opentrons 8.2.0a3__py2.py3-none-any.whl → 8.3.0__py2.py3-none-any.whl

opentrons/hardware_control/motion_utilities.py

@@ -1,4 +1,6 @@
 """Utilities for calculating motion correctly."""
+from logging import getLogger
+
 from functools import lru_cache
 from typing import Callable, Dict, Union, Optional, cast
 from collections import OrderedDict
@@ -11,6 +13,7 @@ from opentrons.util import linal
 
 from .types import Axis, OT3Mount
 
+log = getLogger(__name__)
 
 # TODO: The offset_for_mount function should be defined with an overload
 # set, as with other functions in this module. Unfortunately, mypy < 0.920
@@ -36,6 +39,19 @@ from .types import Axis, OT3Mount
 # ) -> Point:
 #     ...
 
+EMPTY_ORDERED_DICT = OrderedDict(
+    (
+        (Axis.X, 0.0),
+        (Axis.Y, 0.0),
+        (Axis.Z_L, 0.0),
+        (Axis.Z_R, 0.0),
+        (Axis.Z_G, 0.0),
+        (Axis.P_L, 0.0),
+        (Axis.P_R, 0.0),
+        (Axis.Q, 0.0),
+    )
+)
+
 
 @lru_cache(4)
 def offset_for_mount(
@@ -68,6 +84,7 @@ def target_position_from_absolute(
     )
     primary_cp = get_critical_point(mount)
     primary_z = Axis.by_mount(mount)
+
     target_position = OrderedDict(
         (
             (Axis.X, abs_position.x - offset.x - primary_cp.x),
@@ -97,6 +114,57 @@ def target_position_from_relative(
     return target_position
 
 
+def target_axis_map_from_absolute(
+    primary_mount: Union[OT3Mount, Mount],
+    axis_map: Dict[Axis, float],
+    get_critical_point: Callable[[Union[Mount, OT3Mount]], Point],
+    left_mount_offset: Point,
+    right_mount_offset: Point,
+    gripper_mount_offset: Optional[Point] = None,
+) -> "OrderedDict[Axis, float]":
+    """Create an absolute target position for all specified machine axes."""
+    keys_for_target_position = list(axis_map.keys())
+
+    offset = offset_for_mount(
+        primary_mount, left_mount_offset, right_mount_offset, gripper_mount_offset
+    )
+    primary_cp = get_critical_point(primary_mount)
+    primary_z = Axis.by_mount(primary_mount)
+    target_position = OrderedDict()
+
+    if Axis.X in keys_for_target_position:
+        target_position[Axis.X] = axis_map[Axis.X] - offset.x - primary_cp.x
+    if Axis.Y in keys_for_target_position:
+        target_position[Axis.Y] = axis_map[Axis.Y] - offset.y - primary_cp.y
+    if primary_z in keys_for_target_position:
+        # Since this function is intended to be used in conjunction with `API.move_axes`
+        # we must leave out the carriage offset subtraction from the target position as
+        # `move_axes` already does this calculation.
+        target_position[primary_z] = axis_map[primary_z] - primary_cp.z
+
+    target_position.update(
+        {ax: val for ax, val in axis_map.items() if ax not in Axis.gantry_axes()}
+    )
+    return target_position
+
+
+def target_axis_map_from_relative(
+    axis_map: Dict[Axis, float],
+    current_position: Dict[Axis, float],
+) -> "OrderedDict[Axis, float]":
+    """Create a target position for all specified machine axes."""
+    target_position = OrderedDict(
+        (
+            (ax, current_position[ax] + axis_map[ax])
+            for ax in EMPTY_ORDERED_DICT.keys()
+            if ax in axis_map.keys()
+        )
+    )
+    log.info(f"Current position {current_position} and axis map delta {axis_map}")
+    log.info(f"Relative move target {target_position}")
+    return target_position
+
+
 def target_position_from_plunger(
     mount: Union[Mount, OT3Mount],
     delta: float,

opentrons/hardware_control/nozzle_manager.py

@@ -1,11 +1,13 @@
 from typing import Dict, List, Optional, Any, Sequence, Iterator, Tuple, cast
 from dataclasses import dataclass
 from collections import OrderedDict
-from enum import Enum
 from itertools import chain
 
 from opentrons.hardware_control.types import CriticalPoint
-from opentrons.types import Point
+from opentrons.types import (
+    Point,
+    NozzleConfigurationType,
+)
 from opentrons_shared_data.pipette.pipette_definition import (
     PipetteGeometryDefinition,
     PipetteRowDefinition,
@@ -41,43 +43,6 @@ def _row_col_indices_for_nozzle(
     )
 
 
-class NozzleConfigurationType(Enum):
-    """
-    Nozzle Configuration Type.
-
-    Represents the current nozzle
-    configuration stored in NozzleMap
-    """
-
-    COLUMN = "COLUMN"
-    ROW = "ROW"
-    SINGLE = "SINGLE"
-    FULL = "FULL"
-    SUBRECT = "SUBRECT"
-
-    @classmethod
-    def determine_nozzle_configuration(
-        cls,
-        physical_rows: "OrderedDict[str, List[str]]",
-        current_rows: "OrderedDict[str, List[str]]",
-        physical_cols: "OrderedDict[str, List[str]]",
-        current_cols: "OrderedDict[str, List[str]]",
-    ) -> "NozzleConfigurationType":
-        """
-        Determine the nozzle configuration based on the starting and
-        ending nozzle.
-        """
-        if physical_rows == current_rows and physical_cols == current_cols:
-            return NozzleConfigurationType.FULL
-        if len(current_rows) == 1 and len(current_cols) == 1:
-            return NozzleConfigurationType.SINGLE
-        if len(current_rows) == 1:
-            return NozzleConfigurationType.ROW
-        if len(current_cols) == 1:
-            return NozzleConfigurationType.COLUMN
-        return NozzleConfigurationType.SUBRECT
-
-
 @dataclass
 class NozzleMap:
     """
@@ -113,6 +78,28 @@ class NozzleMap:
     full_instrument_rows: Dict[str, List[str]]
     #: A map of all the rows of an instrument
 
+    @classmethod
+    def determine_nozzle_configuration(
+        cls,
+        physical_rows: "OrderedDict[str, List[str]]",
+        current_rows: "OrderedDict[str, List[str]]",
+        physical_cols: "OrderedDict[str, List[str]]",
+        current_cols: "OrderedDict[str, List[str]]",
+    ) -> "NozzleConfigurationType":
+        """
+        Determine the nozzle configuration based on the starting and
+        ending nozzle.
+        """
+        if physical_rows == current_rows and physical_cols == current_cols:
+            return NozzleConfigurationType.FULL
+        if len(current_rows) == 1 and len(current_cols) == 1:
+            return NozzleConfigurationType.SINGLE
+        if len(current_rows) == 1:
+            return NozzleConfigurationType.ROW
+        if len(current_cols) == 1:
+            return NozzleConfigurationType.COLUMN
+        return NozzleConfigurationType.SUBRECT
+
     def __str__(self) -> str:
         return f"back_left_nozzle: {self.back_left} front_right_nozzle: {self.front_right} configuration: {self.configuration}"
 
@@ -216,6 +203,16 @@ class NozzleMap:
         """The total number of active nozzles in the configuration, and thus the number of tips that will be picked up."""
         return len(self.map_store)
 
+    @property
+    def physical_nozzle_count(self) -> int:
+        """The number of physical nozzles, regardless of configuration."""
+        return len(self.full_instrument_map_store)
+
+    @property
+    def active_nozzles(self) -> list[str]:
+        """An unstructured list of all nozzles active in the configuration."""
+        return list(self.map_store.keys())
+
     @classmethod
     def build(  # noqa: C901
         cls,
@@ -274,7 +271,7 @@ class NozzleMap:
         )
 
         if (
-            NozzleConfigurationType.determine_nozzle_configuration(
+            cls.determine_nozzle_configuration(
                 physical_rows, rows, physical_columns, columns
             )
             != NozzleConfigurationType.FULL
@@ -289,6 +286,7 @@ class NozzleMap:
             if valid_nozzle_maps.maps[map_key] == list(map_store.keys()):
                 validated_map_key = map_key
                 break
+
         if validated_map_key is None:
             raise IncompatibleNozzleConfiguration(
                 "Attempted Nozzle Configuration does not match any approved map layout for the current pipette."
@@ -302,7 +300,7 @@ class NozzleMap:
             full_instrument_map_store=physical_nozzles,
             full_instrument_rows=physical_rows,
             columns=columns,
-            configuration=NozzleConfigurationType.determine_nozzle_configuration(
+            configuration=cls.determine_nozzle_configuration(
                 physical_rows, rows, physical_columns, columns
             ),
         )

