feat(api): change liquid_probe to respect min well height

Add logic to liquid_probe_in_place that will not go to the very bottom of the well, but stop
slightly above it(as specified by the well's minimum height)

fix EXEC-576

api/src/opentrons/protocol_engine/execution/pipetting.py

@@ -177,8 +177,9 @@ async def liquid_probe_in_place(
  )
  well_def = self._state_view.labware.get_well_definition(labware_id, well_name)
  well_depth = well_def.depth
+ well_min_height = self._state_view.labware.get_well_min_height(labware_id, well_name)
  z_pos = await self._hardware_api.liquid_probe(
- mount=hw_pipette.mount, max_z_dist=well_depth
+ mount=hw_pipette.mount, max_z_dist=well_depth-well_min_height
  )
  return float(z_pos)
 

api/src/opentrons/protocol_engine/state/labware.py

@@ -412,6 +412,42 @@ def get_should_center_pipette_on_target_well(self, labware_id: str) -> bool:
  len(self.get_definition(labware_id).wells) == 1
  or len(self.get_definition(labware_id).wells) >= 96
  )
+
+ def get_well_min_height(
+ self, labware_id: str, well_name: str
+ ) -> float:
+ """Get's the minimum distance that a liquid probe must stop
+ away from the bottom of a well.
+
+ Args:
+ labware_id: Labware identifier.
+ well_name: Name of well in labware.
+
+ Returns:
+ A single float representing the distance, in millimeters.
+ """
+ well_definition = self.get_definition(labware_id)
+ try:
+ height_reqs = well_definition.liquidProbeParameters.minimumHeight
+ if len(height_reqs) == 0:
+ #TODO: find out what to actually do here
+ return 0.5
+ if len(height_reqs) == 1:
+ return height_reqs[0].value
+ default_val = 0.5
+ for entry in height_reqs:
+ if well_name in entry.applicableWells:
+ return entry.value
+ if entry.applicableWells == []:
+ default_val = entry.value
+ #No explicit height for this well, return default
+ return default_val
+ except AttributeError as e: #No liquidProbeParameters defined for this labware
+ #TODO: find out what to actually do here
+ return 0
+ # raise errors.HardwareNotSupportedError(
+ # f"Labware {labware_id} does not have specifications for minimum height."
+ # ) from e
 
  def get_well_definition(
  self,