opentrons 8.4.0a3__py2.py3-none-any.whl → 8.4.0a5__py2.py3-none-any.whl

opentrons/protocol_engine/commands/{evotip_seal_pipette.py → seal_pipette_to_tip.py}

@@ -1,4 +1,4 @@
-"""Seal evotip resin tip command request, result, and implementation models."""
+"""Seal tips to pipette command request, result, and implementation models."""
 
 from __future__ import annotations
 from pydantic import Field, BaseModel
@@ -7,7 +7,7 @@ from opentrons.types import MountType
 from opentrons.protocol_engine.types import MotorAxis
 from typing_extensions import Literal
 
-from ..resources import ModelUtils
+from ..resources import ModelUtils, ensure_ot3_hardware
 from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
     PipetteIdMixin,
@@ -39,7 +39,7 @@ if TYPE_CHECKING:
     )
 
 
-EvotipSealPipetteCommandType = Literal["evotipSealPipette"]
+SealPipetteToTipCommandType = Literal["sealPipetteToTip"]
 _CAM_PREP_DISTANCE_DEFAULT = 8.25
 _CAM_PRESS_DISTANCE_DEFAULT = 3.5
 _CAM_EJECTOR_PUSH_MM_DEFAULT = 7.0
@@ -64,7 +64,7 @@ class TipPickUpParams(BaseModel):
     )
 
 
-class EvotipSealPipetteParams(PipetteIdMixin):
+class SealPipetteToTipParams(PipetteIdMixin):
     """Payload needed to seal resin tips to a pipette."""
 
     labwareId: str = Field(..., description="Identifier of labware to use.")
@@ -78,8 +78,8 @@ class EvotipSealPipetteParams(PipetteIdMixin):
     )
 
 
-class EvotipSealPipetteResult(DestinationPositionResult):
-    """Result data from the execution of a EvotipSealPipette."""
+class SealPipetteToTipResult(DestinationPositionResult):
+    """Result data from the execution of a SealPipetteToTip."""
 
     tipVolume: float = Field(
         0,
@@ -101,15 +101,15 @@ class EvotipSealPipetteResult(DestinationPositionResult):
 
 
 _ExecuteReturn = Union[
-    SuccessData[EvotipSealPipetteResult],
+    SuccessData[SealPipetteToTipResult],
     DefinedErrorData[StallOrCollisionError],
 ]
 
 
-class EvotipSealPipetteImplementation(
-    AbstractCommandImpl[EvotipSealPipetteParams, _ExecuteReturn]
+class SealPipetteToTipImplementation(
+    AbstractCommandImpl[SealPipetteToTipParams, _ExecuteReturn]
 ):
-    """Evotip seal pipette command implementation."""
+    """Seal pipette command implementation."""
 
     def __init__(
         self,
@@ -159,6 +159,11 @@ class EvotipSealPipetteImplementation(
             axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
         )
 
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
+        )
+
     async def cam_action_relative_pickup_tip(
         self,
         tip_pick_up_params: TipPickUpParams,
@@ -212,8 +217,8 @@ class EvotipSealPipetteImplementation(
         )
 
     async def execute(
-        self, params: EvotipSealPipetteParams
-    ) -> Union[SuccessData[EvotipSealPipetteResult], _ExecuteReturn]:
+        self, params: SealPipetteToTipParams
+    ) -> Union[SuccessData[SealPipetteToTipResult], _ExecuteReturn]:
         """Move to and pick up a tip using the requested pipette."""
         pipette_id = params.pipetteId
         labware_id = params.labwareId
@@ -289,7 +294,7 @@ class EvotipSealPipetteImplementation(
             fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
         )
         return SuccessData(
-            public=EvotipSealPipetteResult(
+            public=SealPipetteToTipResult(
                 tipVolume=tip_geometry.volume,
                 tipLength=tip_geometry.length,
                 tipDiameter=tip_geometry.diameter,
@@ -299,28 +304,28 @@ class EvotipSealPipetteImplementation(
         )
 
 
-class EvotipSealPipette(
+class SealPipetteToTip(
     BaseCommand[
-        EvotipSealPipetteParams,
-        EvotipSealPipetteResult,
+        SealPipetteToTipParams,
+        SealPipetteToTipResult,
         StallOrCollisionError,
     ]
 ):
-    """Seal evotip resin tip command model."""
+    """Seal tip command model."""
 