opentrons/hardware_control/ot3_calibration.py

@@ -968,7 +968,7 @@ def load_attitude_matrix(to_default: bool = True) -> DeckCalibration:
         return DeckCalibration(
             attitude=apply_machine_transform(calibration_data.attitude),
             source=calibration_data.source,
-            status=types.CalibrationStatus(**calibration_data.status.dict()),
+            status=types.CalibrationStatus(**calibration_data.status.model_dump()),
             belt_attitude=calibration_data.attitude,
             last_modified=calibration_data.lastModified,
             pipette_calibrated_with=calibration_data.pipetteCalibratedWith,

opentrons/hardware_control/ot3api.py

@@ -32,6 +32,7 @@ from opentrons_shared_data.pipette.types import (
 )
 from opentrons_shared_data.pipette import (
     pipette_load_name_conversions as pipette_load_name,
+    pipette_definition,
 )
 from opentrons_shared_data.robot.types import RobotType
 
@@ -45,7 +46,6 @@ from opentrons.config.types import (
     LiquidProbeSettings,
 )
 from opentrons.drivers.rpi_drivers.types import USBPort, PortGroup
-from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
 from opentrons_shared_data.errors.exceptions import (
     EnumeratedError,
     PythonException,
@@ -98,6 +98,7 @@ from .types import (
     EstopState,
     HardwareFeatureFlags,
     FailedTipStateCheck,
+    PipetteSensorResponseQueue,
 )
 from .errors import (
     UpdateOngoingError,
@@ -143,8 +144,6 @@ from .backends.types import HWStopCondition
 from .backends.flex_protocol import FlexBackend
 from .backends.ot3simulator import OT3Simulator
 from .backends.errors import SubsystemUpdating
-from opentrons_hardware.firmware_bindings.constants import SensorId
-from opentrons_hardware.sensors.types import SensorDataType
 
 mod_log = logging.getLogger(__name__)
 
@@ -299,8 +298,11 @@ class OT3API(
     async def set_system_constraints_for_plunger_acceleration(
         self, mount: OT3Mount, acceleration: float
     ) -> None:
+        high_speed_pipette = self._pipette_handler.get_pipette(
+            mount
+        ).is_high_speed_pipette()
         self._backend.update_constraints_for_plunger_acceleration(
-            mount, acceleration, self._gantry_load
+            mount, acceleration, self._gantry_load, high_speed_pipette
         )
 
     @contextlib.asynccontextmanager
@@ -353,7 +355,9 @@ class OT3API(
     def _reset_last_mount(self) -> None:
         self._last_moved_mount = None
 
-    def _deck_from_machine(self, machine_pos: Dict[Axis, float]) -> Dict[Axis, float]:
+    def get_deck_from_machine(
+        self, machine_pos: Dict[Axis, float]
+    ) -> Dict[Axis, float]:
         return deck_from_machine(
             machine_pos=machine_pos,
             attitude=self._robot_calibration.deck_calibration.attitude,
@@ -633,10 +637,31 @@ class OT3API(
             self._feature_flags.use_old_aspiration_functions,
         )
         self._pipette_handler.hardware_instruments[mount] = p
+
+        if config is not None:
+            self._set_pressure_sensor_available(mount, instrument_config=config)
+
         # TODO (lc 12-5-2022) Properly support backwards compatibility
         # when applicable
         return skipped
 
+    def get_pressure_sensor_available(self, mount: OT3Mount) -> bool:
+        pip_axis = Axis.of_main_tool_actuator(mount)
+        return self._backend.get_pressure_sensor_available(pip_axis)
+
+    def _set_pressure_sensor_available(
+        self,
+        mount: OT3Mount,
+        instrument_config: pipette_definition.PipetteConfigurations,
+    ) -> None:
+        pressure_sensor_available = (
+            "pressure" in instrument_config.available_sensors.sensors
+        )
+        pip_axis = Axis.of_main_tool_actuator(mount)
+        self._backend.set_pressure_sensor_available(
+            pipette_axis=pip_axis, available=pressure_sensor_available
+        )
+
     async def cache_gripper(self, instrument_data: AttachedGripper) -> bool:
         """Set up gripper based on scanned information."""
         grip_cal = load_gripper_calibration_offset(instrument_data.get("id"))
@@ -775,6 +800,8 @@ class OT3API(
         """
         Function to update motor estimation for a set of axes
         """
+        await self._backend.update_motor_status()
+
         if axes is None:
             axes = [ax for ax in Axis]
 
