opentrons 8.7.0a6__py3-none-any.whl → 8.7.0a8__py3-none-any.whl

opentrons/_version.py

@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
 commit_id: COMMIT_ID
 __commit_id__: COMMIT_ID
 
-__version__ = version = '8.7.0a6'
-__version_tuple__ = version_tuple = (8, 7, 0, 'a6')
+__version__ = version = '8.7.0a8'
+__version_tuple__ = version_tuple = (8, 7, 0, 'a8')
 
 __commit_id__ = commit_id = None

opentrons/drivers/asyncio/communication/serial_connection.py

@@ -462,7 +462,10 @@ class AsyncResponseSerialConnection(SerialConnection):
         self._async_error_ack = async_error_ack.lower()
 
     async def send_command(
-        self, command: CommandBuilder, retries: int = 0, timeout: Optional[float] = None
+        self,
+        command: CommandBuilder,
+        retries: int | None = None,
+        timeout: float | None = None,
     ) -> str:
         """
         Send a command and return the response.
@@ -478,12 +481,12 @@ class AsyncResponseSerialConnection(SerialConnection):
         """
         return await self.send_data(
             data=command.build(),
-            retries=retries or self._number_of_retries,
+            retries=retries if retries is not None else self._number_of_retries,
             timeout=timeout,
         )
 
     async def send_data(
-        self, data: str, retries: int = 0, timeout: Optional[float] = None
+        self, data: str, retries: int | None = None, timeout: float | None = None
     ) -> str:
         """
         Send data and return the response.
@@ -501,7 +504,8 @@ class AsyncResponseSerialConnection(SerialConnection):
             "timeout", timeout
         ):
             return await self._send_data(
-                data=data, retries=retries or self._number_of_retries
+                data=data,
+                retries=retries if retries is not None else self._number_of_retries,
             )
 
     async def _send_data(self, data: str, retries: int = 0) -> str:
@@ -517,7 +521,6 @@ class AsyncResponseSerialConnection(SerialConnection):
         Raises: SerialException
         """
         data_encode = data.encode()
-        retries = retries or self._number_of_retries
 
         for retry in range(retries + 1):
             log.debug(f"{self._name}: Write -> {data_encode!r}")

opentrons/drivers/flex_stacker/driver.py

@@ -461,7 +461,12 @@ class FlexStackerDriver(AbstractFlexStackerDriver):
         command = GCODE.GET_TOF_MEASUREMENT.build_command().add_element(sensor.name)
         if resend:
             command.add_element("R")
-        resp = await self._connection.send_command(command)
+
+        # Note: We DONT want to auto resend the request if it fails, because the
+        # firmware will send the next frame id instead of the current one missed.
+        # So lets set `retries=0` so we only send the frame once and we can
+        # use the retry mechanism of the `get_tof_histogram` method instead.
+        resp = await self._connection.send_command(command, retries=0)
         return self.parse_get_tof_measurement(resp)
 
     async def get_tof_histogram(self, sensor: TOFSensor) -> TOFMeasurementResult:

opentrons/hardware_control/backends/flex_protocol.py

@@ -451,6 +451,7 @@ class FlexBackend(Protocol):
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         ...
 

opentrons/hardware_control/backends/ot3controller.py

@@ -1763,6 +1763,7 @@ class OT3Controller(FlexBackend):
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """
         Check if the gripper is at the expected location.
@@ -1805,6 +1806,7 @@ class OT3Controller(FlexBackend):
         if (
             current_gripper_position - expected_gripper_position_min
             < -max_allowed_grip_error
+            and not disable_geometry_grip_check
         ):
             raise FailedGripperPickupError(
                 message="Failed to grip: jaws closed too far",
@@ -1818,6 +1820,7 @@ class OT3Controller(FlexBackend):
         if (
             current_gripper_position - expected_gripper_position_max
             > max_allowed_grip_error
+            and not disable_geometry_grip_check
         ):
             raise FailedGripperPickupError(
                 message="Failed to grip: jaws could not close far enough",

opentrons/hardware_control/backends/ot3simulator.py

@@ -848,6 +848,7 @@ class OT3Simulator(FlexBackend):
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         # This is a (pretty bad) simulation of the gripper actually gripping something,
         # but it should work.

opentrons/hardware_control/ot3api.py

@@ -1462,6 +1462,7 @@ class OT3API(
         expected_grip_width: float,
         grip_width_uncertainty_wider: float,
         grip_width_uncertainty_narrower: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """Ensure that a gripper pickup succeeded.
 
