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Fix iswap_move_picked_up_resource to move into -x and -y dimension #780

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Merged
rickwierenga merged 1 commit into from
Dec 5, 2025
Merged

Fix iswap_move_picked_up_resource to move into -x and -y dimension #780

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11 changes: 7 additions & 4 deletions pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3147,11 +3147,14 @@ async def iswap_move_picked_up_resource(

assert self.iswap_installed, "iswap must be installed"

x_direction = 0 if center.x >= 0 else 1
y_direction = 0 if center.y >= 0 else 1

await self.move_plate_to_position(
x_position=round(center.x * 10),
x_direction=0,
y_position=round(center.y * 10),
y_direction=0,
x_position=round(abs(center.x) * 10),
x_direction=x_direction,
y_position=round(abs(center.y) * 10),
y_direction=y_direction,
z_position=round(center.z * 10),
z_direction=0,
grip_direction={
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