Add 182070 96w carrier

docs/resources/library/hamilton.md

@@ -20,6 +20,7 @@ Company history: [Hamilton Robotics history](https://www.hamiltoncompany.com/his
 | - | - | - |
 | 'PLT_CAR_L5AC_A00'<br>Part no.: 182090<br>[manufacturer website](https://www.hamiltoncompany.com/automated-liquid-handling/other-robotics/182090) <br>Carrier for 5x 96 Deep Well Plates or for 5x 384 tip racks (e.g.384HEAD_384TIPS_50μl) (6T) | ![](img/hamilton/PLT_CAR_L5AC_A00_182090.jpg) | `hamilton_plate_carrier_L5_ac` |
 | 'PLT_CAR_L5MD_A00'<br>Part no.: 182365/02<br>[manufacturer website](https://www.hamiltoncompany.com/automated-liquid-handling/other-robotics/182365) <br>Carries five ANSI/SLAS footprint MTPs in landscape orientation. Occupies six tracks.| ![](img/hamilton/182365-Plate-Carrier.webp) | `PLT_CAR_L5MD_A00` |
+| 'PLT_CAR_L5PCR'<br>Part no.: 182070<br>[manufacturer website](https://www.hamiltoncompany.com/other-robotics/182070)<br>Carrier for 5x 96-well PCR plates in landscape orientation using 182531 inserts (6T). | ![Hamilton 182070 PCR carrier with five 182531 inserts](img/hamilton/PLT_CAR_L5PCR.jpg) | `PLT_CAR_L5PCR` |
 | 'PLT_CAR_P3AC'<br>Part no.: 182365/03<br>[manufacturer website](https://www.hamiltoncompany.com/automated-liquid-handling/other-robotics/182365) <br>Hamilton Deepwell Plate Carrier for 3 Plates (Portrait, 6 tracks wide)| ![](img/hamilton/PLT_CAR_P3AC.jpg) | `PLT_CAR_P3AC` |
 | 'PLT_CAR_L5_DWP'<br>Part no.:  93522-01/03<br>manufacturer website? <br>Hamilton Plate Carrier for 5 Plates (Landscape, 6 tracks wide). Plastic tabs. | ![](img/hamilton/PLT_CAR_L5_DWP.jpg) | `PLT_CAR_L5_DWP` |
 
@@ -68,6 +69,7 @@ Sometimes called "reagent carriers" in Hamilton jargon.
 
 | Description | Image | PLR definition |
 | - | - | - |
+| 'Hamilton_96_adapter_182531'<br>Part no.: 182531<br>PCR insert for the [182070 carrier](https://www.hamiltoncompany.com/other-robotics/182070). 110 × 75 × 15 mm, with a 12 × 8 hole grid at 9 mm spacing. Geometry and image derived from Hamilton's 3D model. | ![](img/hamilton/Hamilton_96_adapter_182531.jpg) | `Hamilton_96_adapter_182531` |
 | 'Hamilton_96_adapter_188182'<br>Part no.: 188182<br>[manufacturer website](https://www.hamiltoncompany.com/automated-liquid-handling/other-robotics/188182) (<-non-functional link?) <br>Adapter for 96 well PCR plate, plunged. Does not have an ANSI/SLAS footprint -> requires assignment with specified location. | ![](img/hamilton/hamilton_96_adapter_188182.png) | `Hamilton_96_adapter_188182` |
 
 ## Consumables

pylabrobot/resources/hamilton/plate_adapters.py

@@ -1,8 +1,40 @@
-"""Hamilton magnetic racks"""
+"""Hamilton PCR plate adapters."""
 
 from pylabrobot.resources.plate_adapter import PlateAdapter
 
 
+def Hamilton_96_adapter_182531(name: str) -> PlateAdapter:
+  """Hamilton 182531 PCR insert for the 182070 landscape carrier.
+
+  Geometry is derived from the five ``182531_RNO`` meshes in Hamilton's 3D model.
+  The 12 x 8 hole grid has 9 mm spacing; H1 is 5.5/6.0 mm from the left/front edges.
+  The mesh's top opening diameter is approximately 7.732 mm, and its cavity bottom
+  is 1.951 mm above the insert base, giving a 13.049 mm cavity depth.
+
+  ``dz`` represents the modeled cavity bottom. Automatic plate placement uses that
+  reference; it does not model contact between a particular PCR plate and the tapered
+  cavities. Supply an explicit plate location if its seating height differs.
+
+  Args:
+    name: The insert name.
+  """
+  hole_diameter = 7.732  # from the .x mesh's top opening vertices, rounded to 0.001 mm
+  return PlateAdapter(
+    name=name,
+    size_x=110.0,  # from the .x mesh bounds
+    size_y=75.0,  # from the .x mesh bounds
+    size_z=15.0,  # from the .x mesh: 108.7 - 93.7
+    dx=5.5 - hole_diameter / 2,  # from the .x hole centers relative to the insert's left edge
+    dy=6.0 - hole_diameter / 2,  # from the .x hole centers relative to the insert's front edge
+    dz=1.951,  # from the .x mesh: cavity bottom 95.651 - insert base 93.7
+    adapter_hole_size_x=hole_diameter,
+    adapter_hole_size_y=hole_diameter,
+    adapter_hole_dx=9.0,  # from the .x hole grid
+    adapter_hole_dy=9.0,  # from the .x hole grid
+    model="Hamilton_96_adapter_182531",
+  )
+
+
 def Hamilton_96_adapter_188182(name: str) -> PlateAdapter:
   """Hamilton cat. no.: 188182
   Adapter for 96 well PCR plate, plunged.

