Add vwr troughplate as trough

docs/resources/library/vwr.md

@@ -7,6 +7,7 @@ Company page: [Wikipedia](https://en.wikipedia.org/wiki/VWR_International)
 | Description               | Image              | PLR definition |
 |--------------------|--------------------|--------------------|
 | 'VWRReagentReservoirs25mL'<br>Part no.: 89094<br>[manufacturer website](https://us.vwr.com/store/product/4694822/vwr-disposable-pipetting-reservoirs)<br>Polystyrene Reservoirs | ![](img/vwr/VWRReagentReservoirs25mL.jpg) | `VWRReagentReservoirs25mL` |
+| 'VWR_1_troughplate_195000uL_Ub'<br>Part no.: 77575-302<br>[manufacturer website](https://www.avantorsciences.com/us/en/product/47763965/vwr-multi-channel-polypropylene-reagent-reservoirs?isCatNumSearch=true&searchedCatalogNumber=77575-302)<br>Polypropylene multi-channel reagent reservoirs | ![](img/vwr/VWR_1_troughplate_195000uL_Ub.jpg) | `VWR_1_troughplate_195000uL_Ub` |
 
 ## Plates
 

pylabrobot/liquid_handling/liquid_handler.py

@@ -836,7 +836,7 @@ def _check_containers(self, resources: Sequence[Resource]):
   @need_setup_finished
   async def aspirate(
     self,
-    resources: Sequence[Container],
+    resources: Union[Container, Sequence[Container]],
     vols: List[float],
     use_channels: Optional[List[int]] = None,
     flow_rates: Optional[List[Optional[float]]] = None,
@@ -901,6 +901,9 @@ async def aspirate(
       ValueError: If all channels are `None`.
     """
 
+    if isinstance(resources, Container):
+      resources = [resources]
+
     self._log_command(
       "aspirate",
       resources=resources,
@@ -946,6 +949,8 @@ async def aspirate(
       ("liquid_height", liquid_height),
       ("blow_out_air_volume", blow_out_air_volume),
     ]:
+      if n == "resources" and len(p) == 1:
+        continue
       if len(p) != len(use_channels):
         raise ValueError(
           f"Length of {n} must match length of use_channels: {len(p)} != {len(use_channels)}"
@@ -1029,7 +1034,7 @@ async def aspirate(
   @need_setup_finished
   async def dispense(
     self,
-    resources: Sequence[Container],
+    resources: Union[Container, Sequence[Container]],
     vols: List[float],
     use_channels: Optional[List[int]] = None,
     flow_rates: Optional[List[Optional[float]]] = None,
@@ -1092,6 +1097,9 @@ async def dispense(
       ValueError: If all channels are `None`.
     """
 
+    if isinstance(resources, Container):
+      resources = [resources]
+
     self._log_command(
       "dispense",
       resources=resources,
@@ -1159,6 +1167,8 @@ async def dispense(
       ("liquid_height", liquid_height),
       ("blow_out_air_volume", blow_out_air_volume),
     ]:
+      if n == "resources" and len(p) == 1:
+        continue
       if len(p) != len(use_channels):
         raise ValueError(
           f"Length of {n} must match length of use_channels: {len(p)} != {len(use_channels)}"

pylabrobot/liquid_handling/liquid_handler_tests.py

@@ -29,6 +29,7 @@
   ResourceNotFoundError,
   ResourceStack,
   TipRack,
+  VWR_1_trough_195000uL_Ub,
   nest_1_troughplate_195000uL_Vb,
   no_tip_tracking,
   set_tip_tracking,
@@ -56,7 +57,9 @@
   Drop,
   DropTipRack,
   GripDirection,
+  MultiHeadAspirationContainer,
   MultiHeadAspirationPlate,
+  MultiHeadDispenseContainer,
   MultiHeadDispensePlate,
   Pickup,
   ResourcePickup,
@@ -634,6 +637,40 @@ async def test_aspirate_dispense96(self):
       )
     )
 
+  async def test_aspirate_dispense96_vwr_trough(self):
+    trough = VWR_1_trough_195000uL_Ub(name="vwr_trough")
+    self.deck.assign_child_resource(trough, location=Coordinate(300, 100, 0))
+
+    await self.lh.pick_up_tips96(self.tip_rack)
+    await self.lh.aspirate96(trough, volume=10)
+    await self.lh.dispense96(trough, volume=10)
+
+    tips = [self.lh.head96[i].get_tip() for i in range(96)]
+    self.backend.aspirate96.assert_called_with(
+      aspiration=MultiHeadAspirationContainer(
+        container=trough,
+        offset=Coordinate.zero(),
+        tips=tips,
+        volume=10,
+        flow_rate=None,
+        liquid_height=None,
+        blow_out_air_volume=None,
+        mix=None,
+      )
+    )
+    self.backend.dispense96.assert_called_with(
+      dispense=MultiHeadDispenseContainer(
+        container=trough,
+        offset=Coordinate.zero(),
+        tips=tips,
+        volume=10,
+        flow_rate=None,
+        liquid_height=None,
+        blow_out_air_volume=None,
+        mix=None,
+      )
+    )
+
   async def test_dispense96_with_quadrant_well_list(self):
     plate_384 = Revvity_384_wellplate_28ul_Ub(name="plate_384")
     self.deck.assign_child_resource(plate_384, location=Coordinate(400, 100, 0))

pylabrobot/resources/vwr/__init__.py

@@ -1,2 +1,2 @@
 from .plates import VWR_1_troughplate_195000uL_Ub, VWR_96_wellplate_2mL_Vb
-from .troughs import VWRReagentReservoirs25mL
+from .troughs import VWR_1_trough_195000uL_Ub, VWRReagentReservoirs25mL

pylabrobot/resources/vwr/troughs.py

@@ -1,4 +1,36 @@
-from pylabrobot.resources.trough import Trough
+from pylabrobot.resources.height_volume_functions import (
+  compute_height_from_volume_rectangle,
+  compute_volume_from_height_rectangle,
+)
+from pylabrobot.resources.trough import Trough, TroughBottomType
+
+
+def VWR_1_trough_195000uL_Ub(name: str) -> Trough:
+  """VWR NA Cat. No. 77575-302"""
+
+  inner_width = 127.76 - (14.38 - 8.9 / 2) * 2
+  inner_length = 85.48 - (11.24 - 8.9 / 2) * 2
+
+  return Trough(
+    name=name,
+    size_x=127.76,  # from spec
+    size_y=85.48,  # from spec
+    size_z=31.4,  # from spec
+    material_z_thickness=3.55,  # from spec
+    max_volume=195000,  # from spec 195 mL
+    model=VWR_1_trough_195000uL_Ub.__name__,
+    bottom_type=TroughBottomType.U,
+    compute_height_from_volume=lambda liquid_volume: compute_height_from_volume_rectangle(
+      liquid_volume,
+      inner_length,
+      inner_width,
+    ),
+    compute_volume_from_height=lambda liquid_height: compute_volume_from_height_rectangle(
+      liquid_height,
+      inner_length,
+      inner_width,
+    ),
+  )
 
 
 def VWRReagentReservoirs25mL(name: str) -> Trough: