pickup and drop offset adjustments as well as test fixture correction

Author: CaseyBatten

api/src/opentrons/protocol_engine/commands/evotip_dispense.py

@@ -27,8 +27,7 @@
     DefinedErrorData,
 )
 from ..resources import labware_validation
-from ..state.update_types import CLEAR
-from ..types import CurrentWell
+from ..errors import ProtocolEngineError
 
 if TYPE_CHECKING:
     from ..execution import PipettingHandler, GantryMover, MovementHandler
@@ -101,7 +100,6 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
         if isinstance(move_result, DefinedErrorData):
             return move_result
 
-        current_location = self._state_view.pipettes.get_current_location()
         current_position = await self._gantry_mover.get_position(params.pipetteId)
         result = await dispense_in_place(
             pipette_id=params.pipetteId,
@@ -118,6 +116,11 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
             pipetting=self._pipetting,
             model_utils=self._model_utils,
         )
+        if isinstance(result, DefinedErrorData):
+            # TODO (chb, 2025-01-29): Remove this and the OverpressureError returns once disabled for this function
+            raise ProtocolEngineError(
+                message="Overpressure Error during Resin Tip Dispense Command."
+            )
 
         return SuccessData(
             public=EvotipDispenseResult(volume=result.public.volume),
@@ -126,7 +129,11 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
 
 
 class EvotipDispense(
-    BaseCommand[EvotipDispenseParams, EvotipDispenseResult, StallOrCollisionError]
+    BaseCommand[
+        EvotipDispenseParams,
+        EvotipDispenseResult,
+        StallOrCollisionError,
+    ]
 ):
     """DispenseInPlace command model."""
 

api/src/opentrons/protocol_engine/commands/evotip_seal_pipette.py

@@ -9,7 +9,7 @@
 
 from opentrons.protocol_engine.errors import UnsupportedLabwareForActionError
 from ..resources import ModelUtils, labware_validation
-from ..types import PickUpTipWellLocation, TipGeometry, FluidKind, AspiratedFluid
+from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
     PipetteIdMixin,
 )
@@ -39,7 +39,6 @@
         GantryMover,
         PipettingHandler,
     )
-    from ..notes import CommandNoteAdder
 
 
 EvotipSealPipetteCommandType = Literal["evotipSealPipette"]
@@ -116,7 +115,6 @@ def __init__(
         movement: MovementHandler,
         hardware_api: HardwareControlAPI,
         gantry_mover: GantryMover,
-        command_note_adder: CommandNoteAdder,
         pipetting: PipettingHandler,
         **kwargs: object,
     ) -> None:
@@ -125,7 +123,6 @@ def __init__(
         self._model_utils = model_utils
         self._movement = movement
         self._gantry_mover = gantry_mover
-        self._command_note_adder = command_note_adder
         self._pipetting = pipetting
         self._hardware_api = hardware_api
 

api/tests/opentrons/protocol_engine/commands/test_evotip_dispense_in_place.py

@@ -207,7 +207,7 @@ async def test_overpressure_error(
 
     if isinstance(location, CurrentWell):
         assert result == DefinedErrorData(
-            public=OverpressureError.construct(
+            public=OverpressureError.model_construct(
                 id=error_id,
                 createdAt=error_timestamp,
                 wrappedErrors=[matchers.Anything()],
@@ -226,7 +226,7 @@ async def test_overpressure_error(
         )
     else:
         assert result == DefinedErrorData(
-            public=OverpressureError.construct(
+            public=OverpressureError.model_construct(
                 id=error_id,
                 createdAt=error_timestamp,
                 wrappedErrors=[matchers.Anything()],

api/tests/opentrons/protocol_engine/commands/test_evotip_seal_pipette.py

@@ -33,12 +33,24 @@
     EvotipSealPipetteResult,
     EvotipSealPipetteImplementation,
 )
+from opentrons.protocol_engine.execution import (
+    PipettingHandler,
+)
+from opentrons.hardware_control import HardwareControlAPI
+from opentrons.protocol_engine.resources import labware_validation
+import json
+from opentrons_shared_data import load_shared_data
 
 
 @pytest.fixture
 def evotips_definition() -> LabwareDefinition:
-    return LabwareDefinition.parse_obj(
-        load_definition("evotips_opentrons_96_labware", 1)
+    # TODO (chb 2025-01-29): When we migrate all labware to v3 we can clean this up
+    return LabwareDefinition.model_validate(
+        json.loads(
+            load_shared_data(
+                f"labware/definitions/3/evotips_opentrons_96_labware/1.json"
+            )
+        )
     )
 