pylabrobot/resources/hamilton/plate_carriers.py

@@ -6,6 +6,7 @@
   PlateHolder,
   create_homogeneous_resources,
 )
+from pylabrobot.resources.hamilton.plate_adapters import Hamilton_96_adapter_182531
 
 
 def PLT_CAR_L4_HHS_ALT_A00(name: str) -> PlateCarrier:
@@ -254,28 +255,79 @@ def PLT_CAR_L5MD_A00(name: str) -> PlateCarrier:
   )
 
 
-def PLT_CAR_L5PCR(name: str) -> PlateCarrier:
-  """ """
-  return PlateCarrier(
+def PLT_CAR_L5PCR(name: str, *, with_adapters: bool = False) -> PlateCarrier:
+  """Hamilton 182070 carrier for five 96-well PCR plates in landscape orientation (6 tracks).
+
+  https://www.hamiltoncompany.com/other-robotics/182070
+
+  Geometry:
+  Hamilton's VENUS template specifies a 135 x 497 x 130 mm carrier envelope and
+  96 mm site pitch. Its 130 mm height and clearance describe the envelope, not the insert
+  support surface. The 75 mm inserts have 21 mm clear gaps.
+
+  Insert locations are derived from the five 182531_RNO meshes in Hamilton's 3D model.
+  Coordinates are referenced to the main body's left/front edges and the rail underside,
+  excluding the projecting front latch. In the model's stored axes, the reference
+  is lateral X = -67, longitudinal Z = -244, and vertical Y = -12 mm. Subtracting
+  these from the first insert's minimum coordinates (-55, -229.4, 93.7 mm,
+  respectively) gives these carrier-relative locations:
+
+  Site | Insert X (mm) | Insert Y (mm) | Support Z (mm)
+     0 |         12.00 |         14.60 |         105.70
+     1 |         12.00 |        110.60 |         105.70
+     2 |         12.00 |        206.60 |         105.70
+     3 |         12.00 |        302.60 |         105.70
+     4 |         12.00 |        398.60 |         105.70
+
+  Each site is a 110 x 75 mm support plane with no additional offset or sinking.
+  Each insert is 15 mm high, with H1 at 5.5/6.0 mm from its left/front edges and a
+  9 x 9 mm hole grid. The first H1 center is therefore 17.5/20.6 mm from the carrier
+  body edges. STARlet track placement adds a 100 mm Z datum, giving insert bottoms
+  at Z = 205.7 mm and tops at Z = 220.7 mm.
+
+  The template also declares 127 x 86 mm plate sites at X = 5, Y = 9.5 + 96i,
+  Z = 109.2 mm. These are separate VENUS plate-placement references, not insert-base
+  coordinates, and are not added to the insert locations above. VENUS site IDs run
+  5 through 1 from front to back; PyLabRobot indices run 0 through 4.
+
+  The insert model gives an approximately 7.732 mm top opening and 13.049 mm cavity
+  depth, with the cavity bottom 1.951 mm above the insert base. The adapter's dz uses
+  this modeled bottom. Automatic plate placement aligns the plate origin to that
+  reference; it does not calculate how a particular plate contacts the tapered
+  cavities. Supply an explicit plate location when its seating height differs.
+
+  Args:
+    name: The carrier name.
+    with_adapters: Mount five independent 182531 inserts. Defaults to empty sites.
+  """
+
+  support_height = 105.7  # from .x: insert base 93.7 minus rail underside -12.0
+  adapter_x = 12.0  # from .x: insert edge -55.0 minus body left edge -67.0
+  first_adapter_y = 14.6  # from .x: insert edge -229.4 minus body front edge -244.0
+  site_pitch = 96.0  # from spec: .tml site Y differences; also present in the .x model
+  carrier = PlateCarrier(
     name=name,
-    size_x=135.0,
-    size_y=497.0,
-    size_z=130.0,
+    size_x=135.0,  # from spec: .tml Dim.Dx
+    size_y=497.0,  # from spec: .tml Dim.Dy
+    size_z=130.0,  # from spec: .tml Dim.Dz and Clearance
     sites=create_homogeneous_resources(
       klass=PlateHolder,
       locations=[
-        Coordinate(4.0, 8.5, 107.5),
-        Coordinate(4.0, 104.5, 107.5),
-        Coordinate(4.0, 200.5, 107.5),
-        Coordinate(4.0, 296.5, 107.5),
-        Coordinate(4.0, 392.5, 107.5),
+        Coordinate(adapter_x, first_adapter_y + i * site_pitch, support_height)
+        for i in range(5)  # number of positions from spec
       ],
-      resource_size_x=127.0,
-      resource_size_y=86.0,
+      resource_size_x=110.0,  # from the .x insert mesh bounds
+      resource_size_y=75.0,  # from the .x insert mesh bounds
+      resource_size_z=0.0,  # sites represent the adapter support plane
       name_prefix=name,
+      pedestal_size_z=0.0,  # adapters rest on the support plane without sinking
     ),
     model="PLT_CAR_L5PCR",
   )
+  if with_adapters:
+    for i in carrier.sites:
+      carrier[i] = Hamilton_96_adapter_182531(f"{name}_adapter_{i}")
+  return carrier
 
 
 def PLT_CAR_L5PCR_A00(name: str) -> PlateCarrier: