diff --git a/pylabrobot/filters/RetroFilterV4/RetroFilterV4.md b/pylabrobot/filters/RetroFilterV4/RetroFilterV4.md
new file mode 100644
index 0000000000..3fc317d200
--- /dev/null
+++ b/pylabrobot/filters/RetroFilterV4/RetroFilterV4.md
@@ -0,0 +1,23 @@
+# Retro Filter V4
+
+
+
+Designed for flow cytometry prep.
+
+## Usage Instructions
+
+1. Lay **40–80 µm filter cloth** between the upper and lower portions.
+2. Snap the filter assembly shut.
+3. Lay scissors flush against the top-bottom interface.
+4. **Cut the filter cloth close** to the printed parts to avoid any excess that could obstruct robotic handling.
+5. The filter is ready for **single-use**.
+
+> **Tip**: For a reusable filtration assembly, purchase **80 µm steel mesh** from Component Supply.
+
+
+### [OnShape doc](https://cad.onshape.com/documents/c9c3cf6b64034d54f966eda5/w/fed83636389b833df37c2dac/e/80426a2258abe186fc00e172?renderMode=0&uiState=6768d74c1ea3896154236237)
+
+
+
+ 
+
diff --git a/pylabrobot/filters/RetroFilterV4/RetroFilterV4.png b/pylabrobot/filters/RetroFilterV4/RetroFilterV4.png
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diff --git a/pylabrobot/filters/RetroFilterV4/RetroFilterV4_lower.stl b/pylabrobot/filters/RetroFilterV4/RetroFilterV4_lower.stl
new file mode 100644
index 0000000000..1231bef333
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diff --git a/pylabrobot/filters/RetroFilterV4/RetroFilterV4_upper.stl b/pylabrobot/filters/RetroFilterV4/RetroFilterV4_upper.stl
new file mode 100644
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diff --git a/pylabrobot/filters/__init__.py b/pylabrobot/filters/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/pylabrobot/filters/filter.py b/pylabrobot/filters/filter.py
new file mode 100644
index 0000000000..296ea9d045
--- /dev/null
+++ b/pylabrobot/filters/filter.py
@@ -0,0 +1,78 @@
+from typing import Optional, Union
+
+from pylabrobot.liquid_handling.liquid_handler import LiquidHandler
+from pylabrobot.resources.carrier import ResourceHolder
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources.plate import Lid, Plate
+
+
+class Filter(Lid):
+ """Filter for plates for use in filtering cells before flow cytometry."""
+
+ filter_dispense_offset = Coordinate(
+ 0, 0, 7
+ ) # height to pipette through filter (required pressure on filter)
+
+ def __init__(
+ self,
+ name: str,
+ size_x: float,
+ size_y: float,
+ size_z: float,
+ nesting_z_height: float,
+ category: str = "filter",
+ model: Optional[str] = None,
+ ):
+ super().__init__(
+ name=name,
+ size_x=size_x,
+ size_y=size_y,
+ size_z=size_z,
+ category=category,
+ model=model,
+ nesting_z_height=nesting_z_height,
+ )
+
+ async def move_filter(
+ self, lh: LiquidHandler, to_dest: Union[Plate, ResourceHolder], arm: str = "core", **kwargs
+ ):
+ """move filter from CarrierSite to a Plate using core grippers (faster) or iSWAP (slower)"""
+ await lh.move_lid(
+ lid=self,
+ to=to_dest,
+ use_arm=arm,
+ pickup_distance_from_top=15,
+ core_grip_strength=20,
+ return_core_gripper=True,
+ **kwargs,
+ )
+
+ async def dispense_through_filter(
+ self, indices: list[int], volume: float, lh: LiquidHandler, **disp_kwargs
+ ):
+ assert isinstance(self.parent, Plate), "Filter must be placed on a plate to be pipetted."
+
+ offsets = disp_kwargs.get("offsets", self.filter_dispense_offset)
+ if not isinstance(offsets, Coordinate):
+ raise ValueError("Offsets must be a Coordinate.")
+
+ defaults = {
+ "offsets": [offsets + self.filter_dispense_offset] * len(indices)
+ if isinstance(offsets, Coordinate)
+ else [offsets] * len(indices),
+ "transport_air_volume": 5,
+ "swap_speed": 100,
+ "minimum_traverse_height_at_beginning_of_a_command": self.parent.get_absolute_location(
+ "c", "c", "t"
+ ).z
+ + 20,
+ "min_z_endpos": self.parent.get_absolute_location("c", "c", "t").z + 20,
+ }
+
+ disp_params = {**defaults, **{k: v for k, v in disp_kwargs.items() if k in defaults}}
+
+ await lh.dispense([self.parent[i][0] for i in indices], [volume] * len(indices), **disp_params)
+
+
+def RetroFilterv4(name: str) -> Filter:
+ return Filter(name=name, size_x=129, size_y=88, size_z=19.7, nesting_z_height=2)
diff --git a/pylabrobot/liquid_handling/liquid_handler.py b/pylabrobot/liquid_handling/liquid_handler.py
index 14a5876c92..d371f2d521 100644
--- a/pylabrobot/liquid_handling/liquid_handler.py
+++ b/pylabrobot/liquid_handling/liquid_handler.py
@@ -28,6 +28,7 @@
Strictness,
get_strictness,
)
+from pylabrobot.filters.filter import Filter
from pylabrobot.machines.machine import Machine, need_setup_finished
from pylabrobot.plate_reading import PlateReader
from pylabrobot.resources import (
@@ -777,8 +778,12 @@ async def aspirate(
# Checks
for resource in resources:
- if isinstance(resource.parent, Plate) and resource.parent.has_lid():
- raise ValueError("Aspirating from a well with a lid is not supported.")
+ if (
+ isinstance(resource.parent, Plate)
+ and resource.parent.has_lid()
+ and not isinstance(resource.parent.lid, Filter)
+ ):
+ raise ValueError("Aspirating from a well with a non-filter lid is not supported.")
self._make_sure_channels_exist(use_channels)
assert len(resources) == len(vols) == len(offsets) == len(flow_rates) == len(liquid_height)
@@ -1000,8 +1005,12 @@ async def dispense(
raise BlowOutVolumeError("Blowout volume is larger than aspirated volume")
for resource in resources:
- if isinstance(resource.parent, Plate) and resource.parent.has_lid():
- raise ValueError("Dispensing to plate with lid")
+ if (
+ isinstance(resource.parent, Plate)
+ and resource.parent.has_lid()
+ and not isinstance(resource.parent.lid, Filter)
+ ):
+ raise ValueError("Aspirating from a well with a non-filter lid is not supported.")
assert len(vols) == len(offsets) == len(flow_rates) == len(liquid_height)