  # front outer edge of rack is 9.5mm
+
+  return HamiltonCoreGrippers(
+    name="core_grippers",
+    size_x=45,  # from venus
+    size_y=45,  # from venus
+    size_z=24,  # from venus
+    back_channel_y_center=0,
+    front_channel_y_center=-26,
+    model=hamilton_core_gripper_1000ul_at_waste.__name__,
+  )
+
+
+def hamilton_core_gripper_1000ul_5ml_on_waste() -> HamiltonCoreGrippers:
+  # distance from base of rack to outer base of containers: 0mm
+  # inner hole diameter is 8.6mm
+  # left outer edge of rack is 19.5mm
+  # front outer edge of rack is 39.5mm
+
+  return HamiltonCoreGrippers(
+    name="core_grippers",
+    size_x=39,  # from venus
+    size_y=61,  # from venus
+    size_z=24,  # from venus
+    back_channel_y_center=0,
+    front_channel_y_center=-18,
+    model=hamilton_core_gripper_1000ul_5ml_on_waste.__name__,
+  )
+
+
 class HamiltonSTARDeck(HamiltonDeck):
   """Base class for a Hamilton STAR(let) deck."""
 
@@ -364,8 +439,9 @@ def __init__(
     with_trash: bool = True,
     with_trash96: bool = True,
     with_teaching_rack: bool = True,
-    no_trash: Optional[bool] = None,
-    no_teaching_rack: Optional[bool] = None,
+    core_grippers: Optional[
+      Literal["1000uL-at-waste", "1000uL-5mL-on-waste"]
+    ] = "1000uL-5mL-on-waste",
   ) -> None:
     """Create a new STAR(let) deck of the given size."""
 
@@ -379,13 +455,6 @@ def __init__(
       origin=origin,
     )
 
-    if no_trash is not None:
-      raise NotImplementedError("no_trash is deprecated. Use with_trash=False instead.")
-    if no_teaching_rack is not None:
-      raise NotImplementedError(
-        "no_teaching_rack is deprecated. Use with_teaching_rack=False instead."
-      )
-
     # assign trash area
     if with_trash:
       trash_x = (
@@ -436,10 +505,26 @@ def __init__(
         location=Coordinate(x=self.rails_to_location(self.num_rails - 1).x, y=115.0, z=100),
       )
 
+    if core_grippers == "1000uL-at-waste":  # "at waste"
+      x: float = 1338 if num_rails == STAR_NUM_RAILS else 798
+      waste_block.assign_child_resource(
+        hamilton_core_gripper_1000ul_at_waste(),
+        location=Coordinate(x=x, y=105.550, z=205) - waste_block.location,
+        # ignore_collision=True,
+      )
+    elif core_grippers == "1000uL-5mL-on-waste":  # "on waste"
+      x = 1337.5 if num_rails == STAR_NUM_RAILS else 797.5
+      waste_block.assign_child_resource(
+        hamilton_core_gripper_1000ul_5ml_on_waste(),
+        location=Coordinate(x=x, y=125, z=205) - waste_block.location,
+        # ignore_collision=True,
+      )
+
   def serialize(self) -> dict:
     return {
       **super().serialize(),
       "with_teaching_rack": False,  # data encoded as child. (not very pretty to have this key though...)
+      "core_grippers": None,  # data encoded as child. (not very pretty to have this key though...)
     }
 
   def rails_to_location(self, rails: int) -> Coordinate:
@@ -470,6 +555,9 @@ def STARLetDeck(
   with_trash: bool = True,
   with_trash96: bool = True,
   with_teaching_rack: bool = True,
+  core_grippers: Optional[
+    Literal["1000uL-at-waste", "1000uL-5mL-on-waste"]
+  ] = "1000uL-5mL-on-waste",
 ) -> HamiltonSTARDeck:
   """Create a new STARLet deck.
 
@@ -485,6 +573,7 @@ def STARLetDeck(
     with_trash=with_trash,
     with_trash96=with_trash96,
     with_teaching_rack=with_teaching_rack,
+    core_grippers=core_grippers,
   )
 
 
@@ -493,6 +582,9 @@ def STARDeck(
   with_trash: bool = True,
   with_trash96: bool = True,
   with_teaching_rack: bool = True,
+  core_grippers: Optional[
+    Literal["1000uL-at-waste", "1000uL-5mL-on-waste"]
+  ] = "1000uL-5mL-on-waste",
 ) -> HamiltonSTARDeck:
   """Create a new STAR deck.
 
@@ -508,4 +600,5 @@ def STARDeck(
     with_trash=with_trash,
     with_trash96=with_trash96,
     with_teaching_rack=with_teaching_rack,
+    core_grippers=core_grippers,
   )