Add TipSpot cct Unit Test for Hamilton TipRacks (#708)

Author: BioCam

pylabrobot/resources/hamilton/tip_creators.py

@@ -15,11 +15,11 @@ class TipSize(enum.Enum):
   """Tip type. These correspond to the tip types in the FW documentation (see command TT)"""
 
   UNDEFINED = 0
-  LOW_VOLUME = 1
-  STANDARD_VOLUME = 2
-  HIGH_VOLUME = 3
-  CORE_384_HEAD_TIP = 4
-  XL = 5
+  LOW_VOLUME = 1  # i.e. tip_collar_size_z == 6 mm
+  STANDARD_VOLUME = 2  # i.e. tip_collar_size_z == 8 mm
+  HIGH_VOLUME = 3  # i.e. tip_collar_size_z == 10 mm
+  CORE_384_HEAD_TIP = 4  # TODO: identify tip_collar_size_z
+  XL = 5  # TODO: identify tip_collar_size_z
 
 
 class TipPickupMethod(enum.Enum):

pylabrobot/resources/hamilton/tip_racks_tests.py

@@ -0,0 +1,52 @@
+"""Unit test validating center-center coordinates of Hamilton
+tip spots across all PLR-integrated Hamilton tip racks.
+
+These tests instantiate Hamilton tip rack models, compute each
+rack's representative H1 tip spot position relative to the tip rack origin
+and verify that the reported center-center coordinates match
+expected reference values.
+"""
+
+import unittest
+
+from pylabrobot.resources.carrier import Coordinate
+from pylabrobot.resources.hamilton import (
+  hamilton_96_tiprack_10uL,
+  hamilton_96_tiprack_10uL_filter,
+  hamilton_96_tiprack_50uL,
+  hamilton_96_tiprack_50uL_filter,
+  hamilton_96_tiprack_50uL_NTR,
+  hamilton_96_tiprack_300uL,
+  hamilton_96_tiprack_300uL_filter,
+  hamilton_96_tiprack_300uL_filter_slim,
+  hamilton_96_tiprack_1000uL,
+  hamilton_96_tiprack_1000uL_filter,
+  hamilton_96_tiprack_1000uL_filter_ultrawide,
+  hamilton_96_tiprack_1000uL_filter_wide,
+)
+from pylabrobot.resources.tip_rack import TipRack
+
+
+class HamiltonTipSpotTests(unittest.TestCase):
+  def test_tipspot_h1_cc(self):
+    """Tests for PLR-integrated Hamilton TipRacks' accurate TipSpot center-center coordinates."""
+
+    def check_tip_spot_h1(tr: TipRack, expect: Coordinate):
+      h1_loc = tr.get_item("H1").get_absolute_location("c", "c")
+      assert h1_loc.x == expect.x and h1_loc.y == expect.y, f"{h1_loc} != {expect}"
+
+    common_tip_rack_loc = Coordinate(x=11.7, y=9.8, z=-22.5)
+    check_tip_spot_h1(hamilton_96_tiprack_10uL_filter("tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_10uL(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_50uL_filter(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_50uL(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_300uL_filter(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_300uL(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_300uL_filter_slim(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_1000uL_filter(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_1000uL(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_1000uL_filter_wide(name="tr"), common_tip_rack_loc)
+    check_tip_spot_h1(hamilton_96_tiprack_1000uL_filter_ultrawide(name="tr"), common_tip_rack_loc)
+
+    ntr_loc = Coordinate(x=13.525, y=11.625, z=13.5)
+    check_tip_spot_h1(hamilton_96_tiprack_50uL_NTR(name="tr"), ntr_loc)