Merge branch 'main' into fix-lh-move-resource-kwargs

PyLabRobot · Jan 15, 2025 · a903759 · a903759
2 parents f904f9a + 6718951
commit a903759
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Showing 4 changed files with 17 additions and 3 deletions.
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR.py b/pylabrobot/liquid_handling/backends/hamilton/STAR.py
@@ -2892,17 +2892,23 @@ async def drop_resource(
       # original grip direction. Hack.
       # the resource still has its original orientation.
       if drop.direction in (GripDirection.FRONT, GripDirection.BACK):
-        plate_width = drop.resource.rotated(z=drop.rotation).get_absolute_size_x()
+        plate_width = drop.resource.rotated(
+          z=drop.rotation + drop.destination_absolute_rotation.z
+        ).get_absolute_size_x()
       elif drop.direction in (GripDirection.RIGHT, GripDirection.LEFT):
-        plate_width = drop.resource.rotated(z=drop.rotation).get_absolute_size_y()
+        plate_width = drop.resource.rotated(
+          z=drop.rotation + drop.destination_absolute_rotation.z
+        ).get_absolute_size_y()
       else:
         raise ValueError("Invalid grip direction")
 
       # Get center of source plate in absolute space.
       # The computation of the center has to be rotated so that the offset is in absolute space.
       center_in_absolute_space = Coordinate(
         *matrix_vector_multiply_3x3(
-          drop.resource.rotated(z=drop.rotation).get_absolute_rotation().get_rotation_matrix(),
+          drop.resource.rotated(z=drop.rotation + drop.destination_absolute_rotation.z)
+          .get_absolute_rotation()
+          .get_rotation_matrix(),
           drop.resource.center().vector(),
         )
       )

diff --git a/pylabrobot/liquid_handling/backends/tecan/EVO_tests.py b/pylabrobot/liquid_handling/backends/tecan/EVO_tests.py
@@ -24,6 +24,7 @@
   EVO150Deck,
   MP_3Pos_PCR,
 )
+from pylabrobot.resources.rotation import Rotation
 
 
 class EVOTests(unittest.IsolatedAsyncioTestCase):
@@ -340,6 +341,7 @@ async def test_move_resource(self):
     drop = ResourceDrop(
       resource=self.plate,
       destination=self.plate_carrier[0].get_absolute_location(),
+      destination_absolute_rotation=Rotation(0, 0, 0),
       offset=Coordinate.zero(),
       pickup_distance_from_top=13.2,
       direction=GripDirection.FRONT,

diff --git a/pylabrobot/liquid_handling/liquid_handler.py b/pylabrobot/liquid_handling/liquid_handler.py
@@ -54,6 +54,7 @@
 )
 from pylabrobot.resources.errors import CrossContaminationError, HasTipError
 from pylabrobot.resources.liquid import Liquid
+from pylabrobot.resources.rotation import Rotation
 from pylabrobot.tilting.tilter import Tilter
 
 from .backends import LiquidHandlerBackend
@@ -1938,6 +1939,9 @@ async def drop_resource(
     drop = ResourceDrop(
       resource=self._resource_pickup.resource,
       destination=to_location,
+      destination_absolute_rotation=destination.get_absolute_rotation()
+      if isinstance(destination, Resource)
+      else Rotation(0, 0, 0),
       offset=offset,
       pickup_distance_from_top=self._resource_pickup.pickup_distance_from_top,
       direction=direction,

diff --git a/pylabrobot/liquid_handling/standard.py b/pylabrobot/liquid_handling/standard.py
@@ -8,6 +8,7 @@
 
 from pylabrobot.resources.coordinate import Coordinate
 from pylabrobot.resources.liquid import Liquid
+from pylabrobot.resources.rotation import Rotation
 
 if TYPE_CHECKING:
   from pylabrobot.resources import (
@@ -147,6 +148,7 @@ class ResourceMove:
 class ResourceDrop:
   resource: Resource
   destination: Coordinate
+  destination_absolute_rotation: Rotation
   offset: Coordinate
   pickup_distance_from_top: float
   direction: GripDirection