opentrons 8.4.0a5__py2.py3-none-any.whl → 8.4.0a6__py2.py3-none-any.whl

opentrons/protocol_api/instrument_context.py

@@ -2654,7 +2654,7 @@ class InstrumentContext(publisher.CommandPublisher):
     def measure_liquid_height(self, well: labware.Well) -> LiquidTrackingType:
         """Check the height of the liquid within a well.
 
-        :returns: The height, in mm, of the liquid from the deck.
+        :returns: The height, in mm, of the liquid from the bottom of the well.
         """
         self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()

opentrons/protocol_engine/execution/tip_handler.py

@@ -1,6 +1,6 @@
 """Tip pickup and drop procedures."""
 
-from typing import Optional, Dict
+from typing import Optional, Dict, Tuple
 from typing_extensions import Protocol as TypingProtocol
 
 from opentrons.hardware_control import HardwareControlAPI
@@ -201,6 +201,18 @@ async def _available_for_nozzle_layout(  # noqa: C901
     }
 
 
+def tip_on_left_side_96(back_left_nozzle: str) -> bool:
+    """Return if there is a tip on the left edge of the 96 channel."""
+    left_most_column = int(back_left_nozzle[1:])
+    return left_most_column == 1
+
+
+def tip_on_right_side_96(front_right_nozzle: str) -> bool:
+    """Return if there is a tip on the left edge of the 96 channel."""
+    right_most_column = int(front_right_nozzle[1:])
+    return right_most_column == 12
+
+
 class HardwareTipHandler(TipHandler):
     """Pick up and drop tips, using the Hardware API."""
 
@@ -237,6 +249,50 @@ class HardwareTipHandler(TipHandler):
             channels, style, primary_nozzle, front_right_nozzle, back_left_nozzle
         )
 
+    def get_tip_presence_config(
+        self, pipette_id: str
+    ) -> Tuple[bool, Optional[InstrumentProbeType]]:
+        """Return the supported settings for tip presence on a given pipette depending on it's current nozzle map."""
+        follow_singular_sensor = None
+
+        unsupported_layout_types_96 = [NozzleConfigurationType.SINGLE]
+        # NOTE: (09-20-2024) Current on multi-channel pipettes, utilizing less than 4 nozzles risks false positives on the tip presence sensor
+        supported_partial_nozzle_minimum = 4
+
+        nozzle_configuration = self._state_view.pipettes.get_nozzle_configuration(
+            pipette_id=pipette_id
+        )
+
+        match self._state_view.pipettes.get_channels(pipette_id):
+            case 1:
+                tip_presence_supported = True
+            case 8:
+                tip_presence_supported = (
+                    nozzle_configuration.tip_count >= supported_partial_nozzle_minimum
+                )
+            case 96:
+                tip_presence_supported = (
+                    nozzle_configuration.configuration
+                    not in unsupported_layout_types_96
+                    and nozzle_configuration.tip_count
+                    >= supported_partial_nozzle_minimum
+                )
+                if (
+                    nozzle_configuration.configuration != NozzleConfigurationType.FULL
+                    and tip_presence_supported
+                ):
+                    use_left = tip_on_left_side_96(nozzle_configuration.back_left)
+                    use_right = tip_on_right_side_96(nozzle_configuration.front_right)
+                    if not (use_left and use_right):
+                        if use_left:
+                            follow_singular_sensor = InstrumentProbeType.PRIMARY
+                        else:
+                            follow_singular_sensor = InstrumentProbeType.SECONDARY
+            case _:
+                raise ValueError("Unknown pipette type.")
+
+        return (tip_presence_supported, follow_singular_sensor)
+
     async def pick_up_tip(
         self,
         pipette_id: str,
@@ -266,9 +322,18 @@ class HardwareTipHandler(TipHandler):
         await self._hardware_api.tip_pickup_moves(
             mount=hw_mount, presses=None, increment=None
         )
-        if do_not_ignore_tip_presence:
+
+        tip_presence_supported, follow_singular_sensor = self.get_tip_presence_config(
+            pipette_id
+        )
+
+        if do_not_ignore_tip_presence and tip_presence_supported:
             try:
-                await self.verify_tip_presence(pipette_id, TipPresenceStatus.PRESENT)
+                await self.verify_tip_presence(
+                    pipette_id,
+                    TipPresenceStatus.PRESENT,
+                    follow_singular_sensor=follow_singular_sensor,
+                )
             except TipNotAttachedError as e:
                 raise PickUpTipTipNotAttachedError(tip_geometry=tip_geometry) from e
 