-    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
-    params: EvotipSealPipetteParams
-    result: Optional[EvotipSealPipetteResult] = None
+    commandType: SealPipetteToTipCommandType = "sealPipetteToTip"
+    params: SealPipetteToTipParams
+    result: Optional[SealPipetteToTipResult] = None
 
     _ImplementationCls: Type[
-        EvotipSealPipetteImplementation
-    ] = EvotipSealPipetteImplementation
+        SealPipetteToTipImplementation
+    ] = SealPipetteToTipImplementation
 
 
-class EvotipSealPipetteCreate(BaseCommandCreate[EvotipSealPipetteParams]):
-    """Seal evotip resin tip command creation request model."""
+class SealPipetteToTipCreate(BaseCommandCreate[SealPipetteToTipParams]):
+    """Seal tip command creation request model."""
 
-    commandType: EvotipSealPipetteCommandType = "evotipSealPipette"
-    params: EvotipSealPipetteParams
+    commandType: SealPipetteToTipCommandType = "sealPipetteToTip"
+    params: SealPipetteToTipParams
 
-    _CommandCls: Type[EvotipSealPipette] = EvotipSealPipette
+    _CommandCls: Type[SealPipetteToTip] = SealPipetteToTip

opentrons/protocol_engine/commands/{evotip_unseal_pipette.py → unseal_pipette_from_tip.py}

@@ -1,4 +1,4 @@
-"""Unseal evotip resin tip command request, result, and implementation models."""
+"""Unseal tip from pipette command request, result, and implementation models."""
 
 from __future__ import annotations
 
@@ -32,10 +32,10 @@ if TYPE_CHECKING:
     from ..execution import MovementHandler, TipHandler, GantryMover
 
 
-EvotipUnsealPipetteCommandType = Literal["evotipUnsealPipette"]
+UnsealPipetteFromTipCommandType = Literal["unsealPipetteFromTip"]
 
 
-class EvotipUnsealPipetteParams(PipetteIdMixin):
+class UnsealPipetteFromTipParams(PipetteIdMixin):
     """Payload required to drop a tip in a specific well."""
 
     labwareId: str = Field(..., description="Identifier of labware to use.")
@@ -46,19 +46,19 @@ class EvotipUnsealPipetteParams(PipetteIdMixin):
     )
 
 
-class EvotipUnsealPipetteResult(DestinationPositionResult):
+class UnsealPipetteFromTipResult(DestinationPositionResult):
     """Result data from the execution of a DropTip command."""
 
     pass
 
 
 _ExecuteReturn = (
-    SuccessData[EvotipUnsealPipetteResult] | DefinedErrorData[StallOrCollisionError]
+    SuccessData[UnsealPipetteFromTipResult] | DefinedErrorData[StallOrCollisionError]
 )
 
 
-class EvotipUnsealPipetteImplementation(
-    AbstractCommandImpl[EvotipUnsealPipetteParams, _ExecuteReturn]
+class UnsealPipetteFromTipImplementation(
+    AbstractCommandImpl[UnsealPipetteFromTipParams, _ExecuteReturn]
 ):
     """Drop tip command implementation."""
 