@@ -1482,6 +1483,7 @@ class OT3API(
             gripper.max_allowed_grip_error,
             gripper.min_jaw_width,
             gripper.max_jaw_width,
+            disable_geometry_grip_check,
         )
 
     def gripper_jaw_can_home(self) -> bool:

opentrons/hardware_control/protocols/gripper_controller.py

@@ -41,6 +41,7 @@ class GripperController(Protocol):
         expected_grip_width: float,
         grip_width_uncertainty_wider: float,
         grip_width_uncertainty_narrower: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """Ensure that a gripper pickup succeeded."""
 

opentrons/protocol_engine/execution/labware_movement.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from typing import Optional, TYPE_CHECKING, overload
 
-from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition, Quirks
 
 from opentrons.types import Point
 
@@ -238,6 +238,13 @@ class LabwareMovementHandler:
                             labware_definition=labware_definition
                         )
 
+                        disable_geometry_grip_check = False
+                        if labware_definition.parameters.quirks is not None:
+                            disable_geometry_grip_check = (
+                                Quirks.disableGeometryBasedGripCheck  # type: ignore[comparison-overlap]
+                                in labware_definition.parameters.quirks
+                            )
+
                         # todo(mm, 2024-09-26): This currently raises a lower-level 2015 FailedGripperPickupError.
                         # Convert this to a higher-level 3001 LabwareDroppedError or 3002 LabwareNotPickedUpError,
                         # depending on what waypoint we're at, to propagate a more specific error code to users.
@@ -245,6 +252,7 @@ class LabwareMovementHandler:
                             expected_grip_width=grip_specs.targetY,
                             grip_width_uncertainty_wider=grip_specs.uncertaintyWider,
                             grip_width_uncertainty_narrower=grip_specs.uncertaintyNarrower,
+                            disable_geometry_grip_check=disable_geometry_grip_check,
                         )
                 await ot3api.move_to(
                     mount=gripper_mount, abs_position=waypoint_data.position

{opentrons-8.7.0a6.dist-info → opentrons-8.7.0a8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: opentrons
-Version: 8.7.0a6
+Version: 8.7.0a8
 Summary: The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy.
 Project-URL: opentrons.com, https://www.opentrons.com
 Project-URL: Source Code On Github, https://github.com/Opentrons/opentrons/tree/edge/api
@@ -24,7 +24,7 @@ Requires-Dist: click<9,>=8.0.0
 Requires-Dist: importlib-metadata>=1.0; python_version < '3.8'
 Requires-Dist: jsonschema<4.18.0,>=3.0.1
 Requires-Dist: numpy<2,>=1.20.0
-Requires-Dist: opentrons-shared-data==8.7.0a6
+Requires-Dist: opentrons-shared-data==8.7.0a8
 Requires-Dist: packaging>=21.0
 Requires-Dist: pydantic-settings<3,>=2
 Requires-Dist: pydantic<3,>=2.0.0
@@ -32,6 +32,6 @@ Requires-Dist: pyserial>=3.5
 Requires-Dist: pyusb==1.2.1
 Requires-Dist: typing-extensions<5,>=4.0.0
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[flex]==8.7.0a6; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex]==8.7.0a8; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.7.0a6; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware==8.7.0a8; extra == 'ot2-hardware'

