opentrons 8.4.0a6__tar.gz → 8.4.0a8__tar.gz

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.4.0a6
+Version: 8.4.0a8
 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==8.4.0a6
+Requires-Dist: opentrons-shared-data==8.4.0a8
 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==8.4.0a6; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.4.0a8; extra == "ot2-hardware"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[FLEX]==8.4.0a6; extra == "flex-hardware"
+Requires-Dist: opentrons-hardware[FLEX]==8.4.0a8; extra == "flex-hardware"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/engine/instrument.py

@@ -834,7 +834,7 @@ class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
             )
         )
 
-    def resin_tip_unseal(self, location: Location, well_core: WellCore) -> None:
+    def resin_tip_unseal(self, location: Location | None, well_core: WellCore) -> None:
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
@@ -1188,9 +1188,9 @@ class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
             cmd.GetNextTipParams(
                 pipetteId=self._pipette_id,
                 labwareIds=[tip_rack.labware_id for tip_rack in valid_tip_racks],
-                startingTipWell=starting_well.get_name()
-                if starting_well is not None
-                else None,
+                startingTipWell=(
+                    starting_well.get_name() if starting_well is not None else None
+                ),
             )
         )
         next_tip_info = result.nextTipInfo

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/engine/well.py

@@ -3,7 +3,7 @@ from typing import Optional, Union
 
 from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN
 
-from opentrons.types import Point
+from opentrons.types import Point, Mount, MountType
 
 from opentrons.protocol_engine import WellLocation, WellOrigin, WellOffset
 from opentrons.protocol_engine import commands as cmd
@@ -13,6 +13,7 @@ from opentrons.protocol_engine.types.liquid_level_detection import (
     SimulatedProbeResult,
     LiquidTrackingType,
 )
+from opentrons.protocol_engine.errors import PipetteNotAttachedError
 
 from . import point_calculations
 from . import stringify
@@ -181,15 +182,25 @@ class WellCore(AbstractWellCore):
 
     def estimate_liquid_height_after_pipetting(
         self,
+        mount: Mount | str,
         operation_volume: float,
     ) -> LiquidTrackingType:
         """Return an estimate of liquid height after pipetting without raising an error."""
         labware_id = self.labware_id
         well_name = self._name
+        if isinstance(mount, Mount):
+            mount_type = MountType.from_hw_mount(mount)
+        else:
+            mount_type = MountType(mount)
+        pipette_from_mount = self._engine_client.state.pipettes.get_by_mount(mount_type)
+        if pipette_from_mount is None:
+            raise PipetteNotAttachedError(f"No pipette present on mount {mount}")
+        pipette_id = pipette_from_mount.id
         starting_liquid_height = self.current_liquid_height()
         projected_final_height = self._engine_client.state.geometry.get_well_height_after_liquid_handling_no_error(
             labware_id=labware_id,
             well_name=well_name,
+            pipette_id=pipette_id,
             initial_height=starting_liquid_height,
             volume=operation_volume,
         )

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/instrument.py

@@ -206,7 +206,7 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
     @abstractmethod
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCoreType,
     ) -> None:
         ...

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -332,7 +332,7 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/legacy/legacy_well_core.py

@@ -5,7 +5,7 @@ from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN
 
 from opentrons.protocols.api_support.util import APIVersionError
 
-from opentrons.types import Point
+from opentrons.types import Point, Mount
 
 from opentrons.protocol_engine.types.liquid_level_detection import (
     SimulatedProbeResult,
@@ -129,6 +129,7 @@ class LegacyWellCore(AbstractWellCore):
 
     def estimate_liquid_height_after_pipetting(
         self,
+        mount: Mount | str,
         operation_volume: float,
     ) -> LiquidTrackingType:
         """Estimate what the liquid height will be after pipetting, without raising an error."""

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -298,7 +298,7 @@ class LegacyInstrumentCoreSimulator(
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/well.py

@@ -3,7 +3,7 @@
 from abc import ABC, abstractmethod
 from typing import TypeVar, Optional, Union
 
-from opentrons.types import Point
+from opentrons.types import Point, Mount
 from opentrons.protocol_engine.types import LiquidTrackingType
 
 from .._liquid import Liquid
@@ -91,6 +91,7 @@ class AbstractWellCore(ABC):
     @abstractmethod
     def estimate_liquid_height_after_pipetting(
         self,
+        mount: Mount | str,
         operation_volume: float,
     ) -> LiquidTrackingType:
         """Estimate what the liquid height will be after pipetting, without raising an error."""

