pylabrobot.resources.utils.compute_circle_child_poses

pylabrobot.resources.utils.compute_circle_child_poses(n: int, radius: float, z: float = 0, orientation: Literal['outwards', 'inwards'] | None = 'outwards') → List[Tuple[Coordinate, float]]

Compute n poses evenly spaced on a circle, relative to the circle’s front left bottom.

The circle’s center is at (radius, radius, z); the first point is at +x, then counterclockwise.

Parameters:

• n (int) – number of poses.

• radius (float) – circle radius in mm.

• z (float) – height of all poses in mm.

• orientation (Literal['outwards', 'inwards'] | None) – which way rotation_z turns a resource’s front, away from or towards the center. None leaves every front facing -y (rotation_z 0).

Returns:

(position, rotation_z) per pose – rotation_z in degrees turns a resource’s front to face orientation.

Return type:

List[Tuple[Coordinate, float]]