opentrons 8.8.0a7__py3-none-any.whl → 8.8.0a8__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 = '8.8.0a7'
-__version_tuple__ = version_tuple = (8, 8, 0, 'a7')
+__version__ = version = '8.8.0a8'
+__version_tuple__ = version_tuple = (8, 8, 0, 'a8')
 
 __commit_id__ = commit_id = None

opentrons/hardware_control/ot3api.py

@@ -3089,6 +3089,7 @@ class OT3API(
         volume: float,
         rate: float = 1.0,
         movement_delay: Optional[float] = None,
+        end_critical_point: Optional[CriticalPoint] = None,
     ) -> None:
         """
         Aspirate a volume of liquid (in microliters/uL) while moving the z axis synchronously.
@@ -3108,7 +3109,7 @@ class OT3API(
         end_position = target_position_from_absolute(
             realmount,
             end_point,
-            self.critical_point_for,
+            partial(self.critical_point_for, cp_override=end_critical_point),
             top_types.Point(*self._config.left_mount_offset),
             top_types.Point(*self._config.right_mount_offset),
             top_types.Point(*self._config.gripper_mount_offset),
@@ -3123,6 +3124,9 @@ class OT3API(
         delay: Optional[Tuple[List[Axis], float]] = None
         if movement_delay is not None:
             delay = ([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R], movement_delay)
+        self._log.info(
+            f"aspirate_while_tracking: end at {end_point} {end_critical_point}, machine pos {end_position}, with plunger {target_pos}, delay {delay}"
+        )
         try:
             await self._backend.set_active_current(
                 {aspirate_spec.axis: aspirate_spec.current}
@@ -3158,6 +3162,7 @@ class OT3API(
         rate: float = 1.0,
         is_full_dispense: bool = False,
         movement_delay: Optional[float] = None,
+        end_critical_point: Optional[CriticalPoint] = None,
     ) -> None:
         """
         Dispense a volume of liquid (in microliters/uL) while moving the z axis synchronously.
@@ -3177,7 +3182,7 @@ class OT3API(
         end_position = target_position_from_absolute(
             realmount,
             end_point,
-            self.critical_point_for,
+            partial(self.critical_point_for, cp_override=end_critical_point),
             top_types.Point(*self._config.left_mount_offset),
             top_types.Point(*self._config.right_mount_offset),
             top_types.Point(*self._config.gripper_mount_offset),
@@ -3192,7 +3197,9 @@ class OT3API(
         delay: Optional[Tuple[List[Axis], float]] = None
         if movement_delay is not None:
             delay = ([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R], movement_delay)
-
+        self._log.info(
+            f"dispense_while_tracking: end at {end_point} {end_critical_point}, machine pos {end_position}, with plunger {target_pos}, delay {delay}"
+        )
         try:
             await self._backend.set_active_current(
                 {dispense_spec.axis: dispense_spec.current}

opentrons/hardware_control/protocols/liquid_handler.py

@@ -129,15 +129,17 @@ class LiquidHandler(
         volume: float,
         flow_rate: float = 1.0,
         movement_delay: Optional[float] = None,
+        end_critical_point: Optional[CriticalPoint] = None,
     ) -> None:
         """
         Aspirate a volume of liquid (in microliters/uL) while moving the z axis synchronously.
 
         :param mount: A robot mount that the instrument is on.
-        :param z_distance: The distance the z axis will move during apsiration.
+        :param end_point: The deck coordinate point to move the tip to during the aspirate.
         :param volume: The volume of liquid to be aspirated.
         :param flow_rate: The flow rate to aspirate with.
         :param movement_delay: Time to wait after the pipette starts aspirating before x/y/z movement.
+        :param end_critical_point: The critical point for the end_point position.
         """
         ...
 
@@ -172,15 +174,17 @@ class LiquidHandler(
         flow_rate: float = 1.0,
         is_full_dispense: bool = False,
         movement_delay: Optional[float] = None,
+        end_critical_point: Optional[CriticalPoint] = None,
     ) -> None:
         """
         Dispense a volume of liquid (in microliters/uL) while moving the z axis synchronously.
 
