opentrons 8.0.0a3__py2.py3-none-any.whl → 8.0.0a4__py2.py3-none-any.whl

opentrons/protocol_api/core/engine/deck_conflict.py

@@ -416,23 +416,48 @@ def _is_within_pipette_extents(
     pipette_bounding_box_at_loc: Tuple[Point, Point, Point, Point],
 ) -> bool:
     """Whether a given point is within the extents of a configured pipette on the specified robot."""
-    mount = engine_state.pipettes.get_mount(pipette_id)
-    robot_extent_per_mount = engine_state.geometry.absolute_deck_extents
-    pip_back_left_bound, pip_front_right_bound, _, _ = pipette_bounding_box_at_loc
-    pipette_bounds_offsets = engine_state.pipettes.get_pipette_bounding_box(pipette_id)
-    from_back_right = (
-        robot_extent_per_mount.back_right[mount]
-        + pipette_bounds_offsets.back_right_corner
-    )
-    from_front_left = (
-        robot_extent_per_mount.front_left[mount]
-        + pipette_bounds_offsets.front_left_corner
-    )
+    channels = engine_state.pipettes.get_channels(pipette_id)
+    robot_extents = engine_state.geometry.absolute_deck_extents
+    (
+        pip_back_left_bound,
+        pip_front_right_bound,
+        pip_back_right_bound,
+        pip_front_left_bound,
+    ) = pipette_bounding_box_at_loc
+
+    # Given the padding values accounted for against the deck extents,
+    # a pipette is within extents when all of the following are true:
+
+    # Each corner slot full pickup case:
+    # A1: Front right nozzle is within the rear and left-side padding limits
+    # D1: Back right nozzle is within the front and left-side padding limits
+    # A3 Front left nozzle is within the rear and right-side padding limits
+    # D3: Back left nozzle is within the front and right-side padding limits
+    # Thermocycler Column A2: Front right nozzle is within padding limits
+
+    if channels == 96:
+        return (
+            pip_front_right_bound.y
+            <= robot_extents.deck_extents.y + robot_extents.padding_rear
+            and pip_front_right_bound.x >= robot_extents.padding_left_side
+            and pip_back_right_bound.y >= robot_extents.padding_front
+            and pip_back_right_bound.x >= robot_extents.padding_left_side
+            and pip_front_left_bound.y
+            <= robot_extents.deck_extents.y + robot_extents.padding_rear
+            and pip_front_left_bound.x
+            <= robot_extents.deck_extents.x + robot_extents.padding_right_side
+            and pip_back_left_bound.y >= robot_extents.padding_front
+            and pip_back_left_bound.x
+            <= robot_extents.deck_extents.x + robot_extents.padding_right_side
+        )
+    # For 8ch pipettes we only check the rear and front extents
     return (
-        from_back_right.x >= pip_back_left_bound.x >= from_front_left.x
-        and from_back_right.y >= pip_back_left_bound.y >= from_front_left.y
-        and from_back_right.x >= pip_front_right_bound.x >= from_front_left.x
-        and from_back_right.y >= pip_front_right_bound.y >= from_front_left.y
+        pip_front_right_bound.y
+        <= robot_extents.deck_extents.y + robot_extents.padding_rear
+        and pip_back_right_bound.y >= robot_extents.padding_front
+        and pip_front_left_bound.y
+        <= robot_extents.deck_extents.y + robot_extents.padding_rear
+        and pip_back_left_bound.y >= robot_extents.padding_front
     )
 
 

opentrons/protocol_api/instrument_context.py

@@ -268,7 +268,6 @@ class InstrumentContext(publisher.CommandPublisher):
             and self._96_tip_config_valid()
         ):
             self.require_liquid_presence(well=well)
-            self.prepare_to_aspirate()
 
         with publisher.publish_context(
             broker=self.broker,

opentrons/protocol_api/protocol_context.py

@@ -915,6 +915,7 @@ class ProtocolContext(CommandPublisher):
                              from the Opentrons App or touchscreen.
         :param bool liquid_presence_detection: If ``True``, enable automatic
             :ref:`liquid presence detection <lpd>` for Flex 1-, 8-, or 96-channel pipettes.
+
             .. versionadded:: 2.20
         """
         instrument_name = validation.ensure_lowercase_name(instrument_name)

opentrons/protocol_engine/state/addressable_areas.py

@@ -352,6 +352,20 @@ class AddressableAreaView(HasState[AddressableAreaState]):
             "right": Point(x=right_offset[0], y=right_offset[1], z=right_offset[2]),
         }
 
