opentrons 8.2.0a3__py2.py3-none-any.whl → 8.3.0a0__py2.py3-none-any.whl

opentrons/config/defaults_ot3.py

@@ -75,6 +75,7 @@ DEFAULT_RIGHT_MOUNT_OFFSET: Final[Offset] = (40.5, -60.5, 255.675)
 DEFAULT_GRIPPER_MOUNT_OFFSET: Final[Offset] = (84.55, -12.75, 93.85)
 DEFAULT_SAFE_HOME_DISTANCE: Final = 5
 DEFAULT_CALIBRATION_AXIS_MAX_SPEED: Final = 30
+DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED: Final = 90
 
 DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={

opentrons/hardware_control/backends/flex_protocol.py

@@ -60,6 +60,14 @@ class FlexBackend(Protocol):
     def grab_pressure(self, channels: int, mount: OT3Mount) -> AsyncIterator[None]:
         ...
 
+    def set_pressure_sensor_available(
+        self, pipette_axis: Axis, available: bool
+    ) -> None:
+        ...
+
+    def get_pressure_sensor_available(self, pipette_axis: Axis) -> bool:
+        ...
+
     def update_constraints_for_gantry_load(self, gantry_load: GantryLoad) -> None:
         ...
 
@@ -70,7 +78,11 @@ class FlexBackend(Protocol):
         ...
 
     def update_constraints_for_plunger_acceleration(
-        self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
+        self,
+        mount: OT3Mount,
+        acceleration: float,
+        gantry_load: GantryLoad,
+        high_speed_pipette: bool = False,
     ) -> None:
         ...
 

opentrons/hardware_control/backends/ot3controller.py

@@ -197,6 +197,7 @@ from opentrons_shared_data.errors.exceptions import (
     PipetteLiquidNotFoundError,
     CommunicationError,
     PythonException,
+    UnsupportedHardwareCommand,
 )
 
 from .subsystem_manager import SubsystemManager
@@ -362,6 +363,7 @@ class OT3Controller(FlexBackend):
                 self._configuration.motion_settings, GantryLoad.LOW_THROUGHPUT
             )
         )
+        self._pressure_sensor_available: Dict[NodeId, bool] = {}
 
     @asynccontextmanager
     async def restore_system_constraints(self) -> AsyncIterator[None]:
@@ -380,6 +382,16 @@ class OT3Controller(FlexBackend):
         async with grab_pressure(channels, tool, self._messenger):
             yield
 
+    def set_pressure_sensor_available(
+        self, pipette_axis: Axis, available: bool
+    ) -> None:
+        pip_node = axis_to_node(pipette_axis)
+        self._pressure_sensor_available[pip_node] = available
+
+    def get_pressure_sensor_available(self, pipette_axis: Axis) -> bool:
+        pip_node = axis_to_node(pipette_axis)
+        return self._pressure_sensor_available[pip_node]
+
     def update_constraints_for_calibration_with_gantry_load(
         self,
         gantry_load: GantryLoad,
@@ -399,10 +411,18 @@ class OT3Controller(FlexBackend):
         )
 
     def update_constraints_for_plunger_acceleration(
-        self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
+        self,
+        mount: OT3Mount,
+        acceleration: float,
+        gantry_load: GantryLoad,
+        high_speed_pipette: bool = False,
     ) -> None:
         new_constraints = get_system_constraints_for_plunger_acceleration(
-            self._configuration.motion_settings, gantry_load, mount, acceleration
+            self._configuration.motion_settings,
+            gantry_load,
+            mount,
+            acceleration,
+            high_speed_pipette,
         )
         self._move_manager.update_constraints(new_constraints)
 
@@ -679,7 +699,8 @@ class OT3Controller(FlexBackend):
 
         pipettes_moving = moving_pipettes_in_move_group(move_group)
 
-        async with self._monitor_overpressure(pipettes_moving):
+        checked_moving_pipettes = self._pipettes_to_monitor_pressure(pipettes_moving)
+        async with self._monitor_overpressure(checked_moving_pipettes):
             positions = await runner.run(can_messenger=self._messenger)
         self._handle_motor_status_response(positions)
 
@@ -786,7 +807,8 @@ class OT3Controller(FlexBackend):
         moving_pipettes = [
             axis_to_node(ax) for ax in checked_axes if ax in Axis.pipette_axes()
         ]
-        async with self._monitor_overpressure(moving_pipettes):
+        checked_moving_pipettes = self._pipettes_to_monitor_pressure(moving_pipettes)
+        async with self._monitor_overpressure(checked_moving_pipettes):
             positions = await asyncio.gather(*coros)
         # TODO(CM): default gear motor homing routine to have some acceleration
         if Axis.Q in checked_axes:
@@ -800,6 +822,9 @@ class OT3Controller(FlexBackend):
             self._handle_motor_status_response(position)
         return axis_convert(self._position, 0.0)
 
+    def _pipettes_to_monitor_pressure(self, pipettes: List[NodeId]) -> List[NodeId]:
+        return [pip for pip in pipettes if self._pressure_sensor_available[pip]]
+
     def _filter_move_group(self, move_group: MoveGroup) -> MoveGroup:
         new_group: MoveGroup = []
         for step in move_group:
@@ -915,6 +940,7 @@ class OT3Controller(FlexBackend):
         lookup_name = {
             FirmwarePipetteName.p1000_single: "P1KS",
             FirmwarePipetteName.p1000_multi: "P1KM",
+            FirmwarePipetteName.p1000_multi_em: "P1KP",
             FirmwarePipetteName.p50_single: "P50S",
             FirmwarePipetteName.p50_multi: "P50M",
             FirmwarePipetteName.p1000_96: "P1KH",
@@ -949,6 +975,7 @@ class OT3Controller(FlexBackend):
                     converted_name.pipette_type,
                     converted_name.pipette_channels,
                     converted_name.pipette_version,
+                    converted_name.oem_type,
                 ),
                 "id": OT3Controller._combine_serial_number(attached),
             }
@@ -1378,6 +1405,11 @@ class OT3Controller(FlexBackend):
     ) -> float:
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))
+        if tool not in self._pipettes_to_monitor_pressure([tool]):
+            raise UnsupportedHardwareCommand(
+                "Liquid Presence Detection not available on this pipette."
+            )
+
         positions = await liquid_probe(
             messenger=self._messenger,
             tool=tool,

opentrons/hardware_control/backends/ot3simulator.py

@@ -235,7 +235,11 @@ class OT3Simulator(FlexBackend):
         self._sim_gantry_load = gantry_load
 
     def update_constraints_for_plunger_acceleration(
-        self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
+        self,
+        mount: OT3Mount,
+        acceleration: float,
+        gantry_load: GantryLoad,
+        high_speed_pipette: bool = False,
     ) -> None:
         self._sim_gantry_load = gantry_load
 
