opentrons 8.4.0a7__py2.py3-none-any.whl → 8.4.0a8__py2.py3-none-any.whl

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/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/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/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/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
@@ -1611,9 +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,
             )
@@ -1727,9 +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,
             )
@@ -1843,9 +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,
             )
@@ -2019,7 +2032,7 @@ 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
 

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/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/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/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/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)

opentrons/protocol_engine/execution/pipetting.py

@@ -326,7 +326,7 @@ class HardwarePipettingHandler(PipettingHandler):
         well_name: str,
         well_location: WellLocation,
     ) -> LiquidTrackingType:
-        """Detect liquid level."""
+        """Return liquid level relative to the bottom of the well."""
         hw_pipette = self._state_view.pipettes.get_hardware_pipette(
             pipette_id=pipette_id,
             attached_pipettes=self._hardware_api.attached_instruments,

opentrons/protocol_engine/state/geometry.py

@@ -17,7 +17,10 @@ from opentrons.types import (
     MeniscusTrackingTarget,
 )
 
-from opentrons_shared_data.errors.exceptions import InvalidStoredData
+from opentrons_shared_data.errors.exceptions import (
+    InvalidStoredData,
+    PipetteLiquidNotFoundError,
+)
 from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.deck.types import CutoutFixture
@@ -31,6 +34,8 @@ from ..errors import (
     LabwareNotLoadedOnModuleError,
     LabwareMovementNotAllowedError,
     OperationLocationNotInWellError,
+    InvalidLabwarePositionError,
+    LabwareNotOnDeckError,
 )
 from ..errors.exceptions import InvalidLiquidHeightFound
 from ..resources import (
@@ -373,6 +378,59 @@ class GeometryView:
                 "Either it has been loaded off-deck or its been moved off-deck."
             )
 
+    def _get_offset_from_parent_addressable_area(
+        self, child_definition: LabwareDefinition, parent: LabwareLocation
+    ) -> LabwareOffsetVector:
+        """Gets the offset vector of a labware from its eventual parent addressable area.
+
+        This returns the sum of the offsets for any labware-on-labware pairs plus the
+        "base offset", which is (0, 0, 0) in all cases except for modules on the
+        OT-2. See
+        protocol_engine.state.modules.get_nominal_offset_to_child_from_addressable_area
+        for more.
+
+        This does not incorporate LPC offsets or module calibration offsets.
+        """
+        if isinstance(parent, (AddressableAreaLocation, DeckSlotLocation)):
+            return LabwareOffsetVector(x=0, y=0, z=0)
+        elif isinstance(parent, ModuleLocation):
+            module_id = parent.moduleId
+            module_model = self._modules.get_connected_model(module_id)
+            stacking_overlap = self._labware.get_module_overlap_offsets(
+                child_definition, module_model
+            )
+            module_to_child = (
+                self._modules.get_nominal_offset_to_child_from_addressable_area(
+                    module_id=module_id
+                )
+            )
+            return LabwareOffsetVector(
+                x=module_to_child.x - stacking_overlap.x,
+                y=module_to_child.y - stacking_overlap.y,
+                z=module_to_child.z - stacking_overlap.z,
+            )
+        elif isinstance(parent, OnLabwareLocation):
+            on_labware = self._labware.get(parent.labwareId)
+            on_labware_dimensions = self._labware.get_dimensions(
+                labware_id=on_labware.id
+            )
+            stacking_overlap = self._labware.get_labware_overlap_offsets(
+                definition=child_definition, below_labware_name=on_labware.loadName
+            )
+            labware_offset = LabwareOffsetVector(
+                x=stacking_overlap.x,
+                y=stacking_overlap.y,
+                z=on_labware_dimensions.z - stacking_overlap.z,
+            )
+            return labware_offset + self._get_offset_from_parent_addressable_area(
+                self._labware.get_definition(on_labware.id), on_labware.location
+            )
+        else:
+            raise errors.LabwareNotOnDeckError(
+                "Cannot access labware since it is not on the deck. "
+                "Either it has been loaded off-deck or it has been moved off-deck."
+            )
+
     def _normalize_module_calibration_offset(
         self,
         module_location: DeckSlotLocation,
@@ -498,6 +556,30 @@ class GeometryView:
                     f"Specifying {well_location.origin} with an offset of {well_location.offset} results in an operation location below the bottom of the well"
                 )
 
+    def validate_probed_height(
+        self,
+        labware_id: str,
+        well_name: str,
+        pipette_id: str,
+        probed_height: LiquidTrackingType,
+    ) -> None:
+        """Raise an error if a probed liquid height is not within well bounds."""
+        if isinstance(probed_height, SimulatedProbeResult):
+            return
+        lld_min_height = self._pipettes.get_current_tip_lld_settings(
+            pipette_id=pipette_id
+        )
+        well_def = self._labware.get_well_definition(labware_id, well_name)
+        well_depth = well_def.depth
+        if probed_height < lld_min_height:
+            raise PipetteLiquidNotFoundError(
+                f"Liquid Height of {probed_height} mm is lower minumum allowed lld height {lld_min_height} mm."
+            )
+        if probed_height > well_depth:
+            raise PipetteLiquidNotFoundError(
+                f"Liquid Height of {probed_height} mm is greater than maximum well height {well_depth} mm."
+            )
+
     def get_well_position(
         self,
         labware_id: str,
@@ -695,6 +777,7 @@ class GeometryView:
         labware_id: str,
         well_location: DropTipWellLocation,
         partially_configured: bool = False,
+        override_default_offset: float | None = None,
     ) -> WellLocation:
         """Get tip drop location given labware and hardware pipette.
 
@@ -713,8 +796,9 @@ class GeometryView:
                 origin=WellOrigin(well_location.origin.value),
                 offset=well_location.offset,
             )
-
-        if self._labware.get_definition(labware_id).parameters.isTiprack:
+        if override_default_offset is not None:
+            z_offset = override_default_offset
+        elif self._labware.get_definition(labware_id).parameters.isTiprack:
             z_offset = self._labware.get_tip_drop_z_offset(
                 labware_id=labware_id,
                 length_scale=self._pipettes.get_return_tip_scale(pipette_id),
@@ -795,6 +879,32 @@ class GeometryView:
 
         return slot_name
 
+    def get_ancestor_addressable_area_name(self, labware_id: str) -> str:
+        """Get the name of the addressable area the labware is eventually on."""
+        labware = self._labware.get(labware_id)
+        original_display_name = self._labware.get_display_name(labware_id)
+        seen: Set[str] = set((labware_id,))
+        while isinstance(labware.location, OnLabwareLocation):
+            labware = self._labware.get(labware.location.labwareId)
+            if labware.id in seen:
+                raise InvalidLabwarePositionError(
+                    f"Cycle detected in labware positioning for {original_display_name}"
+                )
+            seen.add(labware.id)
+        if isinstance(labware.location, DeckSlotLocation):
+            return labware.location.slotName.id
+        elif isinstance(labware.location, AddressableAreaLocation):
+            return labware.location.addressableAreaName
+        elif isinstance(labware.location, ModuleLocation):
+            return self._modules.get_provided_addressable_area(
+                labware.location.moduleId
+            )
+        else:
+            raise LabwareNotOnDeckError(
+                f"Labware {original_display_name} is not loaded on deck",
+                details={"eventual-location": repr(labware.location)},
+            )
+
     def ensure_location_not_occupied(
         self,
         location: _LabwareLocation,
@@ -962,70 +1072,23 @@ class GeometryView:
             self._labware.get_grip_height_from_labware_bottom(labware_definition)
         )
         location_name: str
-        module_location: ModuleLocation | None = None
-
+        offset = self._get_offset_from_parent_addressable_area(
+            child_definition=labware_definition, parent=location
+        ) + self._get_calibrated_module_offset(location)
         if isinstance(location, DeckSlotLocation):
             location_name = location.slotName.id
-            offset = LabwareOffsetVector(x=0, y=0, z=0)
         elif isinstance(location, AddressableAreaLocation):
             location_name = location.addressableAreaName
-            if fixture_validation.is_gripper_waste_chute(location_name):
-                drop_labware_location = (
-                    self._addressable_areas.get_addressable_area_move_to_location(
-                        location_name
-                    )
-                )
-                return drop_labware_location + Point(z=grip_height_from_labware_bottom)
-            # Location should have been pre-validated so this will be a deck/staging area slot
-            else:
-                offset = LabwareOffsetVector(x=0, y=0, z=0)
-        else:
-            if isinstance(location, ModuleLocation):
-                location_name = self._modules.get_provided_addressable_area(
-                    location.moduleId
-                )
-                module_location = location
-            else:  # OnLabwareLocation
-                labware_loc = self._labware.get(location.labwareId).location
-                if isinstance(labware_loc, ModuleLocation):
-                    location_name = self._modules.get_provided_addressable_area(
-                        labware_loc.moduleId
-                    )
-                    module_location = labware_loc
-                else:
-                    location_name = self.get_ancestor_slot_name(location.labwareId).id
-            labware_offset = self._get_offset_from_parent(
-                child_definition=labware_definition, parent=location
-            )
-            # Get the calibrated offset if the on labware location is on top of a module, otherwise return empty one
-            cal_offset = self._get_calibrated_module_offset(location)
-            offset = LabwareOffsetVector(
-                x=labware_offset.x + cal_offset.x,
-                y=labware_offset.y + cal_offset.y,
-                z=labware_offset.z + cal_offset.z,
-            )
-
-        if module_location is not None:
-            # Location center must be determined from the cutout the Module is loaded in
-            position = deck_configuration_provider.get_cutout_position(
-                cutout_id=self._addressable_areas.get_cutout_id_by_deck_slot_name(
-                    self._modules.get_location(module_location.moduleId).slotName
-                ),
-                deck_definition=self._addressable_areas.deck_definition,
-            )
-            bounding_box = self._addressable_areas.get_addressable_area(
-                location_name
-            ).bounding_box
-            location_center = Point(
-                position.x + bounding_box.x / 2,
-                position.y + bounding_box.y / 2,
-                position.z,
+        elif isinstance(location, ModuleLocation):
+            location_name = self._modules.get_provided_addressable_area(
+                location.moduleId
             )
+        else:  # OnLabwareLocation
+            location_name = self.get_ancestor_addressable_area_name(location.labwareId)
 
-        else:
-            location_center = self._addressable_areas.get_addressable_area_center(
-                location_name
-            )
+        location_center = self._addressable_areas.get_addressable_area_center(
+            location_name
+        )
 
         return Point(
             location_center.x + offset.x,
@@ -1464,10 +1527,6 @@ class GeometryView:
     # * The "additional offset" or "user offset", e.g. the `pickUpOffset` and `dropOffset`
     #   params in the `moveLabware` command.
     #
-    # And this *does* take these extra offsets into account:
-    #
-    # * The labware's Labware Position Check offset
-    #
     # For robustness, we should combine this with `get_gripper_labware_movement_waypoints()`.
     #
     # We should also be more explicit about which offsets act to move the gripper paddles
@@ -1489,23 +1548,17 @@ class GeometryView:
                 return
 
             tip = self._pipettes.get_attached_tip(pipette.id)
-            if tip:
-                # NOTE: This call to get_labware_highest_z() uses the labware's LPC offset,
-                # which is an inconsistency between this and the actual gripper movement.
-                # See the todo comment above this function.
-                labware_top_z_when_gripped = gripper_homed_position_z + (
-                    self.get_labware_highest_z(labware_id=labware_id)
-                    - self.get_labware_grip_point(
-                        labware_definition=labware_definition, location=current_location
-                    ).z
+            if not tip:
+                continue
+            labware_top_z_when_gripped = gripper_homed_position_z + (
+                self._labware.get_dimensions(labware_definition=labware_definition).z
+                - self._labware.get_grip_height_from_labware_bottom(labware_definition)
+            )
+            # TODO(cb, 2024-01-18): Utilizing the nozzle map and labware X coordinates verify if collisions will occur on the X axis (analysis will use hard coded data to measure from the gripper critical point to the pipette mount)
+            if (_PIPETTE_HOMED_POSITION_Z - tip.length) < labware_top_z_when_gripped:
+                raise LabwareMovementNotAllowedError(
+                    f"Cannot move labware '{labware_definition.parameters.loadName}' when {int(tip.volume)} µL tips are attached."
                 )
-                # TODO(cb, 2024-01-18): Utilizing the nozzle map and labware X coordinates verify if collisions will occur on the X axis (analysis will use hard coded data to measure from the gripper critical point to the pipette mount)
-                if (
-                    _PIPETTE_HOMED_POSITION_Z - tip.length
-                ) < labware_top_z_when_gripped:
-                    raise LabwareMovementNotAllowedError(
-                        f"Cannot move labware '{labware_definition.parameters.loadName}' when {int(tip.volume)} µL tips are attached."
-                    )
         return
 