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/instrument_context.py

@@ -606,7 +606,20 @@ class InstrumentContext(publisher.CommandPublisher):
                     "Blow_out being performed on a tiprack. "
                     "Please re-check your code"
                 )
-            move_to_location = target.location or target.well.top()
+            if target.location:
+                # because the lower levels of blowout don't handle LiquidHandlingWellLocation and
+                # there is no "operation_volume" for blowout we need to convert the relative location
+                # given with a .meniscus to an absolute point. To maintain the meniscus behavior
+                # we can just add the offset to the current liquid height.
+                if target.location.meniscus_tracking:
+                    move_to_location = target.well.bottom(
+                        target.well.current_liquid_height()  # type: ignore [arg-type]
+                        + target.location.point.z
+                    )
+                else:
+                    move_to_location = target.location
+            else:
+                move_to_location = target.well.top()
             well = target.well
         elif isinstance(target, validation.PointTarget):
             move_to_location = target.location
@@ -1528,6 +1541,9 @@ class InstrumentContext(publisher.CommandPublisher):
     ) -> InstrumentContext:
         """Move a particular type of liquid from one well or group of wells to another.
 
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
         :param liquid_class: The type of liquid to move. You must specify the liquid class,
             even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
             source contains.
@@ -1553,7 +1569,7 @@ class InstrumentContext(publisher.CommandPublisher):
         :param return_tip: Whether to drop used tips in their original locations
             in the tip rack, instead of the trash.
 
-            :meta private:
+        :meta private:
         """
         if volume == 0.0:
             _log.info(
@@ -1608,9 +1624,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1635,6 +1651,9 @@ class InstrumentContext(publisher.CommandPublisher):
         """
         Distribute a particular type of liquid from one well to a group of wells.
 
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
         :param liquid_class: The type of liquid to move. You must specify the liquid class,
             even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
             source contains.
@@ -1657,7 +1676,7 @@ class InstrumentContext(publisher.CommandPublisher):
         :param return_tip: Whether to drop used tips in their original locations
             in the tip rack, instead of the trash.
 
-            :meta private:
+        :meta private:
         """
         if volume == 0.0:
             _log.info(
@@ -1721,9 +1740,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1748,6 +1767,9 @@ class InstrumentContext(publisher.CommandPublisher):
         """
         Consolidate a particular type of liquid from a group of wells to one well.
 
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
         :param liquid_class: The type of liquid to move. You must specify the liquid class,
             even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
             source contains.
@@ -1770,7 +1792,7 @@ class InstrumentContext(publisher.CommandPublisher):
         :param return_tip: Whether to drop used tips in their original locations
             in the tip rack, instead of the trash.
 
-            :meta private:
+        :meta private:
         """
         if volume == 0.0:
             _log.info(
@@ -1834,9 +1856,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1944,19 +1966,19 @@ class InstrumentContext(publisher.CommandPublisher):
 
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_seal(
         self,
         location: Union[labware.Well, labware.Labware],
     ) -> InstrumentContext:
         """Seal resin tips onto the pipette.
 
-        The location provided should contain resin tips. Sealing the
-        tip will perform a `pick up` action but there will be no tip tracking
-        associated with the pipette.
+        The location provided should contain resin tips. The pipette will attach itself
+        to the resin tips but does not check any tip presence sensors. Before the pipette
+        seals to the tips, the plunger will rise to the top of its working range so that
+        it can perform a :py:func:`resin_tip_dispense` immediately.
 
         :param location: A location containing resin tips, must be a Labware or a Well.
-
         :type location: :py:class:`~.types.Location`
         """
         if isinstance(location, labware.Labware):
@@ -1976,7 +1998,7 @@ class InstrumentContext(publisher.CommandPublisher):
             )
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_unseal(
         self,
         location: Union[labware.Well, labware.Labware],
@@ -2010,35 +2032,66 @@ class InstrumentContext(publisher.CommandPublisher):
                 location=well,
             ),
         ):
-            self._core.resin_tip_unseal(location=well.top(), well_core=well._core)
+            self._core.resin_tip_unseal(location=None, well_core=well._core)
 
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_dispense(
         self,
         location: types.Location,
         volume: Optional[float] = None,
         rate: Optional[float] = None,
     ) -> InstrumentContext:
-        """Dispense a volume from resin tips into a labware.
+        """Push liquid out of resin tips that are currently sealed to a pipette.
+
+        The volume and rate parameters for this function control the motion of the plunger
+        to create a desired pressure profile inside the pipette chamber. Unlike a regular
+        dispense action, the volume and rate do not correspond to liquid volume or flow rate
+        dispensed from the resin tips. Select your values for volume and flow rate based on
+        experimentation with the resin tips to create a pressure profile.
+
+        The common way to use this function is as follows:
+
+        #. Seal resin tips to the pipette using :py:meth:`InstrumentContext.resin_tip_seal`.
+
+        #. Use :py:meth:`InstrumentContext.resin_tip_dispense` to displace an experimentally
+           derived volume at an experimentally derived rate to create an experimentally derived
+           target pressure inside the pipette.
+
+        #. Use :py:meth:`ProtocolContext.delay` to wait an experimentally derived amount of
+           time for the pressure inside the pipette to push liquid into and through the resin tip
+           and out the other side.
+
+        #. As liquid passes through the resin tip, the pressure inside the pipette will
+           fall. If not all liquid has been dispensed from the resin tip, repeat steps 2
+           and 3.
 