@@ -77,7 +77,7 @@ class EvotipUnsealPipetteImplementation(
         self._model_utils = model_utils
         self._gantry_mover = gantry_mover
 
-    async def execute(self, params: EvotipUnsealPipetteParams) -> _ExecuteReturn:
+    async def execute(self, params: UnsealPipetteFromTipParams) -> _ExecuteReturn:
         """Move to and drop a tip using the requested pipette."""
         pipette_id = params.pipetteId
         labware_id = params.labwareId
@@ -122,33 +122,33 @@ class EvotipUnsealPipetteImplementation(
         )
 
         return SuccessData(
-            public=EvotipUnsealPipetteResult(position=move_result.public.position),
+            public=UnsealPipetteFromTipResult(position=move_result.public.position),
             state_update=move_result.state_update.set_fluid_unknown(
                 pipette_id=pipette_id
             ).update_pipette_tip_state(pipette_id=params.pipetteId, tip_geometry=None),
         )
 
 
-class EvotipUnsealPipette(
+class UnsealPipetteFromTip(
     BaseCommand[
-        EvotipUnsealPipetteParams, EvotipUnsealPipetteResult, StallOrCollisionError
+        UnsealPipetteFromTipParams, UnsealPipetteFromTipResult, StallOrCollisionError
     ]
 ):
-    """Evotip unseal command model."""
+    """Unseal pipette command model."""
 
-    commandType: EvotipUnsealPipetteCommandType = "evotipUnsealPipette"
-    params: EvotipUnsealPipetteParams
-    result: Optional[EvotipUnsealPipetteResult] = None
+    commandType: UnsealPipetteFromTipCommandType = "unsealPipetteFromTip"
+    params: UnsealPipetteFromTipParams
+    result: Optional[UnsealPipetteFromTipResult] = None
 
     _ImplementationCls: Type[
-        EvotipUnsealPipetteImplementation
-    ] = EvotipUnsealPipetteImplementation
+        UnsealPipetteFromTipImplementation
+    ] = UnsealPipetteFromTipImplementation
 
 
-class EvotipUnsealPipetteCreate(BaseCommandCreate[EvotipUnsealPipetteParams]):
-    """Evotip unseal command creation request model."""
+class UnsealPipetteFromTipCreate(BaseCommandCreate[UnsealPipetteFromTipParams]):
+    """Unseal pipette command creation request model."""
 
-    commandType: EvotipUnsealPipetteCommandType = "evotipUnsealPipette"
-    params: EvotipUnsealPipetteParams
+    commandType: UnsealPipetteFromTipCommandType = "unsealPipetteFromTip"
+    params: UnsealPipetteFromTipParams
 
-    _CommandCls: Type[EvotipUnsealPipette] = EvotipUnsealPipette
+    _CommandCls: Type[UnsealPipetteFromTip] = UnsealPipetteFromTip

opentrons/protocol_engine/execution/pipetting.py

@@ -246,6 +246,7 @@ class HardwarePipettingHandler(PipettingHandler):
                 flow_rate=flow_rate,
                 volume=adjusted_volume,
                 push_out=push_out,
+                is_full_dispense=is_full_dispense,
             )
         return adjusted_volume
 

opentrons/protocol_engine/labware_offset_standardization.py

@@ -53,7 +53,28 @@ def legacy_offset_location_to_offset_location_sequence(
         cutout_id = deck_configuration_provider.get_cutout_id_by_deck_slot_name(
             location.slotName
         )
-        possible_cutout_fixture_id = location.moduleModel.value
+
+        # Given a module model, try to figure out the equivalent cutout fixture.
+        #
+        # The Thermocycler is special. A single Thermocycler is represented in a deck
+        # configuration as two separate cutout fixtures, because it spans two separate
+        # cutouts. This makes it the only module whose module model string does not map
+        # 1:1 with a cutout fixture ID string.
+        #
+        # TODO(mm, 2025-04-11): This is fragile, and the failure mode when it does the
+        # wrong thing can mean labware offsets don't apply, which is pretty bad. We
+        # either need a more explicit module<->cutout-fixture mapping, or we need to
+        # avoid this mapping entirely.
+        if (
+            # Check for v2 specifically because v1 is OT-2-only and OT-2s don't have
+            # modules in their deck definitions; and v3 does not exist at the time of writing.
+            location.moduleModel
+            == ModuleModel.THERMOCYCLER_MODULE_V2
+        ):
+            possible_cutout_fixture_id = "thermocyclerModuleV2Front"
+        else:
+            possible_cutout_fixture_id = location.moduleModel.value
+
         try:
             addressable_area = deck_configuration_provider.get_labware_hosting_addressable_area_name_for_cutout_and_cutout_fixture(
                 cutout_id, possible_cutout_fixture_id, deck_definition