+    @cached_property
+    def padding_offsets(self) -> Dict[str, float]:
+        """The padding offsets to be applied to the deck extents of the robot."""
+        rear_offset = self.state.robot_definition["paddingOffsets"]["rear"]
+        front_offset = self.state.robot_definition["paddingOffsets"]["front"]
+        left_side_offset = self.state.robot_definition["paddingOffsets"]["leftSide"]
+        right_side_offset = self.state.robot_definition["paddingOffsets"]["rightSide"]
+        return {
+            "rear": rear_offset,
+            "front": front_offset,
+            "left_side": left_side_offset,
+            "right_side": right_side_offset,
+        }
+
     def get_addressable_area(self, addressable_area_name: str) -> AddressableArea:
         """Get addressable area."""
         if not self._state.use_simulated_deck_config:

opentrons/protocol_engine/state/geometry.py

@@ -77,6 +77,11 @@ class _GripperMoveType(enum.Enum):
 class _AbsoluteRobotExtents:
     front_left: Dict[MountType, Point]
     back_right: Dict[MountType, Point]
+    deck_extents: Point
+    padding_rear: float
+    padding_front: float
+    padding_left_side: float
+    padding_right_side: float
 
 
 _LabwareLocation = TypeVar("_LabwareLocation", bound=LabwareLocation)
@@ -118,7 +123,13 @@ class GeometryView:
             MountType.RIGHT: self._addressable_areas.deck_extents + right_offset,
         }
         return _AbsoluteRobotExtents(
-            front_left=front_left_abs, back_right=back_right_abs
+            front_left=front_left_abs,
+            back_right=back_right_abs,
+            deck_extents=self._addressable_areas.deck_extents,
+            padding_rear=self._addressable_areas.padding_offsets["rear"],
+            padding_front=self._addressable_areas.padding_offsets["front"],
+            padding_left_side=self._addressable_areas.padding_offsets["left_side"],
+            padding_right_side=self._addressable_areas.padding_offsets["right_side"],
         )
 
     def get_labware_highest_z(self, labware_id: str) -> float:

opentrons/protocol_engine/state/pipettes.py

@@ -845,8 +845,6 @@ class PipetteView(HasState[PipetteState]):
             - primary_nozzle_offset
             + pipette_bounds_offsets.front_right_corner
         )
-        # TODO (spp, 2024-02-27): remove back right & front left;
-        #  return only back left and front right points.
         pip_back_right_bound = Point(
             pip_front_right_bound.x, pip_back_left_bound.y, pip_front_right_bound.z
         )

{opentrons-8.0.0a3.dist-info → opentrons-8.0.0a4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.0.0a3
+Version: 8.0.0a4
 Summary: The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy.
 Author: Opentrons
 Author-email: engineering@opentrons.com
@@ -21,7 +21,7 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Topic :: Scientific/Engineering
 Requires-Python: >=3.10
 License-File: ../LICENSE
-Requires-Dist: opentrons-shared-data ==8.0.0a3
+Requires-Dist: opentrons-shared-data ==8.0.0a4
 Requires-Dist: aionotify ==0.3.1
 Requires-Dist: anyio <4.0.0,>=3.6.1
 Requires-Dist: jsonschema <4.18.0,>=3.0.1
@@ -33,9 +33,9 @@ Requires-Dist: click <9,>=8.0.0
 Requires-Dist: packaging >=21.0
 Requires-Dist: importlib-metadata >=1.0 ; python_version < "3.8"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex] ==8.0.0a3 ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] ==8.0.0a4 ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware ==8.0.0a3 ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware ==8.0.0a4 ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.0.0a3.dist-info → opentrons-8.0.0a4.dist-info}/RECORD