@@ -943,8 +970,8 @@ class OT3API(
         ):
             # move toward home until a safe distance
             await self._backend.tip_action(
-                origin={Axis.Q: current_pos_float},
-                targets=[({Axis.Q: self._config.safe_home_distance}, 400)],
+                origin=current_pos_float,
+                targets=[(self._config.safe_home_distance, 400)],
             )
 
             # update current position
@@ -1021,14 +1048,14 @@ class OT3API(
 
     async def _cache_current_position(self) -> Dict[Axis, float]:
         """Cache current position from backend and return in absolute deck coords."""
-        self._current_position = self._deck_from_machine(
+        self._current_position = self.get_deck_from_machine(
             await self._backend.update_position()
         )
         return self._current_position
 
     async def _cache_encoder_position(self) -> Dict[Axis, float]:
         """Cache encoder position from backend and return in absolute deck coords."""
-        self._encoder_position = self._deck_from_machine(
+        self._encoder_position = self.get_deck_from_machine(
             await self._backend.update_encoder_position()
         )
         if self.has_gripper():
@@ -1162,7 +1189,7 @@ class OT3API(
         speed: Optional[float] = None,
         critical_point: Optional[CriticalPoint] = None,
         max_speeds: Union[None, Dict[Axis, float], OT3AxisMap[float]] = None,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Move the critical point of the specified mount to a location
         relative to the deck, at the specified speed."""
@@ -1206,7 +1233,7 @@ class OT3API(
             target_position,
             speed=speed,
             max_speeds=checked_max,
-            expect_stalls=_expect_stalls,
+            expect_stalls=expect_stalls,
         )
 
     async def move_axes(  # noqa: C901
@@ -1214,6 +1241,7 @@ class OT3API(
         position: Mapping[Axis, float],
         speed: Optional[float] = None,
         max_speeds: Optional[Dict[Axis, float]] = None,
+        expect_stalls: bool = False,
     ) -> None:
         """Moves the effectors of the specified axis to the specified position.
         The effector of the x,y axis is the center of the carriage.
@@ -1228,7 +1256,9 @@ class OT3API(
                     message=f"{axis} is not present", detail={"axis": str(axis)}
                 )
 
+        self._log.info(f"Attempting to move {position} with speed {speed}.")
         if not self._backend.check_encoder_status(list(position.keys())):
+            self._log.info("Calling home in move_axes")
             await self.home()
         self._assert_motor_ok(list(position.keys()))
 
@@ -1267,7 +1297,11 @@ class OT3API(
             if axis not in absolute_positions:
                 absolute_positions[axis] = position_value
 
-        await self._move(target_position=absolute_positions, speed=speed)
+        await self._move(
+            target_position=absolute_positions,
+            speed=speed,
+            expect_stalls=expect_stalls,
+        )
 
     async def move_rel(
         self,
@@ -1277,7 +1311,7 @@ class OT3API(
         max_speeds: Union[None, Dict[Axis, float], OT3AxisMap[float]] = None,
         check_bounds: MotionChecks = MotionChecks.NONE,
         fail_on_not_homed: bool = False,
-        _expect_stalls: bool = False,
+        expect_stalls: bool = False,
     ) -> None:
         """Move the critical point of the specified mount by a specified
         displacement in a specified direction, at the specified speed."""
@@ -1319,7 +1353,7 @@ class OT3API(
             speed=speed,
             max_speeds=checked_max,
             check_bounds=check_bounds,
-            expect_stalls=_expect_stalls,
+            expect_stalls=expect_stalls,
         )
 
     async def _cache_and_maybe_retract_mount(self, mount: OT3Mount) -> None:
@@ -1439,6 +1473,10 @@ class OT3API(
         check_motion_bounds(to_check, target_position, bounds, check_bounds)
         self._log.info(f"Move: deck {target_position} becomes machine {machine_pos}")
         origin = await self._backend.update_position()
+
+        if self._gantry_load == GantryLoad.HIGH_THROUGHPUT:
+            origin[Axis.Q] = self._backend.gear_motor_position or 0.0
+
         async with contextlib.AsyncExitStack() as stack:
             if acquire_lock:
                 await stack.enter_async_context(self._motion_lock)
@@ -1640,7 +1678,12 @@ class OT3API(
         await self._backend.disengage_axes(which)
 