@@ -505,6 +509,7 @@ class OT3Simulator(FlexBackend):
                         converted_name.pipette_type,
                         converted_name.pipette_channels,
                         converted_name.pipette_version,
+                        converted_name.oem_type,
                     ),
                     "id": None,
                 }
@@ -527,6 +532,7 @@ class OT3Simulator(FlexBackend):
                     converted_name.pipette_type,
                     converted_name.pipette_channels,
                     converted_name.pipette_version,
+                    converted_name.oem_type,
                 ),
                 "id": init_instr["id"],
             }
@@ -538,6 +544,7 @@ class OT3Simulator(FlexBackend):
                     converted_name.pipette_type,
                     converted_name.pipette_channels,
                     converted_name.pipette_version,
+                    converted_name.oem_type,
                 ),
                 "id": None,
             }

opentrons/hardware_control/backends/ot3utils.py

@@ -2,7 +2,10 @@
 from typing import Dict, Iterable, List, Set, Tuple, TypeVar, cast, Sequence, Optional
 from typing_extensions import Literal
 from logging import getLogger
-from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
+from opentrons.config.defaults_ot3 import (
+    DEFAULT_CALIBRATION_AXIS_MAX_SPEED,
+    DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED,
+)
 from opentrons.config.types import OT3MotionSettings, OT3CurrentSettings, GantryLoad
 from opentrons.hardware_control.types import (
     Axis,
@@ -281,12 +284,22 @@ def get_system_constraints_for_plunger_acceleration(
     gantry_load: GantryLoad,
     mount: OT3Mount,
     acceleration: float,
+    high_speed_pipette: bool = False,
 ) -> "SystemConstraints[Axis]":
     old_constraints = config.by_gantry_load(gantry_load)
     new_constraints = {}
     axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
+
+    def _get_axis_max_speed(ax: Axis) -> float:
+        if ax == Axis.of_main_tool_actuator(mount) and high_speed_pipette:
+            _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
+        else:
+            _max_speed = old_constraints["default_max_speed"][axis_kind]
+        return _max_speed
+
     for axis_kind in axis_kinds:
         for axis in Axis.of_kind(axis_kind):
+            _default_max_speed = _get_axis_max_speed(axis)
             if axis == Axis.of_main_tool_actuator(mount):
                 _accel = acceleration
             else:
@@ -295,7 +308,32 @@ def get_system_constraints_for_plunger_acceleration(
                 _accel,
                 old_constraints["max_speed_discontinuity"][axis_kind],
                 old_constraints["direction_change_speed_discontinuity"][axis_kind],
-                old_constraints["default_max_speed"][axis_kind],
+                _default_max_speed,
+            )
+    return new_constraints
+
+
+def get_system_constraints_for_emulsifying_pipette(
+    config: OT3MotionSettings,
+    gantry_load: GantryLoad,
+    mount: OT3Mount,
+) -> "SystemConstraints[Axis]":
+    old_constraints = config.by_gantry_load(gantry_load)
+    new_constraints = {}
+    axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
+    for axis_kind in axis_kinds:
+        for axis in Axis.of_kind(axis_kind):
+            if axis == Axis.of_main_tool_actuator(mount):
+                _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
+            else:
+                _max_speed = old_constraints["default_max_speed"][axis_kind]
+            new_constraints[axis] = AxisConstraints.build(
+                max_acceleration=old_constraints["acceleration"][axis_kind],
+                max_speed_discont=old_constraints["max_speed_discontinuity"][axis_kind],
+                max_direction_change_speed_discont=old_constraints[
+                    "direction_change_speed_discontinuity"
+                ][axis_kind],
+                max_speed=_max_speed,
             )
     return new_constraints
 

opentrons/hardware_control/dev_types.py

@@ -20,6 +20,7 @@ from opentrons_shared_data.pipette.pipette_definition import (
     PipetteConfigurations,
     SupportedTipsDefinition,
     PipetteBoundingBoxOffsetDefinition,
+    AvailableSensorDefinition,
 )
 from opentrons_shared_data.gripper import (
     GripperModel,
@@ -100,6 +101,7 @@ class PipetteDict(InstrumentDict):
     pipette_bounding_box_offsets: PipetteBoundingBoxOffsetDefinition
     current_nozzle_map: NozzleMap
     lld_settings: Optional[Dict[str, Dict[str, float]]]
+    available_sensors: AvailableSensorDefinition
 
 
 class PipetteStateDict(TypedDict):

opentrons/hardware_control/instruments/ot2/pipette.py

@@ -56,6 +56,7 @@ from opentrons_shared_data.pipette.types import (
     UlPerMmAction,
     PipetteName,
     PipetteModel,
+    PipetteOEMType,
 )
 from opentrons.hardware_control.dev_types import InstrumentHardwareConfigs
 
@@ -112,17 +113,20 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_generation=config.display_category,
+            oem_type=PipetteOEMType.OT,
         )
         self._acting_as = self._pipette_name
         self._pipette_model = PipetteModelVersionType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_version=config.version,
+            oem_type=PipetteOEMType.OT,
         )
         self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            PipetteOEMType.OT,
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
@@ -189,7 +193,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         ], f"{self.name} is not back-compatible with {name}"
 
         liquid_model = load_pipette_data.load_liquid_model(
-            name.pipette_type, name.pipette_channels, name.get_version()
+            name.pipette_type, name.pipette_channels, name.get_version(), name.oem_type
         )
         # TODO need to grab name config here to deal with act as test
         self._liquid_class.max_volume = liquid_model["default"].max_volume
@@ -280,6 +284,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
         self._config_as_dict = self._config.dict()
 

opentrons/hardware_control/instruments/ot3/pipette.py

@@ -41,6 +41,8 @@ from opentrons_shared_data.pipette.types import (
     UlPerMmAction,
     PipetteName,
     PipetteModel,
+    Quirks,
+    PipetteOEMType,
 )
 from opentrons_shared_data.pipette import (
     load_data as load_pipette_data,
@@ -92,22 +94,26 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
         self._liquid_class_name = pip_types.LiquidClasses.default
         self._liquid_class = self._config.liquid_properties[self._liquid_class_name]
 
+        oem = PipetteOEMType.get_oem_from_quirks(config.quirks)
         # TODO (lc 12-05-2022) figure out how we can safely deprecate "name" and "model"
         self._pipette_name = PipetteNameType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_generation=config.display_category,
+            oem_type=oem,
         )
         self._acting_as = self._pipette_name
         self._pipette_model = PipetteModelVersionType(
             pipette_type=config.pipette_type,
             pipette_channels=config.channels,
             pipette_version=config.version,
+            oem_type=oem,
         )
         self._valid_nozzle_maps = load_pipette_data.load_valid_nozzle_maps(
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
@@ -225,6 +231,9 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
     def push_out_volume(self) -> float:
         return self._active_tip_settings.default_push_out_volume
 
+    def is_high_speed_pipette(self) -> bool:
+        return Quirks.highSpeed in self._config.quirks
+
     def act_as(self, name: PipetteName) -> None:
         """Reconfigure to act as ``name``. ``name`` must be either the
         actual name of the pipette, or a name in its back-compatibility
@@ -246,6 +255,7 @@ class Pipette(AbstractInstrument[PipetteConfigurations]):
             self._pipette_model.pipette_type,
             self._pipette_model.pipette_channels,
             self._pipette_model.pipette_version,
+            self._pipette_model.oem_type,
         )
         self._config_as_dict = self._config.dict()
 

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
 
@@ -299,8 +300,11 @@ 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
@@ -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"))

opentrons/protocol_api/core/engine/instrument.py

@@ -31,6 +31,9 @@ from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
 from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.errors.exceptions import (
+    UnsupportedHardwareCommand,
+)
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
 from opentrons.hardware_control.nozzle_manager import NozzleMap
@@ -86,6 +89,13 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         self._liquid_presence_detection = bool(
             self._engine_client.state.pipettes.get_liquid_presence_detection(pipette_id)
         )
+        if (
+            self._liquid_presence_detection
+            and not self._pressure_supported_by_pipette()
+        ):
+            raise UnsupportedHardwareCommand(
+                "Pressure sensor not available for this pipette"
+            )
 
     @property
     def pipette_id(self) -> str:
@@ -847,6 +857,11 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         z_axis = self._engine_client.state.pipettes.get_z_axis(self._pipette_id)
         self._engine_client.execute_command(cmd.HomeParams(axes=[z_axis]))
 
+    def _pressure_supported_by_pipette(self) -> bool:
+        return self._engine_client.state.pipettes.get_pipette_supports_pressure(
+            self.pipette_id
+        )
+
     def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool:
         labware_id = well_core.labware_id
         well_name = well_core.get_name()

opentrons/protocol_api/core/instrument.py

@@ -253,6 +253,10 @@ class AbstractInstrument(ABC, Generic[WellCoreType]):
     def get_liquid_presence_detection(self) -> bool:
         ...
 
+    @abstractmethod
+    def _pressure_supported_by_pipette(self) -> bool:
+        ...
+
     @abstractmethod
     def set_liquid_presence_detection(self, enable: bool) -> None:
         ...

opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -583,3 +583,6 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore]):
     ) -> float:
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
+
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False

opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -501,3 +501,6 @@ class LegacyInstrumentCoreSimulator(AbstractInstrument[LegacyWellCore]):
     ) -> float:
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
+
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False

opentrons/protocol_api/instrument_context.py

@@ -7,6 +7,7 @@ from opentrons_shared_data.errors.exceptions import (
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
     UnexpectedTipRemovalError,
+    UnsupportedHardwareCommand,
 )
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -260,6 +261,7 @@ class InstrumentContext(publisher.CommandPublisher):
             and self._96_tip_config_valid()
             and self._core.get_current_volume() == 0
         ):
+            self._raise_if_pressure_not_supported_by_pipette()
             self.require_liquid_presence(well=well)
 
         with publisher.publish_context(
@@ -1694,6 +1696,8 @@ class InstrumentContext(publisher.CommandPublisher):
     @liquid_presence_detection.setter
     @requires_version(2, 20)
     def liquid_presence_detection(self, enable: bool) -> None:
+        if enable:
+            self._raise_if_pressure_not_supported_by_pipette()
         self._core.set_liquid_presence_detection(enable)
 
     @property
@@ -2143,6 +2147,7 @@ class InstrumentContext(publisher.CommandPublisher):
         .. note::
             The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid.
         """
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         self._96_tip_config_valid()
         return self._core.detect_liquid_presence(well._core, loc)
@@ -2156,6 +2161,7 @@ class InstrumentContext(publisher.CommandPublisher):
         .. note::
             The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid.
         """
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         self._96_tip_config_valid()
         self._core.liquid_probe_with_recovery(well._core, loc)
@@ -2170,7 +2176,7 @@ class InstrumentContext(publisher.CommandPublisher):
 
         This is intended for Opentrons internal use only and is not a guaranteed API.
         """
-
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         self._96_tip_config_valid()
         height = self._core.liquid_probe_without_recovery(well._core, loc)
@@ -2192,6 +2198,12 @@ class InstrumentContext(publisher.CommandPublisher):
                     )
             # SINGLE, QUADRANT and ALL are supported by all pipettes
 
+    def _raise_if_pressure_not_supported_by_pipette(self) -> None:
+        if not self._core._pressure_supported_by_pipette():
+            raise UnsupportedHardwareCommand(
+                "Pressure sensor not available for this pipette"
+            )
+
     def _handle_aspirate_target(
         self, target: validation.ValidTarget
     ) -> tuple[types.Location, Optional[labware.Well], Optional[bool]]:

opentrons/protocol_api/validation.py

@@ -63,6 +63,7 @@ _PIPETTE_NAMES_MAP = {
     "flex_8channel_50": PipetteNameType.P50_MULTI_FLEX,
     "flex_1channel_1000": PipetteNameType.P1000_SINGLE_FLEX,
     "flex_8channel_1000": PipetteNameType.P1000_MULTI_FLEX,
+    "flex_8channel_1000_em": PipetteNameType.P1000_MULTI_EM,
     "flex_96channel_1000": PipetteNameType.P1000_96,
 }
 

opentrons/protocol_engine/commands/absorbance_reader/read.py

@@ -80,6 +80,10 @@ class ReadAbsorbanceImpl(
             raise CannotPerformModuleAction(
                 "Cannot perform Read action on Absorbance Reader without calling `.initialize(...)` first."
             )
+        if abs_reader_substate.is_lid_on is False:
+            raise CannotPerformModuleAction(
+                "Absorbance Plate Reader can't read a plate with the lid open. Call `close_lid()` first."
+            )
 
         # TODO: we need to return a file ID and increase the file count even when a moduel is not attached
         if (

opentrons/protocol_engine/commands/liquid_probe.py

@@ -16,6 +16,7 @@ from opentrons.protocol_engine.errors.exceptions import (
 from opentrons.types import MountType
 from opentrons_shared_data.errors.exceptions import (
     PipetteLiquidNotFoundError,
+    UnsupportedHardwareCommand,
 )
 
 from ..types import DeckPoint
@@ -113,6 +114,13 @@ async def _execute_common(
     well_name = params.wellName
 
     state_update = update_types.StateUpdate()
+    if (
+        "pressure"
+        not in state_view.pipettes.get_config(pipette_id).available_sensors.sensors
+    ):
+        raise UnsupportedHardwareCommand(
+            "Pressure sensor not available for this pipette"
+        )
 