{opentrons-8.7.0a6.dist-info → opentrons-8.7.0a8.dist-info}/RECORD

@@ -1,5 +1,5 @@
 opentrons/__init__.py,sha256=TQ_Ca_zzAM3iLzAysWKkFkQHG8-imihxDPQbLCYrf-E,4533
-opentrons/_version.py,sha256=QWyf8tucSHUWM-f05vXVSeV8CkIBFLOTGDvxyi98YYM,712
+opentrons/_version.py,sha256=6QOBIA4KOTSc8ttyS_QKmJl9f44y2feEQu9QWvzXG7Q,712
 opentrons/execute.py,sha256=Y88qICDiHWQjU0L4Ou7DI5OXXu7zZcdkUvNUYmZqIfc,29282
 opentrons/legacy_broker.py,sha256=XnuEBBlrHCThc31RFW2UR0tGqctqWZ-CZ9vSC4L9whU,1553
 opentrons/ordered_set.py,sha256=g-SB3qA14yxHu9zjGyc2wC7d2TUCBE6fKZlHAtbPzI8,4082
@@ -53,10 +53,10 @@ opentrons/drivers/asyncio/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJW
 opentrons/drivers/asyncio/communication/__init__.py,sha256=b-rd_I0ecbexGm6b9T91JLfFUrCyui9V1N1j-fzy0SQ,523
 opentrons/drivers/asyncio/communication/async_serial.py,sha256=Tzv_uXvMYhJF2LXsJWDRA3hdg5_qCo3863zvn7Y66WY,5439
 opentrons/drivers/asyncio/communication/errors.py,sha256=-4pNGVKE83VUPNt1UTBLDzKtty3LxAhUNp-9yLENqyw,2678
-opentrons/drivers/asyncio/communication/serial_connection.py,sha256=cWcISWe0FfoZj63oYVQD-KkwBojzMTVrzJ64-Gd1u90,18876
+opentrons/drivers/asyncio/communication/serial_connection.py,sha256=qvHkzpRvCGg4Bp-RR7KuwSXiNqff0R-OApFGIBAatcQ,18929
 opentrons/drivers/flex_stacker/__init__.py,sha256=LiM0onRlgC-JfFBd0QseQU0-3WuuIxa7GNFj7Douiq8,351
 opentrons/drivers/flex_stacker/abstract.py,sha256=50xrkTC5qI_BsvlBGpdBLwF3GVi7HhKVSgloKwcrzNA,6744
-opentrons/drivers/flex_stacker/driver.py,sha256=TEy2yz5fU-vSmuLjHoZqi8fYmvdrmhoWYCMhx7ldZsg,31342
+opentrons/drivers/flex_stacker/driver.py,sha256=m43LDktLtRXSco_SgM-6yfx0GwoxkrV8Gz5aDtLgfN4,31670
 opentrons/drivers/flex_stacker/errors.py,sha256=8vocQHCTw8cSnlWGFml4gBtrwMOtVdml-c7MB4KnLns,2175
 opentrons/drivers/flex_stacker/simulator.py,sha256=suOrNpD2jsiQX10yAesln_Fl3PI3IhXcpbZXXD5c2gw,10925
 opentrons/drivers/flex_stacker/types.py,sha256=IHubhe1Xi0mUbiY6tzlyUv9KHNOGhjS4l6x7q0woAw4,7986
@@ -105,7 +105,7 @@ opentrons/hardware_control/module_control.py,sha256=0mmVH9fiZWNyc33ilCpJHajX1Dfh
 opentrons/hardware_control/motion_utilities.py,sha256=7VG60YQ9MSMAZ0hO-q-kRAdkcebzrx7uIPtc6FMCViE,10311
 opentrons/hardware_control/nozzle_manager.py,sha256=dqD8XlYsOu0PFFyxvmsMypBB52Gi6x-VIwhykV7JhuU,16868
 opentrons/hardware_control/ot3_calibration.py,sha256=vHB17U-FBzytvM8QeEu5kRYPo8lFwAo31ZEpiU4yf_0,45000
-opentrons/hardware_control/ot3api.py,sha256=1vPsaNPmtjsJI1EJF8JPKOd2Bj2GDJLvmKU8eMKGhi8,127869
+opentrons/hardware_control/ot3api.py,sha256=jRCsbVjeeueYXknF8JwqkiavGzjHlVzciI6efb-u66o,127961
 opentrons/hardware_control/pause_manager.py,sha256=wmNmraimE2yZQVqCxX_rtQHUWRzpzyQEaym9fLMgyww,888
 opentrons/hardware_control/poller.py,sha256=rx6Q-UxbUIj3ek69IlYenFh7BFuasszRO-GzzhRPuHQ,3885
 opentrons/hardware_control/robot_calibration.py,sha256=ilszGjZPspKiEk8MQPaHm2B-ljeisAYflKl8UyQ_D0U,7155
@@ -118,9 +118,9 @@ opentrons/hardware_control/backends/__init__.py,sha256=u5Dg3AFZuvDV7hFqJ8I4F9D1d
 opentrons/hardware_control/backends/controller.py,sha256=MOVMq9s1rY_jHhajHB1hQ1MgXXyY54-gMrrvAuMsOFg,14622
 opentrons/hardware_control/backends/errors.py,sha256=ZiVP16exHMTWWOajxffnXEqI6NNfeTw-4RkhXE0EBJA,249
 opentrons/hardware_control/backends/estop_state.py,sha256=_GYjI6OaD3CZNduWV2_RVeOtQ4K_Fg-SP8yU01ENhCY,6554
-opentrons/hardware_control/backends/flex_protocol.py,sha256=3S-OHbAnOSTF5PxzhMxD0TdEfxurLwecBrDkedl2O3s,13185
-opentrons/hardware_control/backends/ot3controller.py,sha256=w0LMGu0WWkGd4cEWaqlhMk1NQFHg1-Di83s5_KrKP3U,71374
-opentrons/hardware_control/backends/ot3simulator.py,sha256=CtYnb7NpqIc1TNK91hI0UaK4OyaIecFDczsb-T7DX_w,30387
+opentrons/hardware_control/backends/flex_protocol.py,sha256=PJnTJ9jyZtR8RUGEynJfZ9ihphCXgbtEVWiZMcfnrjA,13236
+opentrons/hardware_control/backends/ot3controller.py,sha256=CrYYwtuSswryONx9pOTNeI6U8ThSehiN4fiB5k2JcUI,71521
+opentrons/hardware_control/backends/ot3simulator.py,sha256=zyJJpSZIlyNAcGPUUTiIjit1aHCAX54aSPumbZ3djTI,30438
 opentrons/hardware_control/backends/ot3utils.py,sha256=HYlIZRGmLqudS1mIt0Io2LxQ1BrLrxVFQCjqudbTUWU,22374
 opentrons/hardware_control/backends/simulator.py,sha256=q_9PQlBdOyCa9sj2gLqYWZ-fG9v4mddDAiScL-yHCXY,17549
 opentrons/hardware_control/backends/status_bar_state.py,sha256=E8z9dCJDI3Nb4qfUA5y2_PrE2jSYzZJQVkk75UqY5ZE,9287
@@ -188,7 +188,7 @@ opentrons/hardware_control/protocols/event_sourcer.py,sha256=8-BiKGo-KVEcFOOZmj1
 opentrons/hardware_control/protocols/execution_controllable.py,sha256=c1MmdETvXtwGEn6Fj_-N_mH2X4FkXnNPkrMKjClSBqY,1099
 opentrons/hardware_control/protocols/flex_calibratable.py,sha256=rHTumhgYB43WPsZEsHjKkZNBFtvOU3CAkCd2xONLAI8,3314
 opentrons/hardware_control/protocols/flex_instrument_configurer.py,sha256=qSnDZZxVCnCQE5CXck9c9k0AfE80W74kiKwteORGHb8,1461
-opentrons/hardware_control/protocols/gripper_controller.py,sha256=YvZPxkUmw_mjGxs3M6V8zh0DEb9PDEwt55PA9W3oJwo,1634
+opentrons/hardware_control/protocols/gripper_controller.py,sha256=EEfL-KUzegZBm_vETeCAv_RFXisnV6xPc4N9Wil9348,1685
 opentrons/hardware_control/protocols/hardware_manager.py,sha256=S9BSJ0XsnU5A9nFLMDZfmiizx3T41WhU_91VYj4bUVE,1629
 opentrons/hardware_control/protocols/identifiable.py,sha256=YmhScb4Tr4mxVObL1i7pI-EouTMAmV-2oqKbovhdnrE,575
 opentrons/hardware_control/protocols/instrument_configurer.py,sha256=5zUCAchtoJ6QPFqcGRb7FOsnt2nxjxlRJdt18IidKqQ,7729
@@ -427,7 +427,7 @@ opentrons/protocol_engine/execution/error_recovery_hardware_state_synchronizer.p
 opentrons/protocol_engine/execution/gantry_mover.py,sha256=LFTPmzuGRuP6IspgXxIEyJIXV0tHkc4UWDDjWFCClYo,26477
 opentrons/protocol_engine/execution/hardware_stopper.py,sha256=ZlhVYEdFfuKqp5slZBkustXcRPy5fJsw2rmfYzHuJkQ,6127
 opentrons/protocol_engine/execution/heater_shaker_movement_flagger.py,sha256=BSFLzSSeELAYZCrCUfJZx5DdlrwU06Ur92TYd0T-hzM,9084
-opentrons/protocol_engine/execution/labware_movement.py,sha256=0QnTf98CpYItP1icvNpwUeIa2LUWk4w7yBCUVJw-64g,12656
+opentrons/protocol_engine/execution/labware_movement.py,sha256=ls9k5EDokiiqgoNcSrVrWDdsuNzEmKuLhJ0SYC0nWlc,13154
 opentrons/protocol_engine/execution/movement.py,sha256=ZU4K4OHnzZYCZbk3RwfSOC6C3T2jtBlvYMppJhJSF08,12749
 opentrons/protocol_engine/execution/pipetting.py,sha256=cnJYbLiJ2QD1xziD8dkRm0mZG3xOk00klW8Ff8rgSG4,22199
 opentrons/protocol_engine/execution/queue_worker.py,sha256=LM753TrQzJoKUSIrtcaHDOWLe58zcpx-fUOLVpyDlHM,3302
@@ -595,8 +595,8 @@ 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-8.7.0a6.dist-info/METADATA,sha256=RU-1uPU6tiSwIoBZzbwMcTfEa8XHYGoDrwFYgFq5RbU,1607
-opentrons-8.7.0a6.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-opentrons-8.7.0a6.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.7.0a6.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.7.0a6.dist-info/RECORD,,
+opentrons-8.7.0a8.dist-info/METADATA,sha256=h4Ga21sNoSoWHfEygxLFQHwKT1yEzhidYsgNaEx8OaI,1607
+opentrons-8.7.0a8.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+opentrons-8.7.0a8.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.7.0a8.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.7.0a8.dist-info/RECORD,,