     def _nominal_gripper_offsets_for_location(

opentrons/protocol_engine/state/modules.py

@@ -930,10 +930,39 @@ class ModuleView:
         Includes the slot-specific transform. Does not include the child's
         Labware Position Check offset.
         """
-        if (
-            self._state.deck_type == DeckType.OT2_STANDARD
-            or self._state.deck_type == DeckType.OT2_SHORT_TRASH
-        ):
+        base = self.get_nominal_offset_to_child_from_addressable_area(module_id)
+        if self.get_deck_supports_module_fixtures():
+            module_addressable_area = self.get_provided_addressable_area(module_id)
+            module_addressable_area_position = (
+                addressable_areas.get_addressable_area_offsets_from_cutout(
+                    module_addressable_area
+                )
+            )
+            return base + LabwareOffsetVector(
+                x=module_addressable_area_position.x,
+                y=module_addressable_area_position.y,
+                z=module_addressable_area_position.z,
+            )
+        else:
+            return base
+
+    def get_nominal_offset_to_child_from_addressable_area(
+        self, module_id: str
+    ) -> LabwareOffsetVector:
+        """Get the position offset for a child of this module from the nearest AA.
+
+        On the Flex, this is always (0, 0, 0); on the OT-2, since modules load on top
+        of addressable areas rather than providing addressable areas, the offset is
+        the labwareOffset from the module definition, rotated by the module's
+        slotTransform if appropriate.
+        """
+        if self.get_deck_supports_module_fixtures():
+            return LabwareOffsetVector(
+                x=0,
+                y=0,
+                z=0,
+            )
+        else:
             definition = self.get_definition(module_id)
             slot = self.get_location(module_id).slotName.id
 
@@ -968,18 +997,6 @@ class ModuleView:
                 y=xformed[1],
                 z=xformed[2],
             )
-        else:
-            module_addressable_area = self.get_provided_addressable_area(module_id)
-            module_addressable_area_position = (
-                addressable_areas.get_addressable_area_offsets_from_cutout(
-                    module_addressable_area
-                )
-            )
-            return LabwareOffsetVector(
-                x=module_addressable_area_position.x,
-                y=module_addressable_area_position.y,
-                z=module_addressable_area_position.z,
-            )
 
     def get_module_calibration_offset(
         self, module_id: str

opentrons/protocol_engine/types/module.py

@@ -253,6 +253,38 @@ class ModuleOffsetVector(BaseModel):
     y: float
     z: float
 
+    def __add__(self, other: Any) -> ModuleOffsetVector:
+        """Adds two vectors together."""
+        if not isinstance(other, (LabwareOffsetVector, ModuleOffsetVector)):
+            return NotImplemented
+        return ModuleOffsetVector(
+            x=self.x + other.x, y=self.y + other.y, z=self.z + other.z
+        )
+
+    def __radd__(self, other: Any) -> ModuleOffsetVector:
+        """Adds two vectors together, the other way."""
+        if not isinstance(other, (LabwareOffsetVector, ModuleOffsetVector)):
+            return NotImplemented
+        return ModuleOffsetVector(
+            x=other.x + self.x, y=other.y + self.y, z=other.z + self.z
+        )
+
+    def __sub__(self, other: Any) -> ModuleOffsetVector:
+        """Subtracts two vectors."""
+        if not isinstance(other, (LabwareOffsetVector, ModuleOffsetVector)):
+            return NotImplemented
+        return ModuleOffsetVector(
+            x=self.x - other.x, y=self.y - other.y, z=self.z - other.z
+        )
+
+    def __rsub__(self, other: Any) -> ModuleOffsetVector:
+        """Subtracts two vectors, the other way."""
+        if not isinstance(other, (LabwareOffsetVector, ModuleOffsetVector)):
+            return NotImplemented
+        return ModuleOffsetVector(
+            x=other.x - self.x, y=other.y - self.y, z=other.z - self.z
+        )
+
 
 @dataclass
 class ModuleOffsetData:

{opentrons-8.4.0a7.dist-info → opentrons-8.4.0a8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.4.0a7
+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 (==8.4.0a7)
+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: packaging (>=21.0)
 Requires-Dist: importlib-metadata (>=1.0) ; python_version < "3.8"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex] (==8.4.0a7) ; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex] (==8.4.0a8) ; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware (==8.4.0a7) ; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware (==8.4.0a8) ; extra == 'ot2-hardware'
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a7.dist-info → opentrons-8.4.0a8.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=-X5RM0jAiplHNt5xr1Giarch1airL7nAhqMZWm_XATg,120139
+opentrons/protocol_api/instrument_context.py,sha256=wqQ_un5E_sLjhwwNsp2qF_GTD0lajlrBG68JE7WgbPY,120913
 opentrons/protocol_api/labware.py,sha256=KRt91dOzmCX6l8LQ5Wny7kIk_L0Y69Uzpolp-geE0MY,60458
 opentrons/protocol_api/module_contexts.py,sha256=3tVXj6Q7n-WuTJPU_dvIQLzzGv1P-jsMuDtMVpuhAf8,48291
 opentrons/protocol_api/module_validation_and_errors.py,sha256=XL_m72P8rcvGO2fynY7UzXLcpGuI6X4s0V6Xf735Iyc,1464
@@ -238,7 +238,7 @@ opentrons/protocol_api/validation.py,sha256=uiVTHyJF3wSh5LLfaIDBTELoMNCAT17E767u
 opentrons/protocol_api/core/__init__.py,sha256=-g74o8OtBB0LmmOvwkRvPgrHt7fF7T8FRHDj-x_-Onk,736
 opentrons/protocol_api/core/common.py,sha256=q9ZbfpRdBvB3iDAOCyONtupvkYP5n1hjE-bwqGcwP_U,1172
 opentrons/protocol_api/core/core_map.py,sha256=gq3CIYPxuPvozf8yj8FprqBfs3e4ZJGQ6s0ViPbwV08,1757
-opentrons/protocol_api/core/instrument.py,sha256=MQHI1_MkrtrKM9lN-7BsVQ-xNc4on39TRr8M3HB3WPY,13705
+opentrons/protocol_api/core/instrument.py,sha256=iDYCzLtO5fOpbS4dOneMsYFovYjS-GCirHm3jDZSUq4,13712
 opentrons/protocol_api/core/labware.py,sha256=-ZOjkalikXCV3ptehKCNaWGAdKxIdwne8LRFQW9NAm4,4290
 opentrons/protocol_api/core/module.py,sha256=z2STDyqqxZX3y6UyJVDnajeFXMEn1ie2NRBYHhry_XE,13838
 opentrons/protocol_api/core/protocol.py,sha256=v7v28jfeHSfOf-tqFDW2chGtrEatPiZ1y6YNwHfmtAs,9058
@@ -248,7 +248,7 @@ opentrons/protocol_api/core/well_grid.py,sha256=BU28DKaBgEU_JdZ6pEzrwNxmuh6TkO4z
 opentrons/protocol_api/core/engine/__init__.py,sha256=B_5T7zgkWDb1mXPg4NbT-wBkQaK-WVokMMnJRNu7xiM,582
 opentrons/protocol_api/core/engine/deck_conflict.py,sha256=q3JViIAHDthIqq6ce7h2gxw3CHRfYsm5kkwzuXB-Gnc,12334
 opentrons/protocol_api/core/engine/exceptions.py,sha256=aZgNrmYEeuPZm21nX_KZYtvyjv5h_zPjxxgPkEV7_bw,725
-opentrons/protocol_api/core/engine/instrument.py,sha256=qkoNv0KO_jQZffQDV4ixU2r-CkLIJl5IOz1dgs1G5V8,95869
+opentrons/protocol_api/core/engine/instrument.py,sha256=jh3QIqGYDFMoJIrgZLq-IR2liqEhq5aCQgh5xomW3P8,95884
 opentrons/protocol_api/core/engine/labware.py,sha256=1xvzguNnK7aecFLiJK0gtRrZ5kpwtzLS73HnKvdJ5lc,8413
 opentrons/protocol_api/core/engine/load_labware_params.py,sha256=I4Cb8rqpBhmykQuZE8QRG802APrdCy_TYS88rm_9oGA,7159
 opentrons/protocol_api/core/engine/module_core.py,sha256=MLPgYSRJHUZPZ9rTLvsg3GlpL5b6-Pjk5UBgXCGrL6U,30994
@@ -263,7 +263,7 @@ opentrons/protocol_api/core/engine/well.py,sha256=o4Qm25AvZwd4ytR3IpK4wH-BwAmzt_