-        The location provided should contain resin tips labware as well as a
-        receptical for dispensed liquid. Dispensing from tip will perform a
-        `dispense` action of the specified volume at a desired flow rate.
+        #. Unseal resin tips from the pipette using :py:meth:`InstrumentContext.resin_tip_unseal`.
 
-        :param location: A location containing resin tips.
+        Flex pipette pressure sensors will raise an overpressure when a differential pressure
+        inside the pipette chamber above sensor limits is detected. You may need to disable the
+        pressure sensor to create the required pressure profile.
+
+        .. warning::
+            Building excessive pressure inside the pipette chamber (significantly above the sensor
+            limit) with the pressure sensors disabled can damage the pipette.
+
+
+        :param location: Tells the robot where to dispense.
         :type location: :py:class:`~.types.Location`
 
-        :param volume: Will default to maximum, recommended to use the default.
-                       The volume, in µL, that the pipette will prepare to handle.
+        :param volume: The volume that the plunger should displace, in µL. Does not directly relate
+                       to the volume of liquid that will be dispensed.
         :type volume: float
 
-        :param rate: Will default to 10.0, recommended to use the default. How quickly
-                     a pipette dispenses liquid. The speed in µL/s is calculated as
-                     ``rate`` multiplied by :py:attr:`flow_rate.dispense<flow_rate>`.
-        :type rate: float
+        :param rate: How quickly the plunger moves to displace the commanded volume. The plunger speed
+                     in µL/s is calculated as ``rate`` multiplied by
+                     :py:attr:`flow_rate.dispense<flow_rate>`. This rate does not directly relate to
+                     the flow rate of liquid out of the resin tip.
 
+                     The default value of ``10.0`` is recommended.
+        :type rate: float
         """
         well: Optional[labware.Well] = None
         last_location = self._get_last_location_by_api_version()
@@ -2658,7 +2711,8 @@ class InstrumentContext(publisher.CommandPublisher):
         """
         self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
-        return self._core.liquid_probe_without_recovery(well._core, loc)
+        self._core.liquid_probe_with_recovery(well._core, loc)
+        return well.current_liquid_height()
 
     def _raise_if_configuration_not_supported_by_pipette(
         self, style: NozzleLayout

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/labware.py

@@ -39,6 +39,7 @@ from opentrons.types import (
     Point,
     NozzleMapInterface,
     MeniscusTrackingTarget,
+    Mount,
 )
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.api_support.util import (
@@ -348,6 +349,7 @@ class Well:
     @requires_version(2, 21)
     def estimate_liquid_height_after_pipetting(
         self,
+        mount: Mount | str,
         operation_volume: float,
     ) -> LiquidTrackingType:
         """Check the height of the liquid within a well.
@@ -360,7 +362,7 @@ class Well:
         """
 
         projected_final_height = self._core.estimate_liquid_height_after_pipetting(
-            operation_volume=operation_volume,
+            operation_volume=operation_volume, mount=mount
         )
         return projected_final_height
 

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_api/protocol_context.py

@@ -1363,6 +1363,8 @@ class ProtocolContext(CommandPublisher):
     ) -> LiquidClass:
         """
         Define a liquid class for use in the protocol.
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
 
         :meta private:
         """

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/liquid_probe.py

@@ -188,6 +188,12 @@ async def _execute_common(  # noqa: C901
             well_name=well_name,
             well_location=params.wellLocation,
         )
+        state_view.geometry.validate_probed_height(
+            labware_id=labware_id,
+            well_name=well_name,
+            pipette_id=pipette_id,
+            probed_height=z_pos,
+        )
     except PipetteLiquidNotFoundError as exception:
         move_result.state_update.set_pipette_ready_to_aspirate(
             pipette_id=pipette_id, ready_to_aspirate=True

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py

@@ -1,12 +1,15 @@
 """Seal tips to pipette command request, result, and implementation models."""
 
 from __future__ import annotations
-from pydantic import Field, BaseModel
 from typing import TYPE_CHECKING, Optional, Type, Union
-from opentrons.types import MountType
-from opentrons.protocol_engine.types import MotorAxis
+
 from typing_extensions import Literal
+from pydantic import Field, BaseModel
+
+from opentrons_shared_data.errors.exceptions import PositionUnknownError
 
