opentrons 8.4.0a13__py2.py3-none-any.whl → 8.5.0a1__py2.py3-none-any.whl

opentrons/config/defaults_ot3.py

@@ -158,7 +158,7 @@ DEFAULT_HOLD_CURRENT: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLo
         OT3AxisKind.X: 0.5,
         OT3AxisKind.Y: 0.5,
         OT3AxisKind.Z: 0.5,
-        OT3AxisKind.P: 0.3,
+        OT3AxisKind.P: 0.8,
         OT3AxisKind.Z_G: 0.2,
         OT3AxisKind.Q: 0.3,
     },

opentrons/legacy_commands/commands.py

@@ -328,12 +328,18 @@ def transfer_with_liquid_class(
     liquid_class: LiquidClass,
     volume: float,
     source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]],
-    destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]],
+    destination: Union[
+        Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute
+    ],
 ) -> command_types.TransferWithLiquidClassCommand:
+    if isinstance(destination, (TrashBin, WasteChute)):
+        destination_text = stringify_disposal_location(destination)
+    else:
+        destination_text = stringify_well_list(destination)
     text = (
         "Transferring "
         + f"{volume} uL of {liquid_class.display_name} liquid class from "
-        + f"{stringify_well_list(source)} to {stringify_well_list(destination)}"
+        + f"{stringify_well_list(source)} to {destination_text}"
     )
     return {
         "name": command_types.TRANSFER_WITH_LIQUID_CLASS,
@@ -378,12 +384,18 @@ def consolidate_with_liquid_class(
     liquid_class: LiquidClass,
     volume: float,
     source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]],
-    destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]],
+    destination: Union[
+        Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute
+    ],
 ) -> command_types.ConsolidateWithLiquidClassCommand:
+    if isinstance(destination, (TrashBin, WasteChute)):
+        destination_text = stringify_disposal_location(destination)
+    else:
+        destination_text = stringify_well_list(destination)
     text = (
         "Consolidating "
         + f"{volume} uL of {liquid_class.display_name} liquid class from "
-        + f"{stringify_well_list(source)} to {stringify_well_list(destination)}"
+        + f"{stringify_well_list(source)} to {destination_text}"
     )
     return {
         "name": command_types.CONSOLIDATE_WITH_LIQUID_CLASS,

opentrons/legacy_commands/robot_commands.py

@@ -0,0 +1,51 @@
+from opentrons.types import Location, Mount, AxisMapType
+from .helpers import stringify_location
+from . import types as command_types
+from typing import Optional
+
+
+def move_to(
+    mount: Mount, location: Location, speed: Optional[float]
+) -> command_types.RobotMoveToCommand:
+    location_text = stringify_location(location)
+    text = f"Moving to {location_text} at {speed}"
+    return {
+        "name": command_types.ROBOT_MOVE_TO,
+        "payload": {"mount": mount, "location": location, "text": text},
+    }
+
+
+def move_axis_to(
+    axis_map: AxisMapType, speed: Optional[float]
+) -> command_types.RobotMoveAxisToCommand:
+    text = f"Moving to the provided absolute axis map {axis_map} at {speed}."
+    return {
+        "name": command_types.ROBOT_MOVE_AXES_TO,
+        "payload": {"absolute_axes": axis_map, "text": text},
+    }
+
+
+def move_axis_relative(
+    axis_map: AxisMapType, speed: Optional[float]
+) -> command_types.RobotMoveAxisRelativeCommand:
+    text = f"Moving to the provided relative axis map {axis_map} as {speed}"
+    return {
+        "name": command_types.ROBOT_MOVE_RELATIVE_TO,
+        "payload": {"relative_axes": axis_map, "text": text},
+    }
+
+
+def open_gripper() -> command_types.RobotOpenGripperJawCommand:
+    text = "Opening the gripper jaw."
+    return {
+        "name": command_types.ROBOT_OPEN_GRIPPER_JAW,
+        "payload": {"text": text},
+    }
+
+
+def close_gripper(force: Optional[float]) -> command_types.RobotCloseGripperJawCommand:
+    text = f"Closing the gripper jaw with force {force}."
+    return {
+        "name": command_types.ROBOT_CLOSE_GRIPPER_JAW,
+        "payload": {"text": text},
+    }

opentrons/legacy_commands/types.py

@@ -10,7 +10,7 @@ if TYPE_CHECKING:
     from opentrons.protocol_api.disposal_locations import TrashBin, WasteChute
     from opentrons.protocol_api._liquid import LiquidClass
 
-from opentrons.types import Location
+from opentrons.types import Location, Mount, AxisMapType
 
 
 # type for subscriptions
@@ -86,6 +86,13 @@ THERMOCYCLER_SET_LID_TEMP: Final = "command.THERMOCYCLER_SET_LID_TEMP"
 THERMOCYCLER_DEACTIVATE_LID: Final = "command.THERMOCYCLER_DEACTIVATE_LID"
 THERMOCYCLER_DEACTIVATE_BLOCK: Final = "command.THERMOCYCLER_DEACTIVATE_BLOCK"
 
+# Robot #
+ROBOT_MOVE_TO: Final = "command.ROBOT_MOVE_TO"
+ROBOT_MOVE_AXES_TO: Final = "command.ROBOT_MOVE_AXES_TO"
+ROBOT_MOVE_RELATIVE_TO: Final = "command.ROBOT_MOVE_RELATIVE_TO"
+ROBOT_OPEN_GRIPPER_JAW: Final = "command.ROBOT_OPEN_GRIPPER_JAW"
+ROBOT_CLOSE_GRIPPER_JAW: Final = "command.ROBOT_CLOSE_GRIPPER_JAW"
+
 
 class TextOnlyPayload(TypedDict):
     text: str
@@ -548,7 +555,9 @@ class LiquidClassCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
     liquid_class: LiquidClass
     volume: float
     source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]]
-    destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]]
+    destination: Union[
+        Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute
+    ]
 
 
 class TransferWithLiquidClassCommand(TypedDict):
@@ -600,6 +609,49 @@ class PressurizeCommand(TypedDict):
     payload: PressurizeCommandPayload
 
 
+# Robot Commands and Payloads
+class GripperCommandPayload(TextOnlyPayload):
+    pass
+
+
+class RobotMoveToCommandPayload(TextOnlyPayload):
+    location: Location
+    mount: Mount
+
+
+class RobotMoveAxisToCommandPayload(TextOnlyPayload):
+    absolute_axes: AxisMapType
+
+
+class RobotMoveAxisRelativeCommandPayload(TextOnlyPayload):
+    relative_axes: AxisMapType
+
+
+class RobotMoveToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_TO"]
+    payload: RobotMoveToCommandPayload
+
+
+class RobotMoveAxisToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_AXES_TO"]
+    payload: RobotMoveAxisToCommandPayload
+
+
+class RobotMoveAxisRelativeCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_RELATIVE_TO"]
+    payload: RobotMoveAxisRelativeCommandPayload
+
+
+class RobotOpenGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_OPEN_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
+class RobotCloseGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_CLOSE_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
 Command = Union[
     DropTipCommand,
     DropTipInDisposalLocationCommand,
@@ -654,6 +706,12 @@ Command = Union[
     SealCommand,
     UnsealCommand,
     PressurizeCommand,
+    # Robot commands
+    RobotMoveToCommand,
+    RobotMoveAxisToCommand,
+    RobotMoveAxisRelativeCommand,
+    RobotOpenGripperJawCommand,
+    RobotCloseGripperJawCommand,
 ]
 
 
@@ -707,6 +765,11 @@ CommandPayload = Union[
     SealCommandPayload,
     UnsealCommandPayload,
     PressurizeCommandPayload,
+    # Robot payloads
+    RobotMoveToCommandPayload,
+    RobotMoveAxisRelativeCommandPayload,
+    RobotMoveAxisToCommandPayload,
+    GripperCommandPayload,
 ]
 
 
@@ -947,6 +1010,26 @@ class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand):
     pass
 
 
+class RobotMoveToMessage(CommandMessageFields, RobotMoveToCommand):
+    pass
+
+
+class RobotMoveAxisToMessage(CommandMessageFields, RobotMoveAxisToCommand):
+    pass
+
+
+class RobotMoveAxisRelativeMessage(CommandMessageFields, RobotMoveAxisRelativeCommand):
+    pass
+
+
+class RobotOpenGripperJawMessage(CommandMessageFields, RobotOpenGripperJawCommand):
+    pass
+
+
+class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawCommand):
+    pass
+
+
 CommandMessage = Union[
     DropTipMessage,
     DropTipInDisposalLocationMessage,
@@ -994,4 +1077,10 @@ CommandMessage = Union[
     MoveToMessage,
     MoveToDisposalLocationMessage,
     MoveLabwareMessage,
+    # Robot Messages
+    RobotMoveToMessage,
+    RobotMoveAxisToMessage,
+    RobotMoveAxisRelativeMessage,
+    RobotOpenGripperJawMessage,
+    RobotCloseGripperJawMessage,
 ]

opentrons/protocol_api/_liquid.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import Optional, Dict, Union, TYPE_CHECKING
+from typing import Optional, Dict, Union, TYPE_CHECKING, Tuple
 
 from opentrons_shared_data.liquid_classes.liquid_class_definition import (
     LiquidClassSchemaV1,
@@ -63,6 +63,20 @@ class LiquidClass:
             _by_pipette_setting=by_pipette_settings,
         )
 
+    @classmethod
+    def create_from(
+        cls,
+        name: str,
+        display_name: str,
+        by_pipette_setting: Dict[str, Dict[str, TransferProperties]],
+    ) -> "LiquidClass":
+        """Create a liquid class from the passed in args."""
+        return cls(
+            _name=name,
+            _display_name=display_name,
+            _by_pipette_setting=by_pipette_setting,
+        )
+
     @property
     def name(self) -> str:
         return self._name
@@ -71,10 +85,54 @@ class LiquidClass:
     def display_name(self) -> str:
         return self._display_name
 
+    def update_for(
+        self,
+        pipette: Union[str, InstrumentContext],
+        tip_rack: Union[str, Labware],
+        transfer_properties: TransferProperties,
+    ) -> None:
+        """Update the transfer properties for the given pipette and tip combo.
+
+        If an entry does not exist, it will be created.
+        """
+        pipette_name, tiprack_uri = self._get_pipette_and_tiprack_names(
+            pipette, tip_rack
+        )
+        try:
+            self._by_pipette_setting[pipette_name].update(
+                {tiprack_uri: transfer_properties}
+            )
+        except KeyError:
+            self._by_pipette_setting[pipette_name] = {tiprack_uri: transfer_properties}
+
     def get_for(
         self, pipette: Union[str, InstrumentContext], tip_rack: Union[str, Labware]
     ) -> TransferProperties:
         """Get liquid class transfer properties for the specified pipette and tip."""
+        pipette_name, tiprack_uri = self._get_pipette_and_tiprack_names(
+            pipette, tip_rack
+        )
+
+        try:
+            settings_for_pipette = self._by_pipette_setting[pipette_name]
+        except KeyError:
+            raise NoLiquidClassPropertyError(
+                f"No properties found for {pipette_name} in {self._name} liquid class"
+            )
+        try:
+            transfer_properties = settings_for_pipette[tiprack_uri]
+        except KeyError:
+            raise NoLiquidClassPropertyError(
+                f"No properties found for {tiprack_uri} for {pipette_name} in {self._name} liquid class"
+            )
+        return transfer_properties
+
+    @staticmethod
+    def _get_pipette_and_tiprack_names(
+        pipette: Union[str, InstrumentContext],
+        tip_rack: Union[str, Labware],
+    ) -> Tuple[str, str]:
+        """Return the pipette and tip rack name strings from the given pipette and tip rack."""
         from . import InstrumentContext, Labware
 
         if isinstance(pipette, InstrumentContext):
@@ -96,17 +154,4 @@ class LiquidClass:
                 f"{tip_rack} should either be a tiprack Labware object"
                 f" or a tiprack URI string."
             )
-
-        try:
-            settings_for_pipette = self._by_pipette_setting[pipette_name]
-        except KeyError:
-            raise NoLiquidClassPropertyError(
-                f"No properties found for {pipette_name} in {self._name} liquid class"
-            )
-        try:
-            transfer_properties = settings_for_pipette[tiprack_uri]
-        except KeyError:
-            raise NoLiquidClassPropertyError(
-                f"No properties found for {tiprack_uri} for {pipette_name} in {self._name} liquid class"
-            )
-        return transfer_properties
+        return pipette_name, tiprack_uri