@@ -350,30 +415,6 @@ class HardwareTipHandler(TipHandler):
         follow_singular_sensor: Optional[InstrumentProbeType] = None,
     ) -> None:
         """See documentation on abstract base class."""
-        nozzle_configuration = self._state_view.pipettes.get_nozzle_configuration(
-            pipette_id=pipette_id
-        )
-
-        # Configuration metrics by which tip presence checking is ignored
-        unsupported_pipette_types = [8, 96]
-        unsupported_layout_types = [
-            NozzleConfigurationType.SINGLE,
-            NozzleConfigurationType.COLUMN,
-        ]
-        # NOTE: (09-20-2024) Current on multi-channel pipettes, utilizing less than 4 nozzles risks false positives on the tip presence sensor
-        supported_partial_nozzle_minimum = 4
-
-        if (
-            nozzle_configuration is not None
-            and self._state_view.pipettes.get_channels(pipette_id)
-            in unsupported_pipette_types
-            and nozzle_configuration.configuration in unsupported_layout_types
-            and len(nozzle_configuration.map_store) < supported_partial_nozzle_minimum
-        ):
-            # Tip presence sensing is not supported for single tip pick up on the 96ch Flex Pipette, nor with single and some partial layous of the 8ch Flex Pipette.
-            # This is due in part to a press distance tolerance which creates a risk case for false positives. In the case of single tip, the mechanical tolerance
-            # for presses with 100% success is below the minimum average achieved press distance for a given multi channel pipette in that configuration.
-            return
         try:
             ot3api = ensure_ot3_hardware(hardware_api=self._hardware_api)
             hw_mount = self._get_hw_mount(pipette_id)

opentrons/protocol_engine/state/frustum_helpers.py

@@ -371,7 +371,7 @@ def find_volume_at_well_height(
     max_height = volumetric_capacity[-1][0]
     if target_height < 0 or target_height > max_height:
         raise InvalidLiquidHeightFound(
-            "Invalid target height {target_height} mm; max well height is {max_height} mm."
+            f"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

opentrons/protocol_engine/state/geometry.py

@@ -7,6 +7,7 @@ from numpy.typing import NDArray
 from typing import Optional, List, Tuple, Union, cast, TypeVar, Dict, Set
 from dataclasses import dataclass
 from functools import cached_property
+from math import isclose
 
 from opentrons.types import (
     Point,
@@ -487,7 +488,7 @@ class GeometryView:
                     raise OperationLocationNotInWellError(
                         f"Specifying {well_location.origin} with an offset of {well_location.offset} results in an operation location that could be below the bottom of the well"
                     )
-        elif z_offset < 0:
+        elif z_offset < 0 and not isclose(z_offset, 0, abs_tol=0.0000001):
             if isinstance(well_location, LiquidHandlingWellLocation):
                 raise OperationLocationNotInWellError(
                     f"Specifying {well_location.origin} with an offset of {well_location.offset} and a volume offset of {well_location.volumeOffset} results in an operation location below the bottom of the well"

{opentrons-8.4.0a5.dist-info → opentrons-8.4.0a6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.4.0a5
+Version: 8.4.0a6
 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 (==8.4.0a5)
+Requires-Dist: opentrons-shared-data (==8.4.0a6)
 Requires-Dist: aionotify (==0.3.1)
 Requires-Dist: anyio (<4.0.0,>=3.6.1)
 Requires-Dist: jsonschema (<4.18.0,>=3.0.1)
@@ -35,9 +35,9 @@ 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] (==8.4.0a5) ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] (==8.4.0a6) ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware (==8.4.0a5) ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware (==8.4.0a6) ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a5.dist-info → opentrons-8.4.0a6.dist-info}/RECORD