+from opentrons.types import MountType
+from opentrons.protocol_engine.types import MotorAxis
 from ..resources import ModelUtils, ensure_ot3_hardware
 from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
@@ -27,7 +30,6 @@ from .command import (
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import Axis
-from ..state.update_types import StateUpdate
 
 if TYPE_CHECKING:
     from ..state.state import StateView
@@ -138,28 +140,50 @@ class SealPipetteToTipImplementation(
         """A relative press-fit pick up command using gantry moves."""
         prep_distance = tip_pick_up_params.prepDistance
         press_distance = tip_pick_up_params.pressDistance
-        retract_distance = -1 * (prep_distance + press_distance)
+        retract_distance = -1 * (press_distance) / 2
 
         mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         # TODO chb, 2025-01-29): Factor out the movement constants and relocate this logic into the hardware controller
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: prep_distance}, speed=10, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: prep_distance},
+                speed=10,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
         # Drive mount down for press-fit
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: press_distance},
-            speed=10.0,
-            relative_move=True,
-            expect_stalls=True,
-        )
-        # retract cam : 11.05
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: press_distance},
+                speed=10.0,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
-        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
         await ot3_hardware_api.update_axis_position_estimations(
             self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
@@ -283,13 +307,10 @@ class SealPipetteToTipImplementation(
             if hw_instr is not None:
                 hw_instr.set_current_volume(_SAFE_TOP_VOLUME)
 
-        state_update = StateUpdate()
-        state_update.update_pipette_tip_state(
+        state_update = move_result.state_update.update_pipette_tip_state(
             pipette_id=pipette_id,
             tip_geometry=tip_geometry,
-        )
-
-        state_update.set_fluid_aspirated(
+        ).set_fluid_aspirated(
             pipette_id=pipette_id,
             fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
         )

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/unseal_pipette_from_tip.py

@@ -3,12 +3,10 @@
 from __future__ import annotations
 
 from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Final
 from typing_extensions import Literal
 
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
-from opentrons.protocol_engine.types import MotorAxis
-from opentrons.types import MountType
 
 from ..types import DropTipWellLocation
 from .pipetting_common import (
@@ -56,6 +54,8 @@ _ExecuteReturn = (
     SuccessData[UnsealPipetteFromTipResult] | DefinedErrorData[StallOrCollisionError]
 )
 
+CUSTOM_TIP_LENGTH_MARGIN: Final = 10
+
 
 class UnsealPipetteFromTipImplementation(
     AbstractCommandImpl[UnsealPipetteFromTipParams, _ExecuteReturn]
@@ -85,6 +85,10 @@ class UnsealPipetteFromTipImplementation(
 
         well_location = params.wellLocation
 
+        tip_geometry = self._state_view.geometry.get_nominal_tip_geometry(
+            pipette_id, labware_id, well_name
+        )
+
         is_partially_configured = self._state_view.pipettes.get_is_partially_configured(
             pipette_id=pipette_id
         )
@@ -93,6 +97,7 @@ class UnsealPipetteFromTipImplementation(
             labware_id=labware_id,
             well_location=well_location,
             partially_configured=is_partially_configured,
+            override_default_offset=-(tip_geometry.length - CUSTOM_TIP_LENGTH_MARGIN),
         )
 
         move_result = await move_to_well(
@@ -106,14 +111,6 @@ class UnsealPipetteFromTipImplementation(
         if isinstance(move_result, DefinedErrorData):
             return move_result
 
-        # Move to an appropriate position
-        mount = self._state_view.pipettes.get_mount(pipette_id)
-
-        mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: -14}, speed=10, relative_move=True
-        )
-
         await self._tip_handler.drop_tip(
             pipette_id=pipette_id,
             home_after=None,

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/errors/__init__.py

@@ -88,6 +88,7 @@ from .exceptions import (
     OffsetLocationInvalidError,
     FlexStackerLabwarePoolNotYetDefinedError,
     FlexStackerNotLogicallyEmptyError,
+    InvalidLabwarePositionError,
 )
 
 from .error_occurrence import ErrorOccurrence, ProtocolCommandFailedError
@@ -171,6 +172,7 @@ __all__ = [
     "OffsetLocationInvalidError",
     "FlexStackerLabwarePoolNotYetDefinedError",
     "FlexStackerNotLogicallyEmptyError",
+    "InvalidLabwarePositionError",
     # error occurrence models
     "ErrorOccurrence",
     "CommandNotAllowedError",

{opentrons-8.4.0a6 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/errors/exceptions.py

@@ -1281,3 +1281,15 @@ class FlexStackerLabwarePoolNotYetDefinedError(ProtocolEngineError):
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
+
+
+class InvalidLabwarePositionError(ProtocolEngineError):
+    """Raised when a labware position is internally invalid."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        details: Optional[dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)