star: error if direction is not default with core gripper (#751)

Author: rickwierenga

pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py

@@ -3415,6 +3415,9 @@ async def pick_up_resource(
       if use_unsafe_hotel:
         raise ValueError("Cannot use iswap hotel mode with core grippers")
 
+      if pickup.direction != GripDirection.FRONT:
+        raise NotImplementedError("Core grippers only support FRONT (default)")
+
       if channel_1 is not None or channel_2 is not None:
         warnings.warn(
           "The channel_1 and channel_2 parameters are deprecated and will be removed in future versions. "
@@ -3545,7 +3548,7 @@ async def drop_resource(
           hotel_center_z_direction=0 if z >= 0 else 1,
           clearance_height=round(hotel_clearance_height * 10),
           hotel_depth=round(hotel_depth * 10),
-          grip_direction=drop.drop_direction,
+          grip_direction=drop.direction,
           open_gripper_position=round(open_gripper_position * 10),
           traverse_height_at_beginning=round(traversal_height_start * 10),
           z_position_at_end=round(z_position_at_the_command_end * 10),
@@ -3565,7 +3568,7 @@ async def drop_resource(
             GripDirection.RIGHT: 2,
             GripDirection.BACK: 3,
             GripDirection.LEFT: 4,
-          }[drop.drop_direction],
+          }[drop.direction],
           minimum_traverse_height_at_beginning_of_a_command=round(traversal_height_start * 10),
           z_position_at_the_command_end=round(z_position_at_the_command_end * 10),
           open_gripper_position=round(open_gripper_position * 10),
@@ -3576,6 +3579,9 @@ async def drop_resource(
       if use_unsafe_hotel:
         raise ValueError("Cannot use iswap hotel mode with core grippers")
 
+      if drop.direction != GripDirection.FRONT:
+        raise NotImplementedError("Core grippers only support FRONT direction (default)")
+
       await self.core_release_picked_up_resource(
         location=Coordinate(x, y, z),
         resource=drop.resource,

pylabrobot/liquid_handling/backends/serializing_backend.py

@@ -213,7 +213,7 @@ async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
         "offset": serialize(drop.offset),
         "pickup_distance_from_top": drop.pickup_distance_from_top,
         "pickup_direction": serialize(drop.pickup_direction),
-        "drop_direction": serialize(drop.drop_direction),
+        "drop_direction": serialize(drop.direction),
         "rotation": drop.rotation,
       },
       **backend_kwargs,

pylabrobot/liquid_handling/backends/tecan/EVO_tests.py

@@ -387,7 +387,7 @@ async def test_move_resource(self):
       offset=Coordinate.zero(),
       pickup_distance_from_top=13.2,
       pickup_direction=GripDirection.FRONT,
-      drop_direction=GripDirection.FRONT,
+      direction=GripDirection.FRONT,
       rotation=0,
     )
 

pylabrobot/liquid_handling/liquid_handler.py

@@ -2221,7 +2221,7 @@ async def drop_resource(
       offset=offset,
       pickup_distance_from_top=self._resource_pickup.pickup_distance_from_top,
       pickup_direction=self._resource_pickup.direction,
-      drop_direction=direction,
+      direction=direction,
       rotation=rotation_applied_by_move,
     )
     result = await self.backend.drop_resource(drop=drop, **backend_kwargs)

pylabrobot/liquid_handling/standard.py

@@ -169,7 +169,7 @@ class ResourceDrop:
   offset: Coordinate
   pickup_distance_from_top: float
   pickup_direction: GripDirection
-  drop_direction: GripDirection
+  direction: GripDirection
   rotation: float