opentrons 8.4.0a5__tar.gz → 8.4.0a6__tar.gz

{opentrons-8.4.0a5 → opentrons-8.4.0a6}/PKG-INFO

@@ -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: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.4.0a5; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.4.0a6; extra == "ot2-hardware"
 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"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a5 → opentrons-8.4.0a6}/src/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-8.4.0a5 → opentrons-8.4.0a6}/src/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-8.4.0a5 → opentrons-8.4.0a6}/src/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-8.4.0a5 → opentrons-8.4.0a6}/src/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 → opentrons-8.4.0a6}/src/opentrons.egg-info/PKG-INFO

@@ -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: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.4.0a5; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.4.0a6; extra == "ot2-hardware"
 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"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a5 → opentrons-8.4.0a6}/src/opentrons.egg-info/requires.txt

@@ -1,4 +1,4 @@
-opentrons-shared-data==8.4.0a5
+opentrons-shared-data==8.4.0a6
 aionotify==0.3.1
 anyio<4.0.0,>=3.6.1
 jsonschema<4.18.0,>=3.0.1
@@ -15,7 +15,7 @@ packaging>=21.0
 importlib-metadata>=1.0
 
 [flex-hardware]
-opentrons-hardware[FLEX]==8.4.0a5
+opentrons-hardware[FLEX]==8.4.0a6
 
 [ot2-hardware]
-opentrons-hardware==8.4.0a5
+opentrons-hardware==8.4.0a6