         :param mount: A robot mount that the instrument is on.
-        :param z_distance: The distance the z axis will move during dispensing.
+        :param end_point: The deck coordinate point to move the tip to during the dispense.
         :param volume: The volume of liquid to be dispensed.
         :param flow_rate: The flow rate to dispense with.
         :param movement_delay: Time to wait after the pipette starts dispensing before x/y/z movement.
+        :param end_critical_point: The critical point for the end_point position.
         """
         ...
 

opentrons/protocol_api/core/engine/pipette_movement_conflict.py

@@ -1,8 +1,8 @@
 """A Protocol-Engine-friendly wrapper for opentrons.motion_planning.deck_conflict."""
+
 from __future__ import annotations
 import logging
 from typing import (
-    Optional,
     Tuple,
     Union,
     List,
@@ -12,7 +12,6 @@ from opentrons_shared_data.errors.exceptions import MotionPlanningFailureError
 from opentrons.protocol_engine.errors import LocationIsStagingSlotError
 from opentrons_shared_data.module import FLEX_TC_LID_COLLISION_ZONE
 
-from opentrons.hardware_control import CriticalPoint
 from opentrons.motion_planning import adjacent_slots_getters
 
 from opentrons.protocol_engine import (
@@ -101,7 +100,9 @@ def check_safe_for_pipette_movement(  # noqa: C901
     )
     primary_nozzle = engine_state.pipettes.get_primary_nozzle(pipette_id)
 
-    destination_cp = _get_critical_point_to_use(engine_state, labware_id)
+    destination_cp = engine_state.motion.get_critical_point_for_wells_in_labware(
+        labware_id
+    )
     pipette_bounds_at_well_location = (
         engine_state.pipettes.get_pipette_bounds_at_specified_move_to_position(
             pipette_id=pipette_id,
@@ -189,21 +190,6 @@ def check_safe_for_pipette_movement(  # noqa: C901
             )
 
 
-def _get_critical_point_to_use(
-    engine_state: StateView, labware_id: str
-) -> Optional[CriticalPoint]:
-    """Return the critical point to use when accessing the given labware."""
-    # TODO (spp, 2024-09-17): looks like Y_CENTER of column is the same as its XY_CENTER.
-    #   I'm using this if-else ladder to be consistent with what we do in
-    #   `MotionPlanning.get_movement_waypoints_to_well()`.
-    #   We should probably use only XY_CENTER in both places.
-    if engine_state.labware.get_should_center_column_on_target_well(labware_id):
-        return CriticalPoint.Y_CENTER
-    elif engine_state.labware.get_should_center_pipette_on_target_well(labware_id):
-        return CriticalPoint.XY_CENTER
-    return None
-
-
 def _slot_has_potential_colliding_object(
     engine_state: StateView,
     pipette_bounds: Tuple[Point, Point, Point, Point],

opentrons/protocol_engine/execution/pipetting.py

@@ -1,4 +1,5 @@
 """Pipetting command handling."""
+
 from typing import Optional, Iterator, Tuple
 from typing_extensions import Protocol as TypingProtocol
 from contextlib import contextmanager
@@ -208,6 +209,9 @@ class HardwarePipettingHandler(PipettingHandler):
                 end_point=end_point,
                 volume=adjusted_volume,
                 movement_delay=movement_delay,
+                end_critical_point=self.get_state_view().motion.get_critical_point_for_wells_in_labware(
+                    labware_id
+                ),
             )
         return adjusted_volume
 
@@ -239,6 +243,9 @@ class HardwarePipettingHandler(PipettingHandler):
                 push_out=push_out,
                 is_full_dispense=is_full_dispense,
                 movement_delay=movement_delay,
+                end_critical_point=self.get_state_view().motion.get_critical_point_for_wells_in_labware(
+                    labware_id
+                ),
             )
         return adjusted_volume
 

opentrons/protocol_engine/state/motion.py

@@ -1,4 +1,5 @@
 """Motion state store and getters."""
+
 from dataclasses import dataclass
 from typing import List, Optional, Union
 import logging
@@ -78,14 +79,9 @@ class MotionView:
             isinstance(current_location, CurrentWell)
             and current_location.pipette_id == pipette_id
         ):
-            if self._labware.get_should_center_column_on_target_well(
-                current_location.labware_id
-            ):
-                critical_point = CriticalPoint.Y_CENTER
-            elif self._labware.get_should_center_pipette_on_target_well(
+            critical_point = self.get_critical_point_for_wells_in_labware(
                 current_location.labware_id
-            ):
-                critical_point = CriticalPoint.XY_CENTER
+            )
         return PipetteLocationData(mount=mount, critical_point=critical_point)
 
     def _get_pipette_offset_for_reservoirs(
@@ -124,6 +120,17 @@ class MotionView:
             x_offset = -1 * well_x_dim / 24
         return Point(x=x_offset, y=y_offset)
 
+    def get_critical_point_for_wells_in_labware(
+        self, labware_id: str
+    ) -> CriticalPoint | None:
+        """Get the appropriate critical point override for this labware."""
+        if self._labware.get_should_center_column_on_target_well(labware_id):
+            return CriticalPoint.Y_CENTER
+        elif self._labware.get_should_center_pipette_on_target_well(labware_id):
+            return CriticalPoint.XY_CENTER
+        else:
+            return None
+
     def get_movement_waypoints_to_well(
         self,
         pipette_id: str,
@@ -142,11 +149,7 @@ class MotionView:
         """Calculate waypoints to a destination that's specified as a well."""
         location = current_well or self._pipettes.get_current_location()
 
-        destination_cp: Optional[CriticalPoint] = None
-        if self._labware.get_should_center_column_on_target_well(labware_id):
-            destination_cp = CriticalPoint.Y_CENTER
-        elif self._labware.get_should_center_pipette_on_target_well(labware_id):
-            destination_cp = CriticalPoint.XY_CENTER
+        destination_cp = self.get_critical_point_for_wells_in_labware(labware_id)
 
         destination = self._geometry.get_well_position(
             labware_id=labware_id,
@@ -397,12 +400,7 @@ class MotionView:
             mm_from_edge=mm_from_edge,
             edge_path_type=edge_path_type,
         )
-        critical_point: Optional[CriticalPoint] = None
-
-        if self._labware.get_should_center_column_on_target_well(labware_id):
-            critical_point = CriticalPoint.Y_CENTER
-        elif self._labware.get_should_center_pipette_on_target_well(labware_id):
-            critical_point = CriticalPoint.XY_CENTER
+        critical_point = self.get_critical_point_for_wells_in_labware(labware_id)
 
         return [
             motion_planning.Waypoint(position=p, critical_point=critical_point)

{opentrons-8.8.0a7.dist-info → opentrons-8.8.0a8.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: opentrons
-Version: 8.8.0a7
+Version: 8.8.0a8
 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==8.8.0a7
+Requires-Dist: opentrons-shared-data==8.8.0a8
 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]==8.8.0a7; extra == 'flex-hardware'
+Requires-Dist: opentrons-hardware[flex]==8.8.0a8; extra == 'flex-hardware'
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.8.0a7; extra == 'ot2-hardware'
+Requires-Dist: opentrons-hardware==8.8.0a8; extra == 'ot2-hardware'

{opentrons-8.8.0a7.dist-info → opentrons-8.8.0a8.dist-info}/RECORD

@@ -1,5 +1,5 @@
 opentrons/__init__.py,sha256=TQ_Ca_zzAM3iLzAysWKkFkQHG8-imihxDPQbLCYrf-E,4533
-opentrons/_version.py,sha256=3_09fbZUs-VXMGXA5MWazmEhOw8hSkQkzbw2loEdOUY,712
+opentrons/_version.py,sha256=rgcVnPkCP2h4fiGvNa8Mz1WTKaprmgMzufDaYDLbJ7E,712
 opentrons/execute.py,sha256=J7kZFRxpbrj_e5XS37Zc9fsliBqxZBMrITT7jdUgJvw,29478
 opentrons/legacy_broker.py,sha256=XnuEBBlrHCThc31RFW2UR0tGqctqWZ-CZ9vSC4L9whU,1553
 opentrons/ordered_set.py,sha256=g-SB3qA14yxHu9zjGyc2wC7d2TUCBE6fKZlHAtbPzI8,4082
@@ -111,7 +111,7 @@ opentrons/hardware_control/module_control.py,sha256=id1W3xqT-W-zyt2PVodo2Abx127t
 opentrons/hardware_control/motion_utilities.py,sha256=aIaT-qzkRpZaSmfTTSqs1wl6m7LBxwKHIhgkFean01o,10274
 opentrons/hardware_control/nozzle_manager.py,sha256=AG4HKrV4n0Bm0UOEsaAYAURtkJwuEyk97e9Nqv2_nD0,17021
 opentrons/hardware_control/ot3_calibration.py,sha256=vHB17U-FBzytvM8QeEu5kRYPo8lFwAo31ZEpiU4yf_0,45000
-opentrons/hardware_control/ot3api.py,sha256=r2CeWSwBcXEUtyyBa3UFW3c_aHja82LpiegKla-i03s,130824
+opentrons/hardware_control/ot3api.py,sha256=TNZnoe-52kobBcc622VAOdPByhw2DWl4H5_eO4fp9ag,131393
 opentrons/hardware_control/pause_manager.py,sha256=wmNmraimE2yZQVqCxX_rtQHUWRzpzyQEaym9fLMgyww,888
 opentrons/hardware_control/poller.py,sha256=6aqR0UM36w-Fk1ozjp-74VHthZTfT8Yurh5Zb4OnZX8,4392
 opentrons/hardware_control/robot_calibration.py,sha256=ilszGjZPspKiEk8MQPaHm2B-ljeisAYflKl8UyQ_D0U,7155
@@ -198,7 +198,7 @@ opentrons/hardware_control/protocols/gripper_controller.py,sha256=EEfL-KUzegZBm_
 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
-opentrons/hardware_control/protocols/liquid_handler.py,sha256=_I__m4QFDNp1ZXNtanLFbu-LRqJkO7RoyJWyNAa9iF4,10457
+opentrons/hardware_control/protocols/liquid_handler.py,sha256=OvGf1LSPZC3imLO0GsFitXA4GObhT-xUnArChuf-gm8,10765
 opentrons/hardware_control/protocols/module_provider.py,sha256=QDKCWqrW-6IeI91IICBTJClK0C__mgq3A0-M3Wa9ee8,487
 opentrons/hardware_control/protocols/motion_controller.py,sha256=mWUHVDqju9gcMDU9adk6UzueZ9i-x2nU5hmcd_fHHyk,9737
 opentrons/hardware_control/protocols/position_estimator.py,sha256=BrqK5AJn9747c4LX0ZWBJWgWHjyX977CHBI7WVvO-9Q,1922
@@ -268,7 +268,7 @@ opentrons/protocol_api/core/engine/labware.py,sha256=YUkoCogqLQpDee-wlcMPV90ZUi7
 opentrons/protocol_api/core/engine/load_labware_params.py,sha256=CxSbCBXVXHtBszP-3Ko8hsQTjvvogKRo0CCzCmMfIic,3003
 opentrons/protocol_api/core/engine/module_core.py,sha256=SBglcDmhwTrk_IfIgkzHsux9NEDQZ4OgzycAoO0qRdY,43222
 opentrons/protocol_api/core/engine/overlap_versions.py,sha256=PyGvQtQUg1wzNtkuGZtxwXm019PoIjq7em2JiWaxbXc,675
-opentrons/protocol_api/core/engine/pipette_movement_conflict.py,sha256=9BmtG1kg3vyrssBXflCNZrJIukGp6y5UJ_XqhIz73rI,18148
+opentrons/protocol_api/core/engine/pipette_movement_conflict.py,sha256=vjKuEmKU67M43dTTNoRvRwjPFx1a6sDEHNDp-8KuiuI,17386
 opentrons/protocol_api/core/engine/point_calculations.py,sha256=C2eF0fvJQGMqQv3DzNhc1-m8HTAXTyTsHPJEPrEUEmo,2502
 opentrons/protocol_api/core/engine/protocol.py,sha256=nZCWd6vq6PAzZVU_0kl3PPtcgtshN3xgWE2ixhiRK2g,50017
 opentrons/protocol_api/core/engine/robot.py,sha256=bzUt23NG-clD-9-QFsV_6nm3fMgSmvYEG9DyyZI1xgw,5366
@@ -447,7 +447,7 @@ opentrons/protocol_engine/execution/hardware_stopper.py,sha256=ZlhVYEdFfuKqp5slZ
 opentrons/protocol_engine/execution/heater_shaker_movement_flagger.py,sha256=BSFLzSSeELAYZCrCUfJZx5DdlrwU06Ur92TYd0T-hzM,9084
 opentrons/protocol_engine/execution/labware_movement.py,sha256=RJMkWHGvoKc0GXjEZ2ZXWo1v9cvPlmbEdFBs0szROfo,12965
 opentrons/protocol_engine/execution/movement.py,sha256=NJUs1mtC8R8qR1x2RVTI3q9hyVuLkvCvIM1SnD8sPH0,12899
-opentrons/protocol_engine/execution/pipetting.py,sha256=4E-s8_UUEYlkuNwS316yqSihHUeh25rGB0ztRpUqpgs,21756
+opentrons/protocol_engine/execution/pipetting.py,sha256=0hRu_erRItLj_TYfKx-NTibprYKfzros8HWsbZRf_q8,22067
 opentrons/protocol_engine/execution/queue_worker.py,sha256=2cfyplUWdPyxxLbH3H8TbtB9Fvjx__ASluiJXyJBoqU,3537
 opentrons/protocol_engine/execution/rail_lights.py,sha256=eiJT6oI_kFk7rFuFkZzISZiLNnpf7Kkh86Kyk9wQ_Jo,590
 opentrons/protocol_engine/execution/run_control.py,sha256=Wn3FGuBZrYddf7Dzcz5v1hHF0DbzRxCykl6vs15BZP0,1450
@@ -489,7 +489,7 @@ opentrons/protocol_engine/state/labware.py,sha256=y-vZnirUS84RatzUu960CsbGb2lW9f
 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=rL_Xm7vNQrYsa6F3VYUJZVrehMfAnwvf0wXPyPH19PU,63087
-opentrons/protocol_engine/state/motion.py,sha256=lEBwAeaIYNH38226IWy68m-EPhZvqq-wvQQhGVDCwLo,16983
+opentrons/protocol_engine/state/motion.py,sha256=1pqxThXdUG7TQqYxyxUX3x49CUcdKqAAV-6o4jeKICo,16737
 opentrons/protocol_engine/state/pipettes.py,sha256=Q-aDiVvOVvUXq930vvMvAWhK7aZ06-8FLZB6jO95dwQ,38531
 opentrons/protocol_engine/state/preconditions.py,sha256=Qvv2Mnwdw2SzkVkfV1vcXNT-M9mbnITBPq9qkhZAa2o,2198
 opentrons/protocol_engine/state/state.py,sha256=-Lrag0Az9eh9A4xUcv1qE2sqC6ZX3nXnoElk2a3hZuI,17193
@@ -623,8 +623,8 @@ 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-8.8.0a7.dist-info/METADATA,sha256=lGSD5Lc1xtgleVQngABrjaNTduCFHlkeit36g7bKeE4,1607
-opentrons-8.8.0a7.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-opentrons-8.8.0a7.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
-opentrons-8.8.0a7.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
-opentrons-8.8.0a7.dist-info/RECORD,,
+opentrons-8.8.0a8.dist-info/METADATA,sha256=RbWSALk55kHIbYOKPyHbljRU4JjoOPBQTcqWmQAUa34,1607
+opentrons-8.8.0a8.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+opentrons-8.8.0a8.dist-info/entry_points.txt,sha256=fTa6eGCYkvOtv0ov-KVE8LLGetgb35LQLF9x85OWPVw,106
+opentrons-8.8.0a8.dist-info/licenses/LICENSE,sha256=z8d0m5b2O9McPEK1xHG_dWgUBT6EfBDz6wA0F7xSPTA,11358
+opentrons-8.8.0a8.dist-info/RECORD,,