 opentrons/protocol_api/core/legacy/__init__.py,sha256=_9jCJNKG3SlS_vljVu8HHkZmtLf4F-f-JHALLF5d5go,401
 opentrons/protocol_api/core/legacy/deck.py,sha256=qHqcGo-Kdkl9L1aOE0pwrm9tsAnwkXbt4rIOr_VEP-s,13955
 opentrons/protocol_api/core/legacy/labware_offset_provider.py,sha256=2DLIby9xmUrwLb2ht8hZbvNTxqPhNzWijd7yCb2cqP8,3783
-opentrons/protocol_api/core/legacy/legacy_instrument_core.py,sha256=k-aM8Eu4qHqfhb8iRyn3jn3dZOGiq8JzQes8YUwY2v4,26501
+opentrons/protocol_api/core/legacy/legacy_instrument_core.py,sha256=MMB5t77J8AceBa58Ri2NBA9jUfibEFr8IwkWpacg2BM,26508
 opentrons/protocol_api/core/legacy/legacy_labware_core.py,sha256=WQOgtMlq--zv0Ch7mmraYr9rQBT4ie2zHqwgamBq9J8,8606
 opentrons/protocol_api/core/legacy/legacy_module_core.py,sha256=tUhj88NKBMjCmCg6wjh1e2HX4d5hxjh8ZeJiYXaTaGY,23111
 opentrons/protocol_api/core/legacy/legacy_protocol_core.py,sha256=ZIFC7W6YA61oWWkq5xYGTcI_2S2pmALz16uB1R8HVyQ,23670
@@ -272,7 +272,7 @@ opentrons/protocol_api/core/legacy/load_info.py,sha256=r-WaH5ZJb3TRCp_zvbMMh0P4B
 opentrons/protocol_api/core/legacy/module_geometry.py,sha256=lvWFHZ81-JFw-1VZUW1R3yUIb59xpXT6H3jwlRintRo,21082
 opentrons/protocol_api/core/legacy/well_geometry.py,sha256=n5bEsvYZXXTAqYSAqlXd5t40bUPPrJ2Oj2frBZafQHA,4719
 opentrons/protocol_api/core/legacy_simulator/__init__.py,sha256=m9bLHGDJ6LSYC2WPm8tpOuu0zWSOPIrlybQgjRQBw9k,647
-opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py,sha256=pV-PEw8jMcdXMi2U5yplIkFJUUlugXd7OMJl_riiVf4,22940
+opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py,sha256=j_EAItSq1mZ61qcRwacDDsXS9tJzG6rDtX8OQOFynG8,22947
 opentrons/protocol_api/core/legacy_simulator/legacy_protocol_core.py,sha256=28HrrHzeUfnGKXpZqQ-VM8WbPiadqVhKj2S9y33q6Lo,2910
 opentrons/protocol_engine/__init__.py,sha256=UPSk7MbidkiSH_h4V3yxMvyTePKpRr5DM9-wfkJrlSo,4094
 opentrons/protocol_engine/create_protocol_engine.py,sha256=tfDIsC7_JKlRiCXPB_8tuxRsssU6o0ViRmWbGPtX9QA,7582
@@ -314,7 +314,7 @@ opentrons/protocol_engine/commands/get_tip_presence.py,sha256=vK80XN5qCzK44SOSxH
 opentrons/protocol_engine/commands/hash_command_params.py,sha256=obWy4TbVH97SyhNqrSD6iP1wgZ20JoaH1rilZCjXxIs,1530
 opentrons/protocol_engine/commands/home.py,sha256=g77hewv-puMxEHFy0PPnl8-Nkbb7K-2qk36HbWG_Nik,3326
 opentrons/protocol_engine/commands/labware_handling_common.py,sha256=WtkdGIjQ5GBiBWsenyLyPLkSn6phgoesfWxCFTmG1AU,1074
-opentrons/protocol_engine/commands/liquid_probe.py,sha256=XbpvkjvwesToLsYmzYUrf7vJ_-13wo-irmEfIMEB5SU,15701
+opentrons/protocol_engine/commands/liquid_probe.py,sha256=wjD-a_xUasEAQSfigexcIJ0FkjhEejlFUh6hpm-Y-JA,15899
 opentrons/protocol_engine/commands/load_labware.py,sha256=p02iOEbnYtq5gklOKTF2RNmYLVR4Ak7lnEUpSZjaHYc,8625
 opentrons/protocol_engine/commands/load_lid.py,sha256=8zRWBfdAQHSULLtjzYPEflkXC_rSSLZML9vJ4TJjxoQ,5484
 opentrons/protocol_engine/commands/load_lid_stack.py,sha256=WgSBr9bd4rRwv6yYztYuz-mIHMByPom6G0Vzo4znpAY,10572
@@ -336,11 +336,11 @@ opentrons/protocol_engine/commands/pressure_dispense.py,sha256=mGCJDFKwy6MPHg-AO
 opentrons/protocol_engine/commands/reload_labware.py,sha256=eB1X7M9rHso1qc0beBTVHm5SHbjS6IODsIDj9RhR3mI,2910
 opentrons/protocol_engine/commands/retract_axis.py,sha256=3h0eb6O3fjrCBY89q9tnjDFUGQXN9qafURxvXGcmCm4,2889