     # May raise TipNotAttachedError.
     aspirated_volume = state_view.pipettes.get_aspirated_volume(pipette_id)

opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py

@@ -1,6 +1,8 @@
 """Ungrip labware payload, result, and implementaiton."""
 
 from __future__ import annotations
+
+from opentrons.hardware_control.types import Axis
 from opentrons.protocol_engine.errors.exceptions import GripperNotAttachedError
 from pydantic import BaseModel
 from typing import Optional, Type
@@ -46,7 +48,7 @@ class UnsafeUngripLabwareImplementation(
         ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         if not ot3_hardware_api.has_gripper():
             raise GripperNotAttachedError("No gripper found to perform ungrip.")
-        await ot3_hardware_api.ungrip()
+        await ot3_hardware_api.home([Axis.G])
         return SuccessData(
             public=UnsafeUngripLabwareResult(),
         )

opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -67,6 +67,7 @@ class LoadedStaticPipetteData:
     back_left_corner_offset: Point
     front_right_corner_offset: Point
     pipette_lld_settings: Optional[Dict[str, Dict[str, float]]]
+    available_sensors: pipette_definition.AvailableSensorDefinition
 
 
 class VirtualPipetteDataProvider:
@@ -95,6 +96,7 @@ class VirtualPipetteDataProvider:
                 config.pipette_type,
                 config.channels,
                 config.version,
+                pip_types.PipetteOEMType.OT,
             )
             new_nozzle_manager = NozzleConfigurationManager.build_from_config(
                 config, valid_nozzle_maps
@@ -127,6 +129,7 @@ class VirtualPipetteDataProvider:
             pipette_model.pipette_type,
             pipette_model.pipette_channels,
             pipette_model.pipette_version,
+            pipette_model.oem_type,
         )
 
         liquid_class = pipette_definition.liquid_class_for_volume_between_default_and_defaultlowvolume(
@@ -160,6 +163,7 @@ class VirtualPipetteDataProvider:
             pipette_model.pipette_type,
             pipette_model.pipette_channels,
             pipette_model.pipette_version,
+            pipette_model.oem_type,
         )
 
     def _get_virtual_pipette_static_config_by_model(  # noqa: C901
@@ -176,6 +180,7 @@ class VirtualPipetteDataProvider:
             pipette_model.pipette_type,
             pipette_model.pipette_channels,
             pipette_model.pipette_version,
+            pipette_model.oem_type,
         )
         try:
             tip_type = pip_types.PipetteTipType(
@@ -192,6 +197,7 @@ class VirtualPipetteDataProvider:
             pipette_model.pipette_type,
             pipette_model.pipette_channels,
             pipette_model.pipette_version,
+            pipette_model.oem_type,
         )
         if pipette_id not in self._nozzle_manager_layout_by_id:
             nozzle_manager = NozzleConfigurationManager.build_from_config(
@@ -280,6 +286,8 @@ class VirtualPipetteDataProvider:
                 pip_front_right[0], pip_front_right[1], pip_front_right[2]
             ),
             pipette_lld_settings=config.lld_settings,
+            available_sensors=config.available_sensors
+            or pipette_definition.AvailableSensorDefinition(sensors=[]),
         )
 
     def get_virtual_pipette_static_config(
@@ -298,6 +306,11 @@ def get_pipette_static_config(
     """Get the config for a pipette, given the state/config object from the HW API."""
     back_left_offset = pipette_dict["pipette_bounding_box_offsets"].back_left_corner
     front_right_offset = pipette_dict["pipette_bounding_box_offsets"].front_right_corner
+    available_sensors = (
+        pipette_dict["available_sensors"]
+        if "available_sensors" in pipette_dict.keys()
+        else pipette_definition.AvailableSensorDefinition(sensors=[])
+    )
     return LoadedStaticPipetteData(
         model=pipette_dict["model"],
         display_name=pipette_dict["display_name"],
@@ -327,6 +340,7 @@ def get_pipette_static_config(
             front_right_offset[0], front_right_offset[1], front_right_offset[2]
         ),
         pipette_lld_settings=pipette_dict["lld_settings"],
+        available_sensors=available_sensors,
     )
 
 

opentrons/protocol_engine/state/modules.py

@@ -1268,7 +1268,10 @@ class ModuleView(HasState[ModuleState]):
                 row = chr(ord("A") + i // 12)  # Convert index to row (A-H)
                 col = (i % 12) + 1  # Convert index to column (1-12)
                 well_key = f"{row}{col}"
-                well_map[well_key] = value
+                truncated_value = float(
+                    "{:.5}".format(str(value))
+                )  # Truncate the returned value to the third decimal place
+                well_map[well_key] = truncated_value
             return well_map
         else:
             raise ValueError(

opentrons/protocol_engine/state/pipettes.py

@@ -98,6 +98,7 @@ class StaticPipetteConfig:
     bounding_nozzle_offsets: BoundingNozzlesOffsets
     default_nozzle_map: NozzleMap  # todo(mm, 2024-10-14): unused, remove?
     lld_settings: Optional[Dict[str, Dict[str, float]]]
+    available_sensors: pipette_definition.AvailableSensorDefinition
 
 
 @dataclasses.dataclass
@@ -292,6 +293,7 @@ class PipetteStore(HasState[PipetteState], HandlesActions):
                 ),
                 default_nozzle_map=config.nozzle_map,
                 lld_settings=config.pipette_lld_settings,
+                available_sensors=config.available_sensors,
             )
             self._state.flow_rates_by_id[
                 state_update.pipette_config.pipette_id
@@ -723,6 +725,13 @@ class PipetteView(HasState[PipetteState]):
             pip_front_left_bound,
         )
 
+    def get_pipette_supports_pressure(self, pipette_id: str) -> bool:
+        """Return if this pipette supports a pressure sensor."""
+        return (
+            "pressure"
+            in self._state.static_config_by_id[pipette_id].available_sensors.sensors
+        )
+
     def get_liquid_presence_detection(self, pipette_id: str) -> bool:
         """Determine if liquid presence detection is enabled for this pipette."""
         try:

{opentrons-8.2.0a3.dist-info → opentrons-8.3.0a0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.2.0a3
+Version: 8.3.0a0
 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 ==8.2.0a3
+Requires-Dist: opentrons-shared-data ==8.3.0a0
 Requires-Dist: aionotify ==0.3.1
 Requires-Dist: anyio <4.0.0,>=3.6.1
 Requires-Dist: jsonschema <4.18.0,>=3.0.1
@@ -34,9 +34,9 @@ Requires-Dist: pyusb ==1.2.1
 Requires-Dist: packaging >=21.0
 Requires-Dist: importlib-metadata >=1.0 ; python_version < "3.8"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex] ==8.2.0a3 ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] ==8.3.0a0 ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware ==8.2.0a3 ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware ==8.3.0a0 ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.2.0a3.dist-info → opentrons-8.3.0a0.dist-info}/RECORD

@@ -34,7 +34,7 @@ opentrons/cli/analyze.py,sha256=mKDVmrGgXtAHNN8im5XI-WGqbbXf7xeWN5tIqRgOcNo,1435
 opentrons/config/__init__.py,sha256=B4kGZSsy6ESki_-K33sd0mRNrN_h2_bcZL8zEDOxHEg,21251
 opentrons/config/advanced_settings.py,sha256=TAnzrGuZhSCokYii2efgW6SeJuAST2xyxO7hNlFxVUk,26560
 opentrons/config/defaults_ot2.py,sha256=_l63QNW0aWTh0HGZcgF592ETJg8-W4M0XrQbbzkAPjA,6031
-opentrons/config/defaults_ot3.py,sha256=ZRmf4n8dor0AghqyeURIJ-uqIIqks_ZAo80IhfI_g2w,14695
+opentrons/config/defaults_ot3.py,sha256=T2NlloDzdwbZBM4Mev2cj7BWcJQbbYOb2OPonvi2gfc,14750
 opentrons/config/feature_flags.py,sha256=aDWEOEQn9qQ0JcPpIgKq7IHLegbt2d7bMKSkt_5DbKo,2511
 opentrons/config/gripper_config.py,sha256=ch3PtyP96KOCQi6otf4U6Okt04JrEYhqpQM0SkmP_cA,1721
 opentrons/config/reset.py,sha256=5NNCfdUfV9_9CVLuXS8Ita1hrCbHbaSwZ7VnmyjBOEQ,6407
@@ -93,14 +93,14 @@ opentrons/hardware_control/__main__.py,sha256=DnlYdphZKLHiLCeXmnMDer6CclhberfTk_
 opentrons/hardware_control/adapters.py,sha256=mm-gumoaF7CFrP0ad6W4xafbJRq6RaOD0GffSibWR-Q,3888
 opentrons/hardware_control/api.py,sha256=Lv-Agio_nQ3axGjMbyXckkQRkl9rYfOV8L_Ul8bXGmY,50909
 opentrons/hardware_control/constants.py,sha256=Ku-XABo7AN9JQ0tef8oPk-JlUuhQQLeP9S0h7kx5GEA,227
-opentrons/hardware_control/dev_types.py,sha256=2344pCGVZS7Ap8Ifnei7Lsz2FTpuCkR_o98xXplTs6Y,3299
+opentrons/hardware_control/dev_types.py,sha256=P9AVjZ4yBN-XLOzRjoB3gS2A3MZ7dZRomo77K40cGbk,3379
 opentrons/hardware_control/errors.py,sha256=NMF5_AvX22ENTHPpUlElgF-0aeaxEhYXnOq2lfIzuiM,1433
 opentrons/hardware_control/execution_manager.py,sha256=WG3NF1OJgorAmRpkx8BRnqFeQsPUQ5w7H1kVK7pC-7A,5984
 opentrons/hardware_control/module_control.py,sha256=u0RpbOgr5pV5exgKg3qvNQdwdVuy_9QkPpMZtWthsm8,12074
 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=ExWZDLDHpi8HUzdYvBzhOyAXXwT3z7BnxPH-2EpOerM,44717
-opentrons/hardware_control/ot3api.py,sha256=CMtyrIDYzw-H-FQuUlnjVpGEOA9YNWETFy7jDxT8zYk,118073
+opentrons/hardware_control/ot3api.py,sha256=i8Ei3rYwESkkLagdhnqV7dALkv1lDrv9SmJqukw4gIg,119009
 opentrons/hardware_control/pause_manager.py,sha256=wmNmraimE2yZQVqCxX_rtQHUWRzpzyQEaym9fLMgyww,888
 opentrons/hardware_control/poller.py,sha256=rx6Q-UxbUIj3ek69IlYenFh7BFuasszRO-GzzhRPuHQ,3885
 opentrons/hardware_control/robot_calibration.py,sha256=HiCQNmdp59SbkzXpDGtPsN8rSfUj-ZU4v63vcSw4AbI,7149
@@ -113,10 +113,10 @@ opentrons/hardware_control/backends/__init__.py,sha256=u5Dg3AFZuvDV7hFqJ8I4F9D1d
 opentrons/hardware_control/backends/controller.py,sha256=MOVMq9s1rY_jHhajHB1hQ1MgXXyY54-gMrrvAuMsOFg,14622
 opentrons/hardware_control/backends/errors.py,sha256=ZiVP16exHMTWWOajxffnXEqI6NNfeTw-4RkhXE0EBJA,249
 opentrons/hardware_control/backends/estop_state.py,sha256=_GYjI6OaD3CZNduWV2_RVeOtQ4K_Fg-SP8yU01ENhCY,6554
-opentrons/hardware_control/backends/flex_protocol.py,sha256=PlGUMXTRISFl9c-ZxU2TdPDursLAprPw6ZLqtGMngIE,12030
-opentrons/hardware_control/backends/ot3controller.py,sha256=3y18NJbFDKMkfLk4X8ApIcZ9n3EMtZqCqag5hTUS74g,61020
-opentrons/hardware_control/backends/ot3simulator.py,sha256=N63d7Qf1DHg_-sVxsRZsKoJIZtTRJIRVNZL2V_EE5Os,29502
-opentrons/hardware_control/backends/ot3utils.py,sha256=Y0V26XqPxKzZmMhc0pBdfibC_En9pWmU77kyD7tDHOg,21955
+opentrons/hardware_control/backends/flex_protocol.py,sha256=fn18nbNYYtyicmzT12Zb4DM-6Dqam9MPnwz8fYnAwHo,12300
+opentrons/hardware_control/backends/ot3controller.py,sha256=EgNDamZwJN3pF_3q-yAI9tXXS1sdoEuv_1lggwNrCV4,62302
+opentrons/hardware_control/backends/ot3simulator.py,sha256=kPXTh8OtTPB0iB56X_MIrmQ4p_fTmQMLFZLP_iqcPv4,29708
