opentrons 8.0.0a5__py2.py3-none-any.whl → 8.0.0a7__py2.py3-none-any.whl

opentrons/hardware_control/ot3api.py

@@ -2683,6 +2683,15 @@ class OT3API(
         self._pipette_handler.ready_for_tip_action(
             instrument, HardwareAction.LIQUID_PROBE, checked_mount
         )
+        # default to using all available sensors
+        if probe:
+            checked_probe = probe
+        else:
+            checked_probe = (
+                InstrumentProbeType.BOTH
+                if instrument.channels > 1
+                else InstrumentProbeType.PRIMARY
+            )
 
         if not probe_settings:
             probe_settings = deepcopy(self.config.liquid_sense)
@@ -2756,7 +2765,7 @@ class OT3API(
                 height = await self._liquid_probe_pass(
                     checked_mount,
                     probe_settings,
-                    probe if probe else InstrumentProbeType.PRIMARY,
+                    checked_probe,
                     p_pass_travel + p_impulse_mm,
                 )
                 # if we made it here without an error we found the liquid

opentrons/protocol_api/core/engine/deck_conflict.py

@@ -16,6 +16,7 @@ from typing import (
 from opentrons_shared_data.errors.exceptions import MotionPlanningFailureError
 from opentrons_shared_data.module import FLEX_TC_LID_COLLISION_ZONE
 
+from opentrons.hardware_control import CriticalPoint
 from opentrons.hardware_control.modules.types import ModuleType
 from opentrons.motion_planning import deck_conflict as wrapped_deck_conflict
 from opentrons.motion_planning import adjacent_slots_getters
@@ -228,9 +229,13 @@ def check_safe_for_pipette_movement(
     )
     primary_nozzle = engine_state.pipettes.get_primary_nozzle(pipette_id)
 
+    destination_cp = _get_critical_point_to_use(engine_state, labware_id)
+
     pipette_bounds_at_well_location = (
         engine_state.pipettes.get_pipette_bounds_at_specified_move_to_position(
-            pipette_id=pipette_id, destination_position=well_location_point
+            pipette_id=pipette_id,
+            destination_position=well_location_point,
+            critical_point=destination_cp,
         )
     )
     if not _is_within_pipette_extents(
@@ -284,6 +289,21 @@ def check_safe_for_pipette_movement(
             )
 
 
+def _get_critical_point_to_use(
+    engine_state: StateView, labware_id: str
+) -> Optional[CriticalPoint]:
+    """Return the critical point to use when accessing the given labware."""
+    # TODO (spp, 2024-09-17): looks like Y_CENTER of column is the same as its XY_CENTER.
+    #   I'm using this if-else ladder to be consistent with what we do in
+    #   `MotionPlanning.get_movement_waypoints_to_well()`.
+    #   We should probably use only XY_CENTER in both places.
+    if engine_state.labware.get_should_center_column_on_target_well(labware_id):
+        return CriticalPoint.Y_CENTER
+    elif engine_state.labware.get_should_center_pipette_on_target_well(labware_id):
+        return CriticalPoint.XY_CENTER
+    return None
+
+
 def _slot_has_potential_colliding_object(
     engine_state: StateView,
     pipette_bounds: Tuple[Point, Point, Point, Point],

opentrons/protocol_api/instrument_context.py

@@ -266,6 +266,7 @@ class InstrumentContext(publisher.CommandPublisher):
             and well is not None
             and self.liquid_presence_detection
             and self._96_tip_config_valid()
+            and self._core.get_current_volume() == 0
         ):
             self.require_liquid_presence(well=well)
 

opentrons/protocol_engine/execution/tip_handler.py

@@ -20,6 +20,8 @@ from ..errors import (
     ProtocolEngineError,
 )
 