 opentrons/protocol_engine/commands/save_position.py,sha256=koxPh6t8s7Cl1vjPt9e6raZz5_rQtXsg_IGdWqAPzPI,3395
-opentrons/protocol_engine/commands/seal_pipette_to_tip.py,sha256=Ggflnbe1nxzILxGARIqKbbs9clBAe124ZtovGoHvDcI,11423
+opentrons/protocol_engine/commands/seal_pipette_to_tip.py,sha256=xGCcoYbkSwRSPsuZm4idK5UQgdaAvVDtB3_JKwZ8Wj0,12290
 opentrons/protocol_engine/commands/set_rail_lights.py,sha256=QfB-NKw2ktBvSge1jOi9wYVLD19Vj6HiKw22Fsn0aSo,2090
 opentrons/protocol_engine/commands/set_status_bar.py,sha256=LJGFBteL8bD8tG8yMPQir93mWnGYlPy3er00THbp6kk,2834
 opentrons/protocol_engine/commands/touch_tip.py,sha256=620D8mXSKQdjXQonNVztz_ENOqjuHQd_oa-nHFiM2Ls,5713
-opentrons/protocol_engine/commands/unseal_pipette_from_tip.py,sha256=EtLcgbfUiUeFS2vovDFQdTyTk7KIwJI4XcmGqpr28wA,4915
+opentrons/protocol_engine/commands/unseal_pipette_from_tip.py,sha256=5U-wkUR13CFt3KEK-j2ppT7d7_W8H8tOi1WT3xwJf-I,4768
 opentrons/protocol_engine/commands/verify_tip_presence.py,sha256=UUwUWdlryfh-mU8IoHUZkoy67KxrqXTFygeu1bsavhc,3136
 opentrons/protocol_engine/commands/wait_for_duration.py,sha256=G-Lmo97BoqW8KA-cZDGQkqUmEE7lrLdw5j-2_LBF5gg,2396
 opentrons/protocol_engine/commands/wait_for_resume.py,sha256=IE_I7fqoKBrlBumaCp5Tm5ihyA6i5VAzG25xdVdRnVw,2372
@@ -404,9 +404,9 @@ opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py,sha256=Ze5hLslsX
 opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py,sha256=mcIPhcQvVCUL_wfb2-JPrCvIFTXMVD93VeJb4H1LmhM,7873
 opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py,sha256=9Sjx92JZhi-tRY1P77M--jJp4JzIGESXUakIpstESwQ,2461
 opentrons/protocol_engine/commands/unsafe/update_position_estimators.py,sha256=xLe3u3rYu1eOvWxDtA2xsvNy7H6TVtljqo-78nOtFLI,2994
-opentrons/protocol_engine/errors/__init__.py,sha256=IaOHaCOTXwSNSG_QOVEgsXga0YHMAMw9sYwFLduDsGI,5952
+opentrons/protocol_engine/errors/__init__.py,sha256=mqgb4cg9dAbi9YnKIUpbacX6lZiGNyWwEWKjpAen5YQ,6020
 opentrons/protocol_engine/errors/error_occurrence.py,sha256=ODyXHxVO4iXDxpcLaC3uO7ocTOOGPqWwcC1uaiytv0c,7846
-opentrons/protocol_engine/errors/exceptions.py,sha256=aDJBWiCuEHkN2yI06ZQn9z0_u0KO9DniE7_hRgrLNHA,45210
+opentrons/protocol_engine/errors/exceptions.py,sha256=z45LKW0FzT7uNc6o9Y8-lkdPCuY6ChkSsbtsZsqMgrU,45610
 opentrons/protocol_engine/execution/__init__.py,sha256=X8qTYYOc1v84JIDM1xYpIo3VG_BPnsrfl2jm9UUQGwQ,1384
 opentrons/protocol_engine/execution/command_executor.py,sha256=SxE6W9_8HgiCLiPu6Q8hJr2HKsO1Ta-V1PdmFDxa7rQ,8208
 opentrons/protocol_engine/execution/create_queue_worker.py,sha256=6hMuOqbqwfMn63idsrAgro0NJZoyX4VVH7AV3le2EWM,3372
@@ -418,7 +418,7 @@ opentrons/protocol_engine/execution/hardware_stopper.py,sha256=wlIl7U3gvnOiCvwri
 opentrons/protocol_engine/execution/heater_shaker_movement_flagger.py,sha256=BSFLzSSeELAYZCrCUfJZx5DdlrwU06Ur92TYd0T-hzM,9084
 opentrons/protocol_engine/execution/labware_movement.py,sha256=XYVcxZOQ6_udpxcpwkIJpVD8-lgWLhizJAcRD9BclIo,12247
 opentrons/protocol_engine/execution/movement.py,sha256=AWcj7xlrOh3QrvoaH0sZO63yrPCEc7VE8hKfJNxxtP0,12527
-opentrons/protocol_engine/execution/pipetting.py,sha256=96ubBr_lCkfYieD8NheSKeiVoxXepVDcAZH1qCajDmc,22164
+opentrons/protocol_engine/execution/pipetting.py,sha256=cnJYbLiJ2QD1xziD8dkRm0mZG3xOk00klW8Ff8rgSG4,22199
