pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_rotation_drive_request_y#

async STAR.iswap_rotation_drive_request_y() → float#

Request iSWAP rotation drive Y position (deck coordinates), in mm.

Reads the linear Y carriage that the rotation joint is mounted on. This is NOT the gripper finger’s Y - the finger position depends on the rotation drive (W) and wrist (T) angles. Use iswap_rotation_drive_request_position for the rotation drive’s full XYZ.