+from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
+
 
 PRIMARY_NOZZLE_TO_ENDING_NOZZLE_MAP = {
     "A1": {"COLUMN": "H1", "ROW": "A12"},
@@ -300,6 +302,13 @@ class HardwareTipHandler(TipHandler):
         This function will raise an exception if the specified tip presence status
         isn't matched.
         """
+        if (
+            self._state_view.pipettes.get_nozzle_layout_type(pipette_id)
+            == NozzleConfigurationType.SINGLE
+            and self._state_view.pipettes.get_channels(pipette_id) == 96
+        ):
+            # Tip presence sensing is not supported for single tip pick up on the 96ch Flex Pipette
+            return
         try:
             ot3api = ensure_ot3_hardware(hardware_api=self._hardware_api)
             hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()

opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -193,9 +193,12 @@ class VirtualPipetteDataProvider:
             pipette_model.pipette_channels,
             pipette_model.pipette_version,
         )
-        nozzle_manager = NozzleConfigurationManager.build_from_config(
-            config, valid_nozzle_maps
-        )
+        if pipette_id not in self._nozzle_manager_layout_by_id:
+            nozzle_manager = NozzleConfigurationManager.build_from_config(
+                config, valid_nozzle_maps
+            )
+        else:
+            nozzle_manager = self._nozzle_manager_layout_by_id[pipette_id]
 
         tip_overlap_dict_for_tip_type = None
         for configuration in (

opentrons/protocol_engine/state/pipettes.py

@@ -7,6 +7,7 @@ from typing_extensions import assert_type
 from opentrons_shared_data.pipette import pipette_definition
 from opentrons.config.defaults_ot2 import Z_RETRACT_DISTANCE
 from opentrons.hardware_control.dev_types import PipetteDict
+from opentrons.hardware_control import CriticalPoint
 from opentrons.hardware_control.nozzle_manager import (
     NozzleConfigurationType,
     NozzleMap,
@@ -795,17 +796,27 @@ class PipetteView(HasState[PipetteState]):
         nozzle_map = self._state.nozzle_configuration_by_id.get(pipette_id)
         return nozzle_map.starting_nozzle if nozzle_map else None
 
-    def get_primary_nozzle_offset(self, pipette_id: str) -> Point:
-        """Get the pipette's current primary nozzle's offset."""
+    def _get_critical_point_offset_without_tip(
+        self, pipette_id: str, critical_point: Optional[CriticalPoint]
+    ) -> Point:
+        """Get the offset of the specified critical point from pipette's mount position."""
         nozzle_map = self._state.nozzle_configuration_by_id.get(pipette_id)
-        if nozzle_map:
-            primary_nozzle_offset = nozzle_map.starting_nozzle_offset
-        else:
-            # When not in partial configuration, back-left nozzle is the primary
-            primary_nozzle_offset = self.get_config(
-                pipette_id
-            ).bounding_nozzle_offsets.back_left_offset
-        return primary_nozzle_offset
+        # Nozzle map is unavailable only when there's no pipette loaded
+        # so this is merely for satisfying the type checker
+        assert (
+            nozzle_map is not None
+        ), "Error getting critical point offset. Nozzle map not found."
+        match critical_point:
+            case CriticalPoint.INSTRUMENT_XY_CENTER:
+                return nozzle_map.instrument_xy_center_offset
+            case CriticalPoint.XY_CENTER:
+                return nozzle_map.xy_center_offset
+            case CriticalPoint.Y_CENTER:
+                return nozzle_map.y_center_offset
+            case CriticalPoint.FRONT_NOZZLE:
+                return nozzle_map.front_nozzle_offset
+            case _:
+                return nozzle_map.starting_nozzle_offset
 
     def get_pipette_bounding_nozzle_offsets(
         self, pipette_id: str
@@ -817,32 +828,46 @@ class PipetteView(HasState[PipetteState]):
         """Get the bounding box of the pipette."""
         return self.get_config(pipette_id).pipette_bounding_box_offsets
 