     async def engage_axes(self, which: List[Axis]) -> None:
-        await self._backend.engage_axes(which)
+        await self._backend.engage_axes(
+            [axis for axis in which if self._backend.axis_is_present(axis)]
+        )
+
+    def axis_is_present(self, axis: Axis) -> bool:
+        return self._backend.axis_is_present(axis)
 
     async def get_limit_switches(self) -> Dict[Axis, bool]:
         res = await self._backend.get_limit_switches()
@@ -1826,7 +1869,7 @@ class OT3API(
         if (
             self.gantry_load == GantryLoad.HIGH_THROUGHPUT
             and instrument.nozzle_manager.current_configuration.configuration
-            == NozzleConfigurationType.FULL
+            == top_types.NozzleConfigurationType.FULL
         ):
             spec = self._pipette_handler.plan_ht_pick_up_tip(
                 instrument.nozzle_manager.current_configuration.tip_count
@@ -2156,8 +2199,8 @@ class OT3API(
         # only move tip motors if they are not already below the sensor
         if tip_motor_pos_float < tip_presence_check_target:
             await self._backend.tip_action(
-                origin={Axis.Q: tip_motor_pos_float},
-                targets=[({Axis.Q: tip_presence_check_target}, 400)],
+                origin=tip_motor_pos_float,
+                targets=[(tip_presence_check_target, 400)],
             )
         try:
             yield
@@ -2228,11 +2271,11 @@ class OT3API(
             gear_origin_float = self._backend.gear_motor_position or 0.0
 
             move_targets = [
-                ({Axis.Q: move_segment.distance}, move_segment.speed or 400)
+                (move_segment.distance, move_segment.speed or 400)
                 for move_segment in pipette_spec
             ]
             await self._backend.tip_action(
-                origin={Axis.Q: gear_origin_float}, targets=move_targets
+                origin=gear_origin_float, targets=move_targets
             )
             await self.home_gear_motors()
 
@@ -2282,11 +2325,16 @@ class OT3API(
         instrument.working_volume = tip_volume
 
     async def tip_drop_moves(
-        self, mount: Union[top_types.Mount, OT3Mount], home_after: bool = False
+        self,
+        mount: Union[top_types.Mount, OT3Mount],
+        home_after: bool = False,
+        ignore_plunger: bool = False,
     ) -> None:
         realmount = OT3Mount.from_mount(mount)
-
-        await self._move_to_plunger_bottom(realmount, rate=1.0, check_current_vol=False)
+        if ignore_plunger is False:
+            await self._move_to_plunger_bottom(
+                realmount, rate=1.0, check_current_vol=False
+            )
 
         if self.gantry_load == GantryLoad.HIGH_THROUGHPUT:
             spec = self._pipette_handler.plan_ht_drop_tip()
@@ -2557,7 +2605,7 @@ class OT3API(
         mount: Union[top_types.Mount, OT3Mount],
         critical_point: Optional[CriticalPoint] = None,
     ) -> float:
-        carriage_pos = self._deck_from_machine(self._backend.home_position())
+        carriage_pos = self.get_deck_from_machine(self._backend.home_position())
         pos_at_home = self._effector_pos_from_carriage_pos(
             OT3Mount.from_mount(mount), carriage_pos, critical_point
         )
@@ -2639,10 +2687,9 @@ class OT3API(
         probe_settings: LiquidProbeSettings,
         probe: InstrumentProbeType,
         p_travel: float,
+        z_offset_for_plunger_prep: float,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         plunger_direction = -1 if probe_settings.aspirate_while_sensing else 1
         end_z = await self._backend.liquid_probe(
@@ -2653,13 +2700,14 @@ class OT3API(
             probe_settings.sensor_threshold_pascals,
             probe_settings.plunger_impulse_time,
             probe_settings.samples_for_baselining,
+            z_offset_for_plunger_prep,
             probe=probe,
             force_both_sensors=force_both_sensors,
             response_queue=response_queue,
         )
         machine_pos = await self._backend.update_position()
         machine_pos[Axis.by_mount(mount)] = end_z
-        deck_end_z = self._deck_from_machine(machine_pos)[Axis.by_mount(mount)]
+        deck_end_z = self.get_deck_from_machine(machine_pos)[Axis.by_mount(mount)]
         offset = offset_for_mount(
             mount,
             top_types.Point(*self._config.left_mount_offset),
@@ -2676,9 +2724,7 @@ class OT3API(
         probe_settings: Optional[LiquidProbeSettings] = None,
         probe: Optional[InstrumentProbeType] = None,
         force_both_sensors: bool = False,
-        response_queue: Optional[
-            asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
-        ] = None,
+        response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
         """Search for and return liquid level height.
 