 
@@ -50,6 +62,8 @@ async def test_success(
     model_utils: ModelUtils,
     gantry_mover: GantryMover,
     evotips_definition: LabwareDefinition,
+    hardware_api: HardwareControlAPI,
+    pipetting: PipettingHandler,
 ) -> None:
     """A PickUpTip command should have an execution implementation."""
     subject = EvotipSealPipetteImplementation(
@@ -58,6 +72,8 @@ async def test_success(
         tip_handler=tip_handler,
         model_utils=model_utils,
         gantry_mover=gantry_mover,
+        hardware_api=hardware_api,
+        pipetting=pipetting,
     )
 
     decoy.when(state_view.pipettes.get_mount("pipette-id")).then_return(MountType.LEFT)
@@ -136,6 +152,9 @@ async def test_no_tip_physically_missing_error(
     tip_handler: TipHandler,
     model_utils: ModelUtils,
     gantry_mover: GantryMover,
+    hardware_api: HardwareControlAPI,
+    pipetting: PipettingHandler,
+    evotips_definition: LabwareDefinition,
 ) -> None:
     """It should not return a TipPhysicallyMissingError even though evotips do not sit high enough on the pipette to be detected by the tip sensor."""
     subject = EvotipSealPipetteImplementation(
@@ -144,6 +163,8 @@ async def test_no_tip_physically_missing_error(
         tip_handler=tip_handler,
         model_utils=model_utils,
         gantry_mover=gantry_mover,
+        hardware_api=hardware_api,
+        pipetting=pipetting,
     )
 
     pipette_id = "pipette-id"
@@ -175,9 +196,16 @@ async def test_no_tip_physically_missing_error(
         await tip_handler.pick_up_tip(
             pipette_id=pipette_id, labware_id=labware_id, well_name=well_name
         )
-    ).then_raise(PickUpTipTipNotAttachedError(tip_geometry=sentinel.tip_geometry))
+    ).then_raise(
+        PickUpTipTipNotAttachedError(
+            tip_geometry=TipGeometry(length=42, diameter=5, volume=300)
+        )
+    )
     decoy.when(model_utils.generate_id()).then_return(error_id)
     decoy.when(model_utils.get_timestamp()).then_return(error_created_at)
+    decoy.when(state_view.labware.get_definition(labware_id)).then_return(
+        evotips_definition
+    )
 
     result = await subject.execute(
         EvotipSealPipetteParams(
@@ -186,7 +214,7 @@ async def test_no_tip_physically_missing_error(
     )
 
     assert result == DefinedErrorData(
-        public=TipPhysicallyMissingError.construct(
+        public=StallOrCollisionError.model_construct(
             id=error_id, createdAt=error_created_at, wrappedErrors=[matchers.Anything()]
         ),
         state_update=update_types.StateUpdate(
@@ -206,7 +234,8 @@ async def test_no_tip_physically_missing_error(
         ),
         state_update_if_false_positive=update_types.StateUpdate(
             pipette_tip_state=update_types.PipetteTipStateUpdate(
-                pipette_id="pipette-id", tip_geometry=sentinel.tip_geometry
+                pipette_id="pipette-id",
+                tip_geometry=TipGeometry(length=42, diameter=5, volume=300),
             ),
             pipette_aspirated_fluid=update_types.PipetteEmptyFluidUpdate(
                 pipette_id="pipette-id"
@@ -232,6 +261,9 @@ async def test_stall_error(
     tip_handler: TipHandler,
     model_utils: ModelUtils,
     gantry_mover: GantryMover,
+    hardware_api: HardwareControlAPI,
+    pipetting: PipettingHandler,
+    evotips_definition: LabwareDefinition,
 ) -> None:
     """It should return a TipPhysicallyMissingError if the HW API indicates that."""
     subject = EvotipSealPipetteImplementation(
@@ -240,6 +272,8 @@ async def test_stall_error(
         tip_handler=tip_handler,
         model_utils=model_utils,
         gantry_mover=gantry_mover,
+        hardware_api=hardware_api,
+        pipetting=pipetting,
     )
 
     pipette_id = "pipette-id"
@@ -270,6 +304,9 @@ async def test_stall_error(
 
     decoy.when(model_utils.generate_id()).then_return(error_id)
     decoy.when(model_utils.get_timestamp()).then_return(error_created_at)
+    decoy.when(state_view.labware.get_definition(labware_id)).then_return(
+        evotips_definition
+    )
 
     result = await subject.execute(
         EvotipSealPipetteParams(
@@ -278,7 +315,7 @@ async def test_stall_error(
     )
 
     assert result == DefinedErrorData(
-        public=StallOrCollisionError.construct(
+        public=StallOrCollisionError.model_construct(
             id=error_id, createdAt=error_created_at, wrappedErrors=[matchers.Anything()]
         ),
         state_update=update_types.StateUpdate(

api/tests/opentrons/protocol_engine/commands/test_evotip_unseal_pipette.py

@@ -28,7 +28,7 @@
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 from opentrons.protocol_engine.state import update_types
 from opentrons.protocol_engine.state.state import StateView
-from opentrons.protocol_engine.execution import MovementHandler, TipHandler
+from opentrons.protocol_engine.execution import MovementHandler, GantryMover, TipHandler
 
 
 from opentrons.types import Point
@@ -60,7 +60,7 @@ def mock_model_utils(decoy: Decoy) -> ModelUtils:
 
 def test_drop_tip_params_defaults() -> None:
     """A drop tip should use a `WellOrigin.DROP_TIP` by default."""
-    default_params = EvotipUnsealPipetteParams.parse_obj(
+    default_params = EvotipUnsealPipetteParams.model_validate(
         {"pipetteId": "abc", "labwareId": "def", "wellName": "ghj"}
     )
 