+opentrons/hardware_control/backends/ot3utils.py,sha256=Olxqly0LzQXTQKTvNuWbao9wLb3Csu5cqUFtxgQfGIw,23493
 opentrons/hardware_control/backends/simulator.py,sha256=q_9PQlBdOyCa9sj2gLqYWZ-fG9v4mddDAiScL-yHCXY,17549
 opentrons/hardware_control/backends/status_bar_state.py,sha256=ftNn2ouBhPZiFbUm79I4z6ndup7XDmcNowhb-KREspE,8529
 opentrons/hardware_control/backends/subsystem_manager.py,sha256=lv2ON2pZ7PY2tg3-qxpAlLYIg1SJxX3erHJvcfy5UGs,16484
@@ -151,13 +151,13 @@ opentrons/hardware_control/instruments/__init__.py,sha256=wS7omegQYF7BQVmd-h4U6A
 opentrons/hardware_control/instruments/instrument_abc.py,sha256=UqKb7_8E4ivlTV2tEXcnfY8AdyVaHcrRAI4LhXSFSrM,1074
 opentrons/hardware_control/instruments/ot2/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 opentrons/hardware_control/instruments/ot2/instrument_calibration.py,sha256=llfCslA5iQp978S5KEOGH-SbFzZN7LY7PvDZnDWYUg8,4730
-opentrons/hardware_control/instruments/ot2/pipette.py,sha256=jE2Mvr6i03BaQG1otJSkzVqJ_PRdbS7epk-ygXjQeQQ,28518
+opentrons/hardware_control/instruments/ot2/pipette.py,sha256=uUiOQX1KNP-wzSDM4vSQ6oqK1655CKSxWi7QhCPy8Z8,28706
 opentrons/hardware_control/instruments/ot2/pipette_handler.py,sha256=pu_pEdlrmStUfbJS8Yq4HuA7PfNZdbk_TEbxx3lrVIU,37673
 opentrons/hardware_control/instruments/ot3/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 opentrons/hardware_control/instruments/ot3/gripper.py,sha256=h90Me-spIO4myXF_afgf4Fsjw_4uQsyMwwWxAD1gQ1U,13706
 opentrons/hardware_control/instruments/ot3/gripper_handler.py,sha256=GVz6QreaYSo-Vt2b-NHnMV2ehjlDxJCWaqq5ufQYCYM,6055
 opentrons/hardware_control/instruments/ot3/instrument_calibration.py,sha256=9ERAxnUHc2BBoLPloLwGoNDqssKsjzBQv1cOjwp8umk,5432
-opentrons/hardware_control/instruments/ot3/pipette.py,sha256=rrbN1Du1pTL8-pZ19K38ns_w5SMDMHcUG3Wh5nuxdWo,32493
+opentrons/hardware_control/instruments/ot3/pipette.py,sha256=oygUZaCVRfV58NuLAK-rJa0VdNSVBYuj53JXw9WDbaw,32826
 opentrons/hardware_control/instruments/ot3/pipette_handler.py,sha256=G6cL5qjwgi4hXKUNwvnJDEaeX0u2xp-U-dEHLRo_5pc,36704
 opentrons/hardware_control/modules/__init__.py,sha256=YLYJShv7FDI_QHboB2lQkSxoILoW9ms6Opu45ZeMMBU,1306
 opentrons/hardware_control/modules/absorbance_reader.py,sha256=Z6ikQiySpDi4tP1VxT-Q0WCNLUqfyzJ-iw7B7t-CUNI,13573
@@ -220,17 +220,17 @@ 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=EnOs4BAmpIabaWMFKCqhwIJcrWpP-iEv32kmdV2t9Uo,97275
+opentrons/protocol_api/instrument_context.py,sha256=FvzLDaHzLI9XwO9Kq-8TanfYdJN4iICwHhYPNK__zZ0,97881
 opentrons/protocol_api/labware.py,sha256=qwjAO1Au9Ujx5jyGNQ0-HLDBOXUygnXNSuv5696tGCw,48177
 opentrons/protocol_api/module_contexts.py,sha256=qubmR4LrLwP8e-ONKQYBlLTRQ5gpB-H25fE3SV70sKI,42104
 opentrons/protocol_api/module_validation_and_errors.py,sha256=XL_m72P8rcvGO2fynY7UzXLcpGuI6X4s0V6Xf735Iyc,1464
 opentrons/protocol_api/protocol_context.py,sha256=3nVIYxTpFp2Ho6kdW65hG8LhDaTRvlFuGbuy9LsQg5s,55459
 opentrons/protocol_api/robot_context.py,sha256=vph_ZqfdmREOwLwpjSkXiSZSpI1HO0HuilhqjhgT7Rw,2660
-opentrons/protocol_api/validation.py,sha256=bWRJOEw0cAqq9lRAXbhHHXGrl0hjjTiW3KW9SJa8f_A,18397
+opentrons/protocol_api/validation.py,sha256=wtmjgcn04q4SMBvtPOc7gRSTSVPN5kt0261hqLPOvyU,18458
 opentrons/protocol_api/core/__init__.py,sha256=-g74o8OtBB0LmmOvwkRvPgrHt7fF7T8FRHDj-x_-Onk,736
 opentrons/protocol_api/core/common.py,sha256=sXWlP8F4ZAEGcDh1WuavrVxkoi-FultBbpY6JW0_9ZY,1029
 opentrons/protocol_api/core/core_map.py,sha256=gq3CIYPxuPvozf8yj8FprqBfs3e4ZJGQ6s0ViPbwV08,1757
-opentrons/protocol_api/core/instrument.py,sha256=C-noyr_D6164NwcHEU5RYLnwgAwj1u3ocF3gTGaeS0Q,9474
+opentrons/protocol_api/core/instrument.py,sha256=BLJbOwQCtQcwdI5YeHf067pzny-pEjRTTFTD2Aq3EwI,9561
 opentrons/protocol_api/core/labware.py,sha256=SuHs0dP28F5pMWzeU1Ih0zzuD8h9Doyvmu2xIl14g7g,3946
 opentrons/protocol_api/core/module.py,sha256=p02IstVzfSqTpwbfiCYkPv_xpeb78Hi__PQKJPePxNs,12548
 opentrons/protocol_api/core/protocol.py,sha256=YUVZfbZvbRLOCLNZN5UKvmw8pwobiuL114GdMpmoLu4,7311
@@ -239,7 +239,7 @@ opentrons/protocol_api/core/well_grid.py,sha256=BU28DKaBgEU_JdZ6pEzrwNxmuh6TkO4z
 opentrons/protocol_api/core/engine/__init__.py,sha256=B_5T7zgkWDb1mXPg4NbT-wBkQaK-WVokMMnJRNu7xiM,582
 opentrons/protocol_api/core/engine/deck_conflict.py,sha256=0viwOidafVd0XhS8C7V72i68-ZYzHfDUNeqGozTA1G8,12012