+    # TODO (spp, 2024-09-17): in order to find the position of pipette at destination,
+    #  this method repeats the same steps that waypoints builder does while finding
+    #  waypoints to move to. We should consolidate these steps into a shared entity
+    #  so that the deck conflict checker and movement plan builder always remain in sync.
     def get_pipette_bounds_at_specified_move_to_position(
         self,
         pipette_id: str,
         destination_position: Point,
+        critical_point: Optional[CriticalPoint],
     ) -> Tuple[Point, Point, Point, Point]:
-        """Get the pipette's bounding offsets when primary nozzle is at the given position."""
-        primary_nozzle_offset = self.get_primary_nozzle_offset(pipette_id)
+        """Get the pipette's bounding box position when critical point is at the destination position.
+
+        Returns a tuple of the pipette's bounding box position in deck coordinates as-
+            (back_left_bound, front_right_bound, back_right_bound, front_left_bound)
+        Bounding box of the pipette includes the pipette's outer casing as well as nozzles.
+        """
         tip = self.get_attached_tip(pipette_id)
-        # TODO update this for pipette robot stackup
-        # Primary nozzle position at destination, in deck coordinates
-        primary_nozzle_position = destination_position + Point(
+
+        # *Offset* of pipette's critical point w.r.t pipette mount
+        critical_point_offset = self._get_critical_point_offset_without_tip(
+            pipette_id, critical_point
+        )
+
+        # Position of the above critical point at destination, in deck coordinates
+        critical_point_position = destination_position + Point(
             x=0, y=0, z=tip.length if tip else 0
         )
 
-        # Get the pipette bounding box based on total nozzles
+        # Get the pipette bounding box coordinates
         pipette_bounds_offsets = self.get_config(
             pipette_id
         ).pipette_bounding_box_offsets
         pip_back_left_bound = (
-            primary_nozzle_position
-            - primary_nozzle_offset
+            critical_point_position
+            - critical_point_offset
             + pipette_bounds_offsets.back_left_corner
         )
         pip_front_right_bound = (
-            primary_nozzle_position
-            - primary_nozzle_offset
+            critical_point_position
+            - critical_point_offset
             + pipette_bounds_offsets.front_right_corner
         )
         pip_back_right_bound = Point(

{opentrons-8.0.0a5.dist-info → opentrons-8.0.0a7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.0.0a5
+Version: 8.0.0a7
 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 ==8.0.0a5
+Requires-Dist: opentrons-shared-data ==8.0.0a7
 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] ==8.0.0a5 ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] ==8.0.0a7 ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware ==8.0.0a5 ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware ==8.0.0a7 ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.0.0a5.dist-info → opentrons-8.0.0a7.dist-info}/RECORD