@@ -71,7 +71,7 @@ def test_drop_tip_params_defaults() -> None:
 
 def test_drop_tip_params_default_origin() -> None:
     """A drop tip should drop a `WellOrigin.DROP_TIP` by default even if an offset is given."""
-    default_params = EvotipUnsealPipetteParams.parse_obj(
+    default_params = EvotipUnsealPipetteParams.model_validate(
         {
             "pipetteId": "abc",
             "labwareId": "def",
@@ -91,21 +91,22 @@ async def test_drop_tip_implementation(
     mock_movement_handler: MovementHandler,
     mock_tip_handler: TipHandler,
     mock_model_utils: ModelUtils,
+    gantry_mover: GantryMover,
 ) -> None:
     """A DropTip command should have an execution implementation."""
     subject = EvotipUnsealPipetteImplementation(
         state_view=mock_state_view,
         movement=mock_movement_handler,
         tip_handler=mock_tip_handler,
         model_utils=mock_model_utils,
+        gantry_mover=gantry_mover,
     )
 
     params = EvotipUnsealPipetteParams(
         pipetteId="abc",
         labwareId="123",
         wellName="A3",
         wellLocation=DropTipWellLocation(offset=WellOffset(x=1, y=2, z=3)),
-        homeAfter=True,
     )
 
     decoy.when(
@@ -169,21 +170,21 @@ async def test_drop_tip_with_alternating_locations(
     mock_movement_handler: MovementHandler,
     mock_tip_handler: TipHandler,
     mock_model_utils: ModelUtils,
+    gantry_mover: GantryMover,
 ) -> None:
     """It should drop tip at random location within the labware every time."""
     subject = EvotipUnsealPipetteImplementation(
         state_view=mock_state_view,
         movement=mock_movement_handler,
         tip_handler=mock_tip_handler,
         model_utils=mock_model_utils,
+        gantry_mover=gantry_mover,
     )
     params = EvotipUnsealPipetteParams(
         pipetteId="abc",
         labwareId="123",
         wellName="A3",
         wellLocation=DropTipWellLocation(offset=WellOffset(x=1, y=2, z=3)),
-        homeAfter=True,
-        alternateDropLocation=True,
     )
     drop_location = DropTipWellLocation(
         origin=DropTipWellOrigin.DEFAULT, offset=WellOffset(x=10, y=20, z=30)
@@ -249,13 +250,15 @@ async def test_tip_attached_error(
     mock_movement_handler: MovementHandler,
     mock_tip_handler: TipHandler,
     mock_model_utils: ModelUtils,
+    gantry_mover: GantryMover,
 ) -> None:
     """A Evotip Unseal command should have an execution implementation."""
     subject = EvotipUnsealPipetteImplementation(
         state_view=mock_state_view,
         movement=mock_movement_handler,
         tip_handler=mock_tip_handler,
         model_utils=mock_model_utils,
+        gantry_mover=gantry_mover,
     )
 
     params = EvotipUnsealPipetteParams(
@@ -303,7 +306,7 @@ async def test_tip_attached_error(
     result = await subject.execute(params)
 
     assert result == DefinedErrorData(
-        public=TipPhysicallyAttachedError.construct(
+        public=StallOrCollisionError.model_construct(
             id="error-id",
             createdAt=datetime(year=1, month=2, day=3),
             wrappedErrors=[matchers.Anything()],
@@ -345,13 +348,15 @@ async def test_stall_error(
     mock_movement_handler: MovementHandler,
     mock_tip_handler: TipHandler,
     mock_model_utils: ModelUtils,
+    gantry_mover: GantryMover,
 ) -> None:
     """A DropTip command should have an execution implementation."""
     subject = EvotipUnsealPipetteImplementation(
         state_view=mock_state_view,
         movement=mock_movement_handler,
         tip_handler=mock_tip_handler,
         model_utils=mock_model_utils,
+        gantry_mover=gantry_mover,
     )
 
     params = EvotipUnsealPipetteParams(
@@ -396,7 +401,7 @@ async def test_stall_error(
     result = await subject.execute(params)
 
     assert result == DefinedErrorData(
-        public=StallOrCollisionError.construct(
+        public=StallOrCollisionError.model_construct(
             id="error-id",
             createdAt=datetime(year=1, month=2, day=3),
             wrappedErrors=[matchers.Anything()],

shared-data/labware/definitions/3/evotips_opentrons_96_labware/1.json

@@ -1025,6 +1025,20 @@
   },
   "gripHeightFromLabwareBottom": 14.5,
   "gripForce": 15,
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 15
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 15
+      }
+    }
+  },
   "stackingOffsetWithLabware": {
     "nest_96_wellplate_2ml_deep": {
       "x": 0,