 opentrons/protocol_api/core/engine/exceptions.py,sha256=aZgNrmYEeuPZm21nX_KZYtvyjv5h_zPjxxgPkEV7_bw,725
-opentrons/protocol_api/core/engine/instrument.py,sha256=BMqizINMrhZFjJmA0IXsD65xXvpA10V96y-S_JYb-NY,36075
+opentrons/protocol_api/core/engine/instrument.py,sha256=5MtrHVEGDl29HiRtPNcYRnKsV3ha8dwSm8NT__CRmJw,36588
 opentrons/protocol_api/core/engine/labware.py,sha256=ra6leDHW9sEmvjPJIIx8iMVVIeFuAyJlLv3H92Ww7TM,7568
 opentrons/protocol_api/core/engine/load_labware_params.py,sha256=cwbmGyYp5ZOyANtEm6KKwT_n8fnYc5RysBst9nRh7Ls,4607
 opentrons/protocol_api/core/engine/module_core.py,sha256=TWqMqRgekBISMOEtlveDByJQI6JfSu-rvYOnqQbTgGY,26923
@@ -252,7 +252,7 @@ opentrons/protocol_api/core/engine/well.py,sha256=9rbu0YbCnIz9j7OU1T2LEIWcdCclCI
 opentrons/protocol_api/core/legacy/__init__.py,sha256=_9jCJNKG3SlS_vljVu8HHkZmtLf4F-f-JHALLF5d5go,401
 opentrons/protocol_api/core/legacy/deck.py,sha256=qHqcGo-Kdkl9L1aOE0pwrm9tsAnwkXbt4rIOr_VEP-s,13955
 opentrons/protocol_api/core/legacy/labware_offset_provider.py,sha256=uNNeHecIz_A9u19QalpVKF7pxloHqLg27EFcD9dbYtc,3735
-opentrons/protocol_api/core/legacy/legacy_instrument_core.py,sha256=irXO6YbGgp7LWQwia6rLqlwRWIu1SmxCj1YS3gKEzWc,21993
+opentrons/protocol_api/core/legacy/legacy_instrument_core.py,sha256=UQl2VvtAhKN6bMqa_QjDgf5bFhRcSkLrXsCQhMWFWHg,22069
 opentrons/protocol_api/core/legacy/legacy_labware_core.py,sha256=0LeoH2vIFTuPzXFdSSeddIWcnjdMRTPpOAEsuvLDtBU,7901
 opentrons/protocol_api/core/legacy/legacy_module_core.py,sha256=tUhj88NKBMjCmCg6wjh1e2HX4d5hxjh8ZeJiYXaTaGY,23111
 opentrons/protocol_api/core/legacy/legacy_protocol_core.py,sha256=zoD5kqOZ4TUdZeFx2OdRLhMq9M9i7yATdqhynR6KNcM,21490
@@ -261,7 +261,7 @@ opentrons/protocol_api/core/legacy/load_info.py,sha256=j-fzoUKwvXNS_5CQsE43XI5YO
 opentrons/protocol_api/core/legacy/module_geometry.py,sha256=wbWeHomppdCDmp_nKrnNWbnRAapOamkhFMnaoY7ShTw,20886
 opentrons/protocol_api/core/legacy/well_geometry.py,sha256=dCsDIpMbaIpb0AW_VrnSIJdRYi8ombyMpaA7n1X46Jg,4643
 opentrons/protocol_api/core/legacy_simulator/__init__.py,sha256=m9bLHGDJ6LSYC2WPm8tpOuu0zWSOPIrlybQgjRQBw9k,647
-opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py,sha256=mcHgeVT1lXscc4wvCFAcOrfB7lq4JaAVOWo8aAc4_xQ,18655
+opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py,sha256=f5eGPuNwihDoYt-EOCWfAtHLqf3Zqsxu_iawuiSxVJo,18731
 opentrons/protocol_api/core/legacy_simulator/legacy_protocol_core.py,sha256=28HrrHzeUfnGKXpZqQ-VM8WbPiadqVhKj2S9y33q6Lo,2910
 opentrons/protocol_engine/__init__.py,sha256=35cWIWtg_0OO-9v6sgWNuiJ5siDM9y77K3KsuCY69K4,3253
 opentrons/protocol_engine/create_protocol_engine.py,sha256=tfDIsC7_JKlRiCXPB_8tuxRsssU6o0ViRmWbGPtX9QA,7582
@@ -298,7 +298,7 @@ opentrons/protocol_engine/commands/generate_command_schema.py,sha256=w5RsTJV4HtF
 opentrons/protocol_engine/commands/get_tip_presence.py,sha256=igvMiKJWzdetWBXlIaYp4Tfk57gfACon34CWzUWynno,2536
 opentrons/protocol_engine/commands/hash_command_params.py,sha256=obWy4TbVH97SyhNqrSD6iP1wgZ20JoaH1rilZCjXxIs,1530
 opentrons/protocol_engine/commands/home.py,sha256=pmiul9vLcpVijHAOBwzkdHulW5tBCEiEcNey3bCXdAE,3075
-opentrons/protocol_engine/commands/liquid_probe.py,sha256=nmrO2Mu65O1MwDnaeK-PcAMi1AKw4AtNFL6urydVN4o,12068
+opentrons/protocol_engine/commands/liquid_probe.py,sha256=HjHdUtqj_A81KYA8zCU1uDyNLdpu0ntAcU4pnYINX-4,12332
 opentrons/protocol_engine/commands/load_labware.py,sha256=UQSGj0dbfnkGjYxwPrQkVm2CNyrJYemu8L7g2xDhlt0,7584
 opentrons/protocol_engine/commands/load_liquid.py,sha256=MIwzfqhzKR71DEALKvgcnykp1CbJ3kkssClLrT7jPrY,2781
 opentrons/protocol_engine/commands/load_module.py,sha256=Vgu_O64tfDNgqAhVlVcjVrejt1TeKr_8ziar7L17-yw,7499
@@ -325,7 +325,7 @@ opentrons/protocol_engine/commands/absorbance_reader/__init__.py,sha256=umS98Llk
 opentrons/protocol_engine/commands/absorbance_reader/close_lid.py,sha256=i6kggql8hJgTxpUbc5dmdMdHDsYWiczfMvZNA72FmvI,5540
 opentrons/protocol_engine/commands/absorbance_reader/initialize.py,sha256=bbs7FwfpGVNAa5UT_rMV7ImrRnmREN9kRhmG8xJsAaU,5373
 opentrons/protocol_engine/commands/absorbance_reader/open_lid.py,sha256=Ef5coWs4GGOzmZbrAFZXTKq8hZCC7rJc2DVCOU2PFJg,5531
-opentrons/protocol_engine/commands/absorbance_reader/read.py,sha256=xu5KijW_sSEtjdhNIEctYkQBZC8Baj650W6s8nXfTKw,8187
+opentrons/protocol_engine/commands/absorbance_reader/read.py,sha256=QZ8zjjlKQPXprekxsEjgFxmvLns4Q0NpnZ6hbFAoq6k,8403