@@ -219,11 +219,11 @@ opentrons/protocol_api/config.py,sha256=r9lyvXjagTX_g3q5FGURPpcz2IA9sSF7Oa_1mKx-
 opentrons/protocol_api/create_protocol_context.py,sha256=wwsZje0L__oDnu1Yrihau320_f-ASloR9eL1QCtkOh8,7612
 opentrons/protocol_api/deck.py,sha256=94vFceg1SC1bAGd7TvC1ZpYwnJR-VlzurEZ6jkacYeg,8910
 opentrons/protocol_api/disposal_locations.py,sha256=NRiSGmDR0LnbyEkWSOM-o64uR2fUoB1NWJG7Y7SsJSs,7920
-opentrons/protocol_api/instrument_context.py,sha256=Viq1EpJ67IiOXXNKigx4iTW1xtDfx3yQ5PHdy3StzcQ,95849
+opentrons/protocol_api/instrument_context.py,sha256=TqzML0qqGKBKaU4FUEJKZJ23c5kLzZXQR1sfamZaNJw,95810
 opentrons/protocol_api/labware.py,sha256=cxJp5wWMv-OKLmryEXwPgFL6T6pu8T7SXYlGWaVmB-g,47723
 opentrons/protocol_api/module_contexts.py,sha256=4uXWnO-w4Znbz27Y8m0uMJ_CR0U3Qy1r1ODntFbYMd0,37325
 opentrons/protocol_api/module_validation_and_errors.py,sha256=XL_m72P8rcvGO2fynY7UzXLcpGuI6X4s0V6Xf735Iyc,1464
-opentrons/protocol_api/protocol_context.py,sha256=SxqZ_vRTPxmceJdYXpI_e2VfWJm_atoCjM1I1UPBMB0,53602
+opentrons/protocol_api/protocol_context.py,sha256=qaCMeIJIGSrGv_iORtkC8ANj5_36el1enBeB5BmJ9FM,53603
 opentrons/protocol_api/robot_context.py,sha256=vph_ZqfdmREOwLwpjSkXiSZSpI1HO0HuilhqjhgT7Rw,2660
 opentrons/protocol_api/validation.py,sha256=p9kwYn340lIGHJ88q7L3RsfEgr25Nv1uTMuw4yly7T0,18373
 opentrons/protocol_api/core/__init__.py,sha256=-g74o8OtBB0LmmOvwkRvPgrHt7fF7T8FRHDj-x_-Onk,736
@@ -236,7 +236,7 @@ opentrons/protocol_api/core/protocol.py,sha256=C70tQe6ZTjYX56rvlSl8MW2CJl0Mb-yZt
 opentrons/protocol_api/core/well.py,sha256=quBAF0UjcsRcqZy_Cb13NIkfnx4y1VbEHZgGcDIl-wI,2393
 opentrons/protocol_api/core/well_grid.py,sha256=BU28DKaBgEU_JdZ6pEzrwNxmuh6TkO4zlg7Pq1Rf5Xk,1516
 opentrons/protocol_api/core/engine/__init__.py,sha256=B_5T7zgkWDb1mXPg4NbT-wBkQaK-WVokMMnJRNu7xiM,582
-opentrons/protocol_api/core/engine/deck_conflict.py,sha256=yKN7LbDuZ1ObUOHIQyV8L2lvNuEJKxjV0hx-vVnARb8,23376
+opentrons/protocol_api/core/engine/deck_conflict.py,sha256=EBC15ROS9cEUSnKHzeaL9xOhN_WS3tSNic8S-kkFz-Q,24560
 opentrons/protocol_api/core/engine/exceptions.py,sha256=aZgNrmYEeuPZm21nX_KZYtvyjv5h_zPjxxgPkEV7_bw,725
 opentrons/protocol_api/core/engine/instrument.py,sha256=r_2ZF3i_5FZqMdFipu0hXpgx9Pl5mM5_AfX7La8H_TU,35686
 opentrons/protocol_api/core/engine/labware.py,sha256=xb1osbmcHL80S9RLeqA9qKiA_CdyMNMW0In7Pukegf4,7008
@@ -392,17 +392,17 @@ opentrons/protocol_engine/resources/ot3_validation.py,sha256=0x81JoZBXcj2xUVcOF7
 opentrons/protocol_engine/resources/pipette_data_provider.py,sha256=NYcQGJYQ-aeEME5nilUlkHF6oWfrNZt0op52bUH0czo,14623
 opentrons/protocol_engine/state/__init__.py,sha256=l-VhTfs16xika3ZWPqfxovB1Z1GHuPRm-IHWrEOuzAw,1826
 opentrons/protocol_engine/state/abstract_store.py,sha256=b5cqKZhI6ERZj6gyL0kDutD6ogdQngR3T-JmPATvhi8,631
-opentrons/protocol_engine/state/addressable_areas.py,sha256=X1DKa2Cb2Xu1asYgXB0By67iSeToF1ZezmO7EcR3nSM,27553
