DN simplify tecan coordinate system

pylabrobot/liquid_handling/backends/tecan/EVO_backend.py

@@ -10,6 +10,7 @@
   Union,
 )
 
+from pylabrobot.liquid_handling.utils import get_tight_single_resource_liquid_op_offsets
 from pylabrobot.io.usb import USB
 from pylabrobot.liquid_handling.backends.backend import (
   LiquidHandlerBackend,
@@ -288,14 +289,20 @@ async def setup(self):
 
     # Initialize plungers. Assumes wash station assigned at rail 1.
     await self.liha.set_z_travel_height([self._z_range] * self.num_channels)
-    await self.liha.position_absolute_all_axis(45, 1031, 90, [1200] * self.num_channels)
+    wash = self.deck.get_resource("wash_waste")
+    wash_offsets = get_tight_single_resource_liquid_op_offsets(wash, self.num_channels)
+    location = wash.get_absolute_location() + wash.center() + wash_offsets[0]
+    location.x = int(location.x * 10)
+    location.y = int((352 - location.y) * 10)
+    location.z = int(wash.get_size_z() * 10)
+    await self.liha.position_absolute_all_axis(location.x, location.y,90, [location.z] * self.num_channels)
     await self.liha.initialize_plunger(self._bin_use_channels(list(range(self.num_channels))))
     await self.liha.position_valve_logical([1] * self.num_channels)
     await self.liha.move_plunger_relative([100] * self.num_channels)
     await self.liha.position_valve_logical([0] * self.num_channels)
     await self.liha.set_end_speed_plunger([1800] * self.num_channels)
     await self.liha.move_plunger_relative([-100] * self.num_channels)
-    await self.liha.position_absolute_all_axis(45, 1031, 90, [self._z_range] * self.num_channels)
+    await self.liha.position_absolute_all_axis(location.x, location.y, 90, [self._z_range] * self.num_channels)
 
   async def setup_arm(self, module):
     try:
@@ -459,7 +466,7 @@ async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[in
     x, _ = self._first_valid(x_positions)
     y, yi = self._first_valid(y_positions)
     assert x is not None and y is not None
-    await self.liha.set_z_travel_height(z if z else self._z_range for z in z_positions["travel"])
+    await self.liha.set_z_travel_height([z if z else self._z_range for z in z_positions["travel"]])
     await self.liha.position_absolute_all_axis(
       x,
       y - yi * ys,
@@ -487,6 +494,7 @@ async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int]):
 
     # Get positions including offsets
     x_positions, y_positions, z_positions = self._liha_positions(ops, use_channels)
+    z_positions["start"] = [int(op.resource.parent.z_start) for op in ops if op.resource.parent.z_start]  # directly get z_position from z_start to avoid tip length issue?
 
     # move channels
     ys = int(ops[0].resource.get_absolute_size_y() * 10)
@@ -678,8 +686,8 @@ def get_z_position(z, z_off, tip_length):
 
     for i, (op, channel) in enumerate(zip(ops, use_channels)):
       location = ops[i].resource.get_absolute_location() + op.resource.center()
-      x_positions[channel] = int((location.x - 100 + op.offset.x) * 10)
-      y_positions[channel] = int((346.5 - location.y + op.offset.y) * 10)  # TODO: verify
+      x_positions[channel] = int((location.x + op.offset.x) * 10)
+      y_positions[channel] = int((352 - (location.y + op.offset.y)) * 10)  # TODO: verify
 
       par = ops[i].resource.parent
       if not isinstance(par, (TecanPlate, TecanTipRack)):
@@ -692,12 +700,15 @@ def get_z_position(z, z_off, tip_length):
       z_positions["start"][channel] = get_z_position(
         par.z_start, par.get_absolute_location().z + op.offset.z, tip_length
       )
+      # container.get_absolute_position(z="cavity_bottom") + lld_search_height
       z_positions["dispense"][channel] = get_z_position(
         par.z_dispense, par.get_absolute_location().z + op.offset.z, tip_length
       )
+      # container.get_absolute_position(z="cavity_bottom") + liquid_height
       z_positions["max"][channel] = get_z_position(
         par.z_max, par.get_absolute_location().z + op.offset.z, tip_length
       )
+      # container.get_absolute_position(z="cavity_bottom")
 
     return x_positions, y_positions, z_positions
 

pylabrobot/resources/tecan/plate_carriers.py

@@ -554,7 +554,7 @@ def MP_4Pos_flat(name: str) -> TecanPlateCarrier:
     size_y=380.0,
     size_z=6.9,
     off_x=11.0,
-    off_y=51.0,
+    off_y=23.0,
     roma_x=1835,
     roma_y=388,
     roma_z_safe=946,

pylabrobot/resources/tecan/tecan_decks.py

@@ -135,15 +135,15 @@ def _coordinate_for_rails(self, rails: int, resource: Resource):
       raise ValueError(f"Resource {resource} is not a Tecan resource.")
 
     return Coordinate(
-      (rails - 1) * _RAILS_WIDTH - resource.off_x + 100,
-      resource.off_y + 345 - resource.get_absolute_size_y(),
+      130 + (rails - 1) * _RAILS_WIDTH - resource.off_x,
+      resource.off_y,
       0,
     )  # TODO: verify
 
   def _rails_for_x_coordinate(self, x: float):
     """Convert an x coordinate to a rail identifier."""
 
-    return round((x + _RAILS_WIDTH - 101) / _RAILS_WIDTH) + 1
+    return round((x + _RAILS_WIDTH - 130) / _RAILS_WIDTH) + 1
 
   def summary(self) -> str:
     """Return a summary of the deck."""

pylabrobot/resources/tecan/tip_carriers.py

@@ -146,15 +146,15 @@ def DiTi_3Pos(name: str) -> TecanTipCarrier:
     name=name,
     size_x=149.0,
     size_y=374.0,
-    size_z=4.5,
-    off_x=12.0,
-    off_y=24.7,
+    size_z=123.2,
+    off_x=12,
+    off_y=60,
     sites=create_homogeneous_resources(
       klass=ResourceHolder,
       locations=[
-        Coordinate(13.3, 70.0, 4.5),
-        Coordinate(13.3, 170.0, 4.5),
-        Coordinate(13.3, 270.0, 4.5),
+        Coordinate(13.3, 13.4, 4.5),
+        Coordinate(13.3, 113.4, 4.5),
+        Coordinate(13.3, 213.4, 4.5),
       ],
       resource_size_x=127.0,
       resource_size_y=88.5,

pylabrobot/resources/tecan/tip_racks.py

@@ -1235,7 +1235,7 @@ def DiTi_1000ul_LiHa(name: str) -> TecanTipRack:
       num_items_x=12,
       num_items_y=8,
       dx=7.7,
-      dy=8.7,
+      dy=7.7,
       dz=32.6,
       item_dx=9.0,
       item_dy=9.0,

pylabrobot/resources/tecan/wash.py

@@ -46,14 +46,14 @@ def Wash_Station(name: str) -> TecanWashStation:
     size_x=25.0,
     size_y=390.0,
     size_z=0.0,
+    off_y= -13,
     off_x=12.5,
-    off_y=24.7,
     sites=create_resources(
       klass=ResourceHolder,
       locations=[
-        Coordinate(12.2, 106.7, 0.0),
-        Coordinate(11.0, 180.7, 0.0),
-        Coordinate(12.2, 281.7, 0.0),
+        Coordinate(12.2, 107, 0.0),
+        Coordinate(11.0, 181, 0.0),
+        Coordinate(12.2, 282, 0.0),
       ],
       resource_size_x=[
         12.0,