opentrons/protocol_engine/resources/deck_configuration_provider.py

@@ -144,16 +144,20 @@ def get_deck_slot_for_cutout_id(cutout_id: str) -> DeckSlotName:
     """Get the corresponding deck slot for an addressable area."""
     try:
         return CUTOUT_TO_DECK_SLOT_MAP[cutout_id]
-    except KeyError:
-        raise CutoutDoesNotExistError(f"Could not find data for cutout {cutout_id}")
+    except KeyError as e:
+        raise CutoutDoesNotExistError(
+            f"Could not find data for cutout {cutout_id}"
+        ) from e
 
 
 def get_cutout_id_by_deck_slot_name(slot_name: DeckSlotName) -> str:
     """Get the Cutout ID of a given Deck Slot by Deck Slot Name."""
     try:
         return DECK_SLOT_TO_CUTOUT_MAP[slot_name]
-    except KeyError:
-        raise SlotDoesNotExistError(f"Could not find data for slot {slot_name.value}")
+    except KeyError as e:
+        raise SlotDoesNotExistError(
+            f"Could not find data for slot {slot_name.value}"
+        ) from e
 
 
 def get_labware_hosting_addressable_area_name_for_cutout_and_cutout_fixture(

opentrons/protocol_engine/state/frustum_helpers.py

@@ -353,8 +353,9 @@ def _find_volume_in_partial_frustum(
                 section_height=section_height,
             )
     # if we've looked through all sections and can't find the target volume, raise an error
+    # this code should never be reached- an error should be raised by find_volume_at_well_height
     raise InvalidLiquidHeightFound(
-        f"Unable to find volume at given well-height {target_height}."
+        f"Target height {target_height} mm exceeds the well height."
     )
 
 
@@ -369,7 +370,9 @@ def find_volume_at_well_height(
     volumetric_capacity = get_well_volumetric_capacity(well_geometry)
     max_height = volumetric_capacity[-1][0]
     if target_height < 0 or target_height > max_height:
-        raise InvalidLiquidHeightFound("Invalid target height.")
+        raise InvalidLiquidHeightFound(
+            "Invalid target height {target_height} mm; max well height is {max_height} mm."
+        )
     # volumes in volumetric_capacity are relative to each frustum,
     # so we have to find the volume of all the full sections enclosed
     # beneath the target height
@@ -417,9 +420,12 @@ def _find_height_in_partial_frustum(
         # viewed section
         bottom_section_volume += section_volume
 
+    # if we finish looping through the whole well, bottom_section will be the well's volume
+    total_well_volume = bottom_section_volume
     # if we've looked through all sections and can't find the target volume, raise an error
+    # also this code should never be reached bc an error should be raised by find_height_at_well_volume
     raise InvalidLiquidHeightFound(
-        f"Unable to find height at given volume {target_volume}."
+        f"Target volume {target_volume} uL exceeds the well volume {total_well_volume} uL."
     )
 
 
@@ -439,7 +445,9 @@ def find_height_at_well_volume(
 
     if raise_error_if_result_invalid:
         if target_volume < 0 or target_volume > max_volume:
-            raise InvalidLiquidHeightFound("Invalid target volume.")
+            raise InvalidLiquidHeightFound(
+                f"Invalid target volume {target_volume} uL; max volume is {max_volume} uL"
+            )
 
     sorted_well = sorted(well_geometry.sections, key=lambda section: section.topHeight)
     # find the section the target volume is in and compute the height