@@ -228,7 +228,7 @@ opentrons/protocol_api/config.py,sha256=r9lyvXjagTX_g3q5FGURPpcz2IA9sSF7Oa_1mKx-
 opentrons/protocol_api/create_protocol_context.py,sha256=wwsZje0L__oDnu1Yrihau320_f-ASloR9eL1QCtkOh8,7612
 opentrons/protocol_api/deck.py,sha256=94vFceg1SC1bAGd7TvC1ZpYwnJR-VlzurEZ6jkacYeg,8910
 opentrons/protocol_api/disposal_locations.py,sha256=NRiSGmDR0LnbyEkWSOM-o64uR2fUoB1NWJG7Y7SsJSs,7920
-opentrons/protocol_api/instrument_context.py,sha256=XUVIxnylpkhviFy5jxYJv-o7Lvmb2FJIbdoEjQ_9Vro,117886
+opentrons/protocol_api/instrument_context.py,sha256=ycUSiRkVbkplN54rxxPu7BtHF4xtMaGc8tdjvTDsE8A,117900
 opentrons/protocol_api/labware.py,sha256=1m1y7h70bBBqW60LjiCPQWwFfVXzY_goJrB773yUN0A,60407
 opentrons/protocol_api/module_contexts.py,sha256=3tVXj6Q7n-WuTJPU_dvIQLzzGv1P-jsMuDtMVpuhAf8,48291
 opentrons/protocol_api/module_validation_and_errors.py,sha256=XL_m72P8rcvGO2fynY7UzXLcpGuI6X4s0V6Xf735Iyc,1464
@@ -425,7 +425,7 @@ opentrons/protocol_engine/execution/run_control.py,sha256=ksvI2zkguC4G3lR3HJgAF8
 opentrons/protocol_engine/execution/status_bar.py,sha256=tR7CHS_y1ARQxcSKDO4YFU2cqVQhePzalmzsyH8b23A,970
 opentrons/protocol_engine/execution/thermocycler_movement_flagger.py,sha256=Ouljgjtm7-sCXwDcpfbir84dAZh5y89DNiuKedYimyg,6790
 opentrons/protocol_engine/execution/thermocycler_plate_lifter.py,sha256=j33nYV8rkeAYUOau8wFIyJVWjWkjyildleYHCysez-o,3375
-opentrons/protocol_engine/execution/tip_handler.py,sha256=DDlI-AwdasbwLjZpN6r76pxqr1WI6R21m3tElBswg5o,18398
+opentrons/protocol_engine/execution/tip_handler.py,sha256=Ouunj3KVqz-UMbkjFIbJJr2zpfgcUht_r4_60uHEx3M,19731
 opentrons/protocol_engine/notes/__init__.py,sha256=G0bIQswsov7MrJU0ArrOaWcOTxJU9BCUmNR3LRoNg-Q,311
 opentrons/protocol_engine/notes/notes.py,sha256=A5C9xHExlS9GAK7o_mYiKJgibBm6EEgHQ4PJor0IET0,1993
 opentrons/protocol_engine/resources/__init__.py,sha256=yvGFYpmLoxHYQff_IwiaEH9viZUfal5D5K91UjYLwwY,805
@@ -449,8 +449,8 @@ opentrons/protocol_engine/state/commands.py,sha256=aoON_C5DbiIEPxOGATvwCsSG9eHsF
 opentrons/protocol_engine/state/config.py,sha256=7jSGxC6Vqj1eA8fqZ2I3zjlxVXg8pxvcBYMztRIx9Mg,1515
 opentrons/protocol_engine/state/files.py,sha256=w8xxxg8HY0RqKKEGSfHWfrjV54Gb02O3dwtisJ-9j8E,1753
 opentrons/protocol_engine/state/fluid_stack.py,sha256=uwkf0qYk1UX5iU52xmk-e3yLPK8OG-TtMCcBqrkVFpM,5932
-opentrons/protocol_engine/state/frustum_helpers.py,sha256=I_tVCqy-CgYBqBS7FVyDpxdz0AdDeKYyeTPmaZuUIqU,17342
-opentrons/protocol_engine/state/geometry.py,sha256=_4buTI8kNjCogc4zKJwhCrvlB71yXrdcYqiwen-qkcA,97628
+opentrons/protocol_engine/state/frustum_helpers.py,sha256=uRBLLR75Z_PnfVd-U7gPF3NeOALR3TgLNCojgxB4z0o,17343
+opentrons/protocol_engine/state/geometry.py,sha256=PoqaC_Vmw2hF_H4u5ONgbJig8J52gIyI7ExwvZgtfCg,97701
 opentrons/protocol_engine/state/labware.py,sha256=rehy7R1HIhxx3DTtTHIKxqHoBQJ_1tDhhiculMJeIy8,57556
 opentrons/protocol_engine/state/liquid_classes.py,sha256=u_z75UYdiFAKG0yB3mr1il4T3qaS0Sotq8sL7KLODP8,2990
 opentrons/protocol_engine/state/liquids.py,sha256=NoesktcQdJUjIVmet1uqqJPf-rzbo4SGemXwQC295W0,2338
@@ -583,9 +583,9 @@ opentrons/util/linal.py,sha256=IlKAP9HkNBBgULeSf4YVwSKHdx9jnCjSr7nvDvlRALg,5753
 opentrons/util/logging_config.py,sha256=7et4YYuQdWdq_e50U-8vFS_QyNBRgdnqPGAQJm8qrIo,9954
 opentrons/util/logging_queue_handler.py,sha256=ZsSJwy-oV8DXwpYiZisQ1PbYwmK2cOslD46AcyJ1E4I,2484
 opentrons/util/performance_helpers.py,sha256=ew7H8XD20iS6-2TJAzbQeyzStZkkE6PzHt_Adx3wbZQ,5172
-opentrons-8.4.0a5.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.4.0a5.dist-info/METADATA,sha256=dVv_Zex7NX_Yf6tBwmhxcaTUWKOKDvYAmuqkq99qwEU,5084
-opentrons-8.4.0a5.dist-info/WHEEL,sha256=qUzzGenXXuJTzyjFah76kDVqDvnk-YDzY00svnrl84w,109
-opentrons-8.4.0a5.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.4.0a5.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.4.0a5.dist-info/RECORD,,
+opentrons-8.4.0a6.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.4.0a6.dist-info/METADATA,sha256=aOK9mh9j_G3EODbbtkFFhGtWd-YxxGSyue8zEHQrfyM,5084
+opentrons-8.4.0a6.dist-info/WHEEL,sha256=qUzzGenXXuJTzyjFah76kDVqDvnk-YDzY00svnrl84w,109
+opentrons-8.4.0a6.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.4.0a6.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.4.0a6.dist-info/RECORD,,