 opentrons/protocol_engine/commands/calibration/__init__.py,sha256=JjNnULLBM3j8VtpfHOvH51em9jVLR_ezyrUJUWqxuYI,1611
 opentrons/protocol_engine/commands/calibration/calibrate_gripper.py,sha256=1HgEsH-0ycGD-OlxdmCTIuBeSCzVTc1vepSjVirai-g,5570
 opentrons/protocol_engine/commands/calibration/calibrate_module.py,sha256=zjkgPgHHn5CM-ztvbcKcTaAMvj9zsMLNyykynwec0j0,4172
@@ -363,7 +363,7 @@ opentrons/protocol_engine/commands/unsafe/unsafe_blow_out_in_place.py,sha256=K1i
 opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py,sha256=v5h1sLxx_NMAhVCLbmECd7sD0PsecB4Dj-oaBEe0YBs,3635
 opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py,sha256=hCRqFeBInC9Mxz9LqUgIrjTTAjuMEq5MJxCqqXwi3N4,2552
 opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py,sha256=etNdLxj0TtmBA5fTLR-OSfbnRNbXKDzE__aKRAkvWMM,7866
-opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py,sha256=MSYftVeLHqnIyX0n9IJLq6XOb7P835EQg7KR3n3PU6c,2397
+opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py,sha256=408KbcJgroOA7Qhs-qih-ce-2n-ixGKu6mhv33TplJ0,2454
 opentrons/protocol_engine/commands/unsafe/update_position_estimators.py,sha256=Jgds_cwEHBiiDyJVK6wL34VTWZikrSVYJSRUohnsod8,3044
 opentrons/protocol_engine/errors/__init__.py,sha256=4CEG_WmrdSmESVkSkwfLlbNwW_r8TlMbD_fEXzcn5qg,5232
 opentrons/protocol_engine/errors/error_occurrence.py,sha256=Uoa0tqJ4C-oosDUwk-XXf0NxgWVnVnnhTFOqJAT1J_o,7896
@@ -399,7 +399,7 @@ opentrons/protocol_engine/resources/labware_validation.py,sha256=3Rc--uqHJ6dSoT8
 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=EVPvsMDyTduyQvkULF_c58qirH251bPusbNvZr8YCjA,14788
+opentrons/protocol_engine/resources/pipette_data_provider.py,sha256=FRKp7lRl6jaOUK-aQBcf2W8rjjAwsJjIcqe-AWClr-8,15416
 opentrons/protocol_engine/state/__init__.py,sha256=hDdA4GjXbi9h7K_FMbQGT9tOw3YtRNn5LIryMdkotS8,36
 opentrons/protocol_engine/state/_abstract_store.py,sha256=b5cqKZhI6ERZj6gyL0kDutD6ogdQngR3T-JmPATvhi8,631
 opentrons/protocol_engine/state/_move_types.py,sha256=zSQj_qYHBi7_-wrpaZBKmX_O-wNZCpLZkCzagOwI-zY,2132
@@ -412,9 +412,9 @@ opentrons/protocol_engine/state/frustum_helpers.py,sha256=OMa7_3INieaNhkFb6wVC6l
 opentrons/protocol_engine/state/geometry.py,sha256=-yEsGHPfjUVNgVWJKeBiJyzl65wAzSvjS7W-kOxukCQ,67902
 opentrons/protocol_engine/state/labware.py,sha256=Ns_GoUKxL55P6J2YEch5GZCVvTbQZS0h4CbZwCr7Frc,44758
 opentrons/protocol_engine/state/liquids.py,sha256=TwchzB7xNt7CAd3wX3BA_5DXrQhGwj_uFQsv0FWOXXk,1886
-opentrons/protocol_engine/state/modules.py,sha256=8d5YOPhGs8jnw5mDQiGSrhtvozZkCtcRQd49YesVmds,53936
+opentrons/protocol_engine/state/modules.py,sha256=NCx6s9WhFnv-XXIcnfnJ_rqLelI7pzqIv8v5ACrG2xE,54110
 opentrons/protocol_engine/state/motion.py,sha256=1KEm1HXdkuFKNe2lElZnNfJedml4afMFnmcDvG-3fLA,14937
-opentrons/protocol_engine/state/pipettes.py,sha256=jXhPGLHT1Ypc_tt8UkWZz51sCZ9ld4umr7AyuhlvxoU,30861
+opentrons/protocol_engine/state/pipettes.py,sha256=2PTtV1vkadi8m3XzjXomnhKSs_e6tfsxWaoAkYHPkNw,31260
 opentrons/protocol_engine/state/state.py,sha256=HbkGfTLYNPlb9yu2sCi4UOJQrgXedi3w8xbYc0QCn-w,14550
 opentrons/protocol_engine/state/state_summary.py,sha256=vTA4MLVtObroLSVEQFKspwE9hkKLfNHKacUA5QVIF5c,1058
 opentrons/protocol_engine/state/tips.py,sha256=_1LZncAdhCavaKs2NBFKQAmTyExIorQw7vHOqomeb8g,20993
@@ -512,9 +512,9 @@ opentrons/util/helpers.py,sha256=3hr801bWGbxEcOFAS7f-iOhmnUhoK5qahbB8SIvaCfY,165
 opentrons/util/linal.py,sha256=IlKAP9HkNBBgULeSf4YVwSKHdx9jnCjSr7nvDvlRALg,5753
 opentrons/util/logging_config.py,sha256=t3xRxQ5zfXQsU8S4gl6yvrtqx6dxOGyBwIM43CGRyjE,6887
 opentrons/util/performance_helpers.py,sha256=ew7H8XD20iS6-2TJAzbQeyzStZkkE6PzHt_Adx3wbZQ,5172
-opentrons-8.2.0a3.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.2.0a3.dist-info/METADATA,sha256=Hiug_qRDAMEctJZO5vxeTVfBQWl2wEB_OS20oz79Ru0,5019
-opentrons-8.2.0a3.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
-opentrons-8.2.0a3.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.2.0a3.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.2.0a3.dist-info/RECORD,,
+opentrons-8.3.0a0.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.3.0a0.dist-info/METADATA,sha256=9iQE3Sd4b1FTISPSJqyqy7PcntPkVpftdiMDRPi8ZdI,5019
+opentrons-8.3.0a0.dist-info/WHEEL,sha256=_4XEmVmaBFWtekSGrbfOGNjC2I5lUr0lZSRblBllIFA,109
+opentrons-8.3.0a0.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.3.0a0.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.3.0a0.dist-info/RECORD,,