@@ -2804,6 +2850,7 @@ class OT3API(
                     probe_settings,
                     checked_probe,
                     plunger_travel_mm + sensor_baseline_plunger_move_mm,
+                    z_offset_for_plunger_prep,
                     force_both_sensors,
                     response_queue,
                 )

opentrons/hardware_control/protocols/gripper_controller.py

@@ -14,6 +14,9 @@ class GripperController(Protocol):
     ) -> None:
         ...
 
+    async def home_gripper_jaw(self) -> None:
+        ...
+
     async def ungrip(self, force_newtons: Optional[float] = None) -> None:
         """Release gripped object.
 

opentrons/hardware_control/protocols/hardware_manager.py

@@ -1,7 +1,7 @@
 from typing import Dict, Optional
 from typing_extensions import Protocol
 
-from ..types import SubSystem, SubSystemState
+from ..types import SubSystem, SubSystemState, Axis
 
 
 class HardwareManager(Protocol):
@@ -45,3 +45,7 @@ class HardwareManager(Protocol):
     async def get_serial_number(self) -> Optional[str]:
         """Get the robot serial number, if provisioned. If not provisioned, will be None."""
         ...
+
+    def axis_is_present(self, axis: Axis) -> bool:
+        """Get whether a motor axis is present on the machine."""
+        ...

opentrons/hardware_control/protocols/liquid_handler.py

@@ -1,6 +1,8 @@
 from typing import Optional
 from typing_extensions import Protocol
 
+from opentrons.types import Point
+from opentrons.hardware_control.types import CriticalPoint
 from .types import MountArgType, CalibrationType, ConfigType
 
 from .instrument_configurer import InstrumentConfigurer
@@ -16,6 +18,22 @@ class LiquidHandler(
     Calibratable[CalibrationType],
     Protocol[CalibrationType, MountArgType, ConfigType],
 ):
+    def critical_point_for(
+        self,
+        mount: MountArgType,
+        cp_override: Optional[CriticalPoint] = None,
+    ) -> Point:
+        """
+        Determine the current critical point for the specified mount.
+
+        :param mount: A robot mount that the instrument is on.
+        :param cp_override: The critical point override to use.
+
+        If no critical point override is specified, the robot defaults to nozzle location `A1` or the mount critical point.
+        :return: Point.
+        """
+        ...
+
     async def update_nozzle_configuration_for_mount(
         self,
         mount: MountArgType,
@@ -165,7 +183,10 @@ class LiquidHandler(
         ...
 
     async def tip_drop_moves(
-        self, mount: MountArgType, home_after: bool = True
+        self,
+        mount: MountArgType,
+        home_after: bool = True,
+        ignore_plunger: bool = False,
     ) -> None:
         ...
 

opentrons/hardware_control/protocols/motion_controller.py

@@ -9,6 +9,12 @@ from .types import MountArgType
 class MotionController(Protocol[MountArgType]):
     """Protocol specifying fundamental motion controls."""
 
+    def get_deck_from_machine(
+        self, machine_pos: Dict[Axis, float]
+    ) -> Dict[Axis, float]:
+        """Convert machine coordinates to deck coordinates."""
+        ...
+
     async def halt(self, disengage_before_stopping: bool = False) -> None:
         """Immediately stop motion.
 
@@ -165,6 +171,7 @@ class MotionController(Protocol[MountArgType]):
         position: Mapping[Axis, float],
         speed: Optional[float] = None,
         max_speeds: Optional[Dict[Axis, float]] = None,
+        expect_stalls: bool = False,
     ) -> None:
         """Moves the effectors of the specified axis to the specified position.
         The effector of the x,y axis is the center of the carriage.

opentrons/hardware_control/robot_calibration.py

@@ -154,7 +154,7 @@ def load_attitude_matrix() -> DeckCalibration:
         return DeckCalibration(
             attitude=calibration_data.attitude,
             source=calibration_data.source,
-            status=types.CalibrationStatus(**calibration_data.status.dict()),
+            status=types.CalibrationStatus(**calibration_data.status.model_dump()),
             last_modified=calibration_data.last_modified,
             pipette_calibrated_with=calibration_data.pipette_calibrated_with,
             tiprack=calibration_data.tiprack,