@@ -100,7 +100,7 @@ opentrons/hardware_control/module_control.py,sha256=JTS0ys8nyQfCoE099trGAIVTJQEU
 opentrons/hardware_control/motion_utilities.py,sha256=LuOZBcnNJmTPra6-mYX5wN3jh8PA2l81dy5amCyYpcQ,7164
 opentrons/hardware_control/nozzle_manager.py,sha256=XNEyNdh00QdZ7VECb--JUO_BI-96EwoAPuQ7bdGXSGs,16788
 opentrons/hardware_control/ot3_calibration.py,sha256=OHkQi7cwgncCZjTfYmaKLR-sb3uHe6CrC5_1HVY0UJo,44753
-opentrons/hardware_control/ot3api.py,sha256=3MczLnsiWidKoN5XLxedMf3bgcMsroQgCYOqPaOI-bI,116419
+opentrons/hardware_control/ot3api.py,sha256=Jcxx47nr6C9-WD3OU7zOoZ0i2xxuZZIV8XXPyeM3VEM,116677
 opentrons/hardware_control/pause_manager.py,sha256=wmNmraimE2yZQVqCxX_rtQHUWRzpzyQEaym9fLMgyww,888
 opentrons/hardware_control/poller.py,sha256=iMwlIyXgL1UVaAZYAoDKTdzrQPoxDhhaGzT411aBiFw,3590
 opentrons/hardware_control/robot_calibration.py,sha256=HiCQNmdp59SbkzXpDGtPsN8rSfUj-ZU4v63vcSw4AbI,7149
@@ -219,7 +219,7 @@ 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=TqzML0qqGKBKaU4FUEJKZJ23c5kLzZXQR1sfamZaNJw,95810
+opentrons/protocol_api/instrument_context.py,sha256=HOxDcWLDN8CqQZ38OCrolO8D54m21LLMZ_vdd9oDZfI,95863
 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
@@ -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=EBC15ROS9cEUSnKHzeaL9xOhN_WS3tSNic8S-kkFz-Q,24560
+opentrons/protocol_api/core/engine/deck_conflict.py,sha256=BDSSbAbJu6HZanPehNh8m4chdT573Q9AL98pC2LULfw,25473
 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
@@ -378,7 +378,7 @@ opentrons/protocol_engine/execution/run_control.py,sha256=vWLSRdkds2CrtsJ0IU9hX-
 opentrons/protocol_engine/execution/status_bar.py,sha256=tR7CHS_y1ARQxcSKDO4YFU2cqVQhePzalmzsyH8b23A,970
 opentrons/protocol_engine/execution/thermocycler_movement_flagger.py,sha256=if_jbmszy2MFMJCEMwt_fP_h0T1OBnHrQyI4jtUygvY,6784
 opentrons/protocol_engine/execution/thermocycler_plate_lifter.py,sha256=SPzuiyNNB05YPb_czPr8KmnvBwmXTszvngW1CX3HVd4,3309
-opentrons/protocol_engine/execution/tip_handler.py,sha256=6Lqrk2CnoNF3B5ozwpHdIEUl6EFXECjBArf7kOGpv_g,14991
+opentrons/protocol_engine/execution/tip_handler.py,sha256=AWVJXR9R91KvQWeRhVGXyoPzCDhLmGtyyRwqBAqjv8E,15405
 opentrons/protocol_engine/notes/__init__.py,sha256=JRh7fKZ4XLUSQOZeI853MYkAZpKvp34RY8yDAHzcEbk,197
 opentrons/protocol_engine/notes/notes.py,sha256=RlLpfElzIa_p51ECCug7Fueq2VHRUeBTtnk-2zQerp0,1419
 opentrons/protocol_engine/resources/__init__.py,sha256=-tuKcd2Fn3YKWDX-tDqgZYv5MOSekGqHaHSoE1XDY3M,745
@@ -390,7 +390,7 @@ opentrons/protocol_engine/resources/labware_validation.py,sha256=wrth5Qc-RSMQlVm
 opentrons/protocol_engine/resources/model_utils.py,sha256=C3OHUi-OtuFUm3dS5rApSU3EJ0clnaCZEyBku5sTjzA,941
 opentrons/protocol_engine/resources/module_data_provider.py,sha256=fU4l1Wkeb1odW6XekvC0_SS0KjzAOcHPJQ4dLMp74NU,1553
 opentrons/protocol_engine/resources/ot3_validation.py,sha256=0x81JoZBXcj2xUVcOF7v5ETc8y5T_sbs-jTPxuSnooE,744
-opentrons/protocol_engine/resources/pipette_data_provider.py,sha256=NYcQGJYQ-aeEME5nilUlkHF6oWfrNZt0op52bUH0czo,14623
+opentrons/protocol_engine/resources/pipette_data_provider.py,sha256=EVPvsMDyTduyQvkULF_c58qirH251bPusbNvZr8YCjA,14788
 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=Al86_Qv-ikveekNPV4XS50yzFzXMGklUgEotvbg3O8s,28217
@@ -403,7 +403,7 @@ opentrons/protocol_engine/state/liquids.py,sha256=W7cf-mmVaZ3aNyiormFEy79aSvU__Q
 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=wS7q9Sau86zK5vCcHiSGRdMhWNm26GPKUDNJnSEjEHw,36053
+opentrons/protocol_engine/state/pipettes.py,sha256=PK57-a2A5wkRwRW0OaEAPVeioN38aCOo9iZrByxT-I4,37350
 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
@@ -500,9 +500,9 @@ 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-8.0.0a5.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.0.0a5.dist-info/METADATA,sha256=8bfifhIOeDmfyGhYLVdDykKvLIB4R6h6t-3WaKHeNRk,4990
-opentrons-8.0.0a5.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
-opentrons-8.0.0a5.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.0.0a5.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.0.0a5.dist-info/RECORD,,
+opentrons-8.0.0a7.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.0.0a7.dist-info/METADATA,sha256=t9_kvk6apuDByc7BPI8F4cM_TSe62ivSF71v5mpv0yQ,4990
+opentrons-8.0.0a7.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
+opentrons-8.0.0a7.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.0.0a7.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.0.0a7.dist-info/RECORD,,