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

api/src/opentrons/hardware_control/dev_types.py

@@ -98,6 +98,7 @@ class PipetteDict(InstrumentDict):
  supported_tips: Dict[PipetteTipType, SupportedTipsDefinition]
  pipette_bounding_box_offsets: PipetteBoundingBoxOffsetDefinition
  current_nozzle_map: NozzleMap
+ lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 class PipetteStateDict(TypedDict):

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -219,6 +219,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
  "default_dispense_flow_rates",
  "back_compat_names",
  "supported_tips",
+ "lld_settings",
  ]
 
  instr_dict = instr.as_dict()
@@ -258,6 +259,7 @@ def get_attached_instrument(self, mount: MountType) -> PipetteDict:
  result[
  "pipette_bounding_box_offsets"
  ] = instr.config.pipette_bounding_box_offsets
+ result["lld_settings"] = instr.config.lld_settings
  return cast(PipetteDict, result)
 
  @property

api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -235,6 +235,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
  "default_dispense_flow_rates",
  "back_compat_names",
  "supported_tips",
+ "lld_settings",
  ]
 
  instr_dict = instr.as_dict()
@@ -279,6 +280,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
  result[
  "pipette_bounding_box_offsets"
  ] = instr.config.pipette_bounding_box_offsets
+ result["lld_settings"] = instr.config.lld_settings
  return cast(PipetteDict, result)
 
  @property

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

@@ -177,8 +177,11 @@ async def liquid_probe_in_place(
  )
  well_def = self._state_view.labware.get_well_definition(labware_id, well_name)
  well_depth = well_def.depth
+ lld_min_height = self._state_view.pipettes.get_current_tip_lld_settings(
+ pipette_id=pipette_id
+ )
  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 - lld_min_height
  )
  return float(z_pos)
 

api/src/opentrons/protocol_engine/resources/pipette_data_provider.py

@@ -40,6 +40,7 @@ class LoadedStaticPipetteData:
  nozzle_map: NozzleMap
  back_left_corner_offset: Point
  front_right_corner_offset: Point
+ pipette_lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 class VirtualPipetteDataProvider:
@@ -240,6 +241,7 @@ def _get_virtual_pipette_static_config_by_model( # noqa: C901
  front_right_corner_offset=Point(
  pip_front_right[0], pip_front_right[1], pip_front_right[2]
  ),
+ pipette_lld_settings=config.lld_settings,
  )
 
  def get_virtual_pipette_static_config(
@@ -282,4 +284,5 @@ def get_pipette_static_config(pipette_dict: PipetteDict) -> LoadedStaticPipetteD
  front_right_corner_offset=Point(
  front_right_offset[0], front_right_offset[1], front_right_offset[2]
  ),
+ pipette_lld_settings=pipette_dict["lld_settings"],
  )

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

@@ -118,6 +118,7 @@ class StaticPipetteConfig:
  pipette_bounding_box_offsets: PipetteBoundingBoxOffsets
  bounding_nozzle_offsets: BoundingNozzlesOffsets
  default_nozzle_map: NozzleMap
+ lld_settings: Optional[Dict[str, Dict[str, float]]]
 
 
 @dataclass
@@ -197,6 +198,7 @@ def _handle_command( # noqa: C901
  front_right_offset=config.nozzle_map.front_right_nozzle_offset,
  ),
  default_nozzle_map=config.nozzle_map,
+ lld_settings=config.pipette_lld_settings,
  )
  self._state.flow_rates_by_id[private_result.pipette_id] = config.flow_rates
  self._state.nozzle_configuration_by_id[
@@ -618,6 +620,27 @@ def get_available_volume(self, pipette_id: str) -> Optional[float]:
 
  return max(0.0, working_volume - current_volume) if current_volume else None
 
+ def get_pipette_lld_settings(
+ self, pipette_id: str
+ ) -> Optional[Dict[str, Dict[str, float]]]:
+ """Get the liquid level settings for all possible tips for a single pipette."""
+ return self.get_config(pipette_id).lld_settings
+
+ def get_current_tip_lld_settings(self, pipette_id: str) -> float:
+ """Get the liquid level settings for pipette and its current tip."""
+ attached_tip = self.get_attached_tip(pipette_id)
+ if attached_tip is None or attached_tip.volume is None:
+ return 0
+ lld_settings = self.get_pipette_lld_settings(pipette_id)
+ tipVolume = str(attached_tip.volume)
+ if (
+ lld_settings is None
+ or lld_settings[tipVolume] is None
+ or lld_settings[tipVolume]["minHeight"] is None
+ ):
+ return 0
+ return float(lld_settings[tipVolume]["minHeight"])
+
  def validate_tip_state(self, pipette_id: str, expected_has_tip: bool) -> None:
  """Validate that a pipette's tip state matches expectations."""
  attached_tip = self.get_attached_tip(pipette_id)

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

@@ -50,6 +50,7 @@ async def test_configure_for_volume_implementation(
  nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
  back_left_corner_offset=Point(10, 20, 30),
  front_right_corner_offset=Point(40, 50, 60),
+ pipette_lld_settings={},
  )
 
  decoy.when(

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

@@ -46,6 +46,7 @@ async def test_load_pipette_implementation(
  nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI),
  back_left_corner_offset=Point(x=1, y=2, z=3),
  front_right_corner_offset=Point(x=4, y=5, z=6),
+ pipette_lld_settings={},
  )
  data = LoadPipetteParams(
  pipetteName=PipetteNameType.P300_SINGLE,
@@ -106,6 +107,7 @@ async def test_load_pipette_implementation_96_channel(
  nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96),
  back_left_corner_offset=Point(x=1, y=2, z=3),
  front_right_corner_offset=Point(x=4, y=5, z=6),
+ pipette_lld_settings={},
  )
 
  decoy.when(

api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py

@@ -144,6 +144,7 @@ def loaded_static_pipette_data(