+opentrons/protocol_engine/state/addressable_areas.py,sha256=Al86_Qv-ikveekNPV4XS50yzFzXMGklUgEotvbg3O8s,28217
 opentrons/protocol_engine/state/command_history.py,sha256=aNB1Oye3LxAVOvGppCEohv4KT84buJckgngDcDXDvj8,10252
 opentrons/protocol_engine/state/commands.py,sha256=wNqBp-tb7rgzqp94mYy6vVjxshv50AearJ1y9QWvKi4,41287
 opentrons/protocol_engine/state/config.py,sha256=7jSGxC6Vqj1eA8fqZ2I3zjlxVXg8pxvcBYMztRIx9Mg,1515
-opentrons/protocol_engine/state/geometry.py,sha256=g1YuN5Gsno-AOseitK_rjAjGn_jVZPknq8a9o6r6Uf8,50601
+opentrons/protocol_engine/state/geometry.py,sha256=YT3ILruOwRvAUtDt_C8EV8k_puXAm5oxmhe1wBnWi1I,51129
 opentrons/protocol_engine/state/labware.py,sha256=sKbX7uN26m3C_84WnSxM-BJ38n1PlPDlxWf6mkYsY_4,37285
 opentrons/protocol_engine/state/liquids.py,sha256=W7cf-mmVaZ3aNyiormFEy79aSvU__QwDfPVgjFb3lF4,1885
 opentrons/protocol_engine/state/modules.py,sha256=bylqsYZyVjrnx6BUhDjJb-TofnqPNk0EUYV8j12UINE,50673
 opentrons/protocol_engine/state/motion.py,sha256=nh0UGOVvmpYynOchGJkVLTyIyiJ9CszRTUvp4Czr_GI,13955
 opentrons/protocol_engine/state/move_types.py,sha256=zSQj_qYHBi7_-wrpaZBKmX_O-wNZCpLZkCzagOwI-zY,2132
-opentrons/protocol_engine/state/pipettes.py,sha256=MDbzNEr2sI80QvTdCwNfB3GqOdiLFFXRG14zLYA5lqs,36176
+opentrons/protocol_engine/state/pipettes.py,sha256=wS7q9Sau86zK5vCcHiSGRdMhWNm26GPKUDNJnSEjEHw,36053
 opentrons/protocol_engine/state/state.py,sha256=jx044yBfXFV1YO5aqXhJmy7iFx-tXEQ5rIl3lMcrY04,13562
 opentrons/protocol_engine/state/state_summary.py,sha256=8VCxEOBeUflx8IBYUYtgNdwcwgdVZv3R8rSfzsbai7U,923
 opentrons/protocol_engine/state/tips.py,sha256=gU2GsmaWPDyIIjWHj3KXv6NqxphfOd4eeNxF40hm5ok,22621
@@ -499,9 +499,9 @@ opentrons/util/helpers.py,sha256=3hr801bWGbxEcOFAS7f-iOhmnUhoK5qahbB8SIvaCfY,165
 opentrons/util/linal.py,sha256=IlKAP9HkNBBgULeSf4YVwSKHdx9jnCjSr7nvDvlRALg,5753
 opentrons/util/logging_config.py,sha256=g3TdzDKa1pL_N3eKhRYCdqPaZYe_hpLV-e8llObTcT4,5657
 opentrons/util/performance_helpers.py,sha256=ew7H8XD20iS6-2TJAzbQeyzStZkkE6PzHt_Adx3wbZQ,5172
-opentrons-8.0.0a3.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.0.0a3.dist-info/METADATA,sha256=VCwClY3mFwancF9yu2AwyRWSS9pET6Wk42H8mMVPPZA,4990
-opentrons-8.0.0a3.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
-opentrons-8.0.0a3.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.0.0a3.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.0.0a3.dist-info/RECORD,,
+opentrons-8.0.0a4.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.0.0a4.dist-info/METADATA,sha256=gYJjRVCWBigp6_HZem-YgMle4g8vSdMAwswF53rXvUk,4990
+opentrons-8.0.0a4.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
+opentrons-8.0.0a4.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.0.0a4.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.0.0a4.dist-info/RECORD,,