 opentrons/protocol_engine/execution/queue_worker.py,sha256=riVVywKIOQ3Lx-woFuuSqqBtfeKFt23nCUnsk7gSVoI,2860
 opentrons/protocol_engine/execution/rail_lights.py,sha256=eiJT6oI_kFk7rFuFkZzISZiLNnpf7Kkh86Kyk9wQ_Jo,590
 opentrons/protocol_engine/execution/run_control.py,sha256=ksvI2zkguC4G3lR3HJgAF8uY1PNcaRfi7UOYu-oIZgo,1144
@@ -450,11 +450,11 @@ opentrons/protocol_engine/state/config.py,sha256=7jSGxC6Vqj1eA8fqZ2I3zjlxVXg8pxv
 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=uRBLLR75Z_PnfVd-U7gPF3NeOALR3TgLNCojgxB4z0o,17343
-opentrons/protocol_engine/state/geometry.py,sha256=oTMORp6Zc96HQTsEA8kWAtnVJCfMLdqBMcwP5_wEsQQ,98552
+opentrons/protocol_engine/state/geometry.py,sha256=REIucYpouMOUXpr3450ExaiNapnb-aZEzSl_a-95rWU,100878
 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
-opentrons/protocol_engine/state/modules.py,sha256=wmCtpfc5tcp3LTH1oDfqeCgM2MJHxiN5z30H8im1FGw,58084
+opentrons/protocol_engine/state/modules.py,sha256=U3CUhV0KOz_eKBED5QNEanWq4JICqrzHdTbmV3nDouM,58786
 opentrons/protocol_engine/state/motion.py,sha256=pWt28-vBaO6dz_rtvoliUsGDvls_ML6sRfDOwmD0F7g,15086
 opentrons/protocol_engine/state/pipettes.py,sha256=nqeJWn98S8wSDW-CPJnjEl5hEIkmhZOInmDzn0-kxDM,36921
 opentrons/protocol_engine/state/state.py,sha256=gHmXrlq17kx3sTbizq8gPoJQx_0nazxnooLODvrLY5k,15468
@@ -487,7 +487,7 @@ opentrons/protocol_engine/types/liquid_class.py,sha256=SF5WS3s38S87efUqawRGSIYqj
 opentrons/protocol_engine/types/liquid_handling.py,sha256=Xx1GihrNRJJdJJA5zIwWvIYNydbSXAHjSUAliF18Iu0,319
 opentrons/protocol_engine/types/liquid_level_detection.py,sha256=0Pf9B_w6tTZ110pGbjgZVoigmOIEF0DVuXVHvhRKeNQ,4395
 opentrons/protocol_engine/types/location.py,sha256=qIYBs86RO1ws2aXStmdx0CqEVNF9enlj-ACknf75nSs,5707
-opentrons/protocol_engine/types/module.py,sha256=su7Qw5Z0o-qAGfz0XC6nOqJpgpe84Kx96E9oHUt7Q9I,8921
+opentrons/protocol_engine/types/module.py,sha256=E2tQVGRBPL9DCbbY8dfC4PQafRz-ws6UJRkF9i-3q9Q,10249
 opentrons/protocol_engine/types/partial_tip_configuration.py,sha256=4RMtHOAX-dgpXWA737tthj_izTBnhKphBcA24LAKmhI,2760
 opentrons/protocol_engine/types/run_time_parameters.py,sha256=5gH4GmGK7e3OkSClftZT6VA4wXELIvEMgpmQ__waceU,4468
 opentrons/protocol_engine/types/tip.py,sha256=qfjnCPG7RAlTGS80SAQB8rGwtFW3yRWYj7DpYy0oDow,389
@@ -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-8.4.0a7.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.4.0a7.dist-info/METADATA,sha256=IcoTsLV3w0JPwCTAuaSs0jj8PUFnhR8M1RTdrygSaEw,5084
-opentrons-8.4.0a7.dist-info/WHEEL,sha256=qUzzGenXXuJTzyjFah76kDVqDvnk-YDzY00svnrl84w,109
-opentrons-8.4.0a7.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.4.0a7.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
-opentrons-8.4.0a7.dist-info/RECORD,,
+opentrons-8.4.0a8.dist-info/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.4.0a8.dist-info/METADATA,sha256=9ntyEPWku4FwnS7WhzXREh1pQgG-LVLXuLFWUMhRk_A,5084
+opentrons-8.4.0a8.dist-info/WHEEL,sha256=qUzzGenXXuJTzyjFah76kDVqDvnk-YDzY00svnrl84w,109
+opentrons-8.4.0a8.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.4.0a8.dist-info/top_level.txt,sha256=wk6whpbMZdBQpcK0Fg0YVfUGrAgVOFON7oQAhOMGMW8,10
+opentrons-8.4.0a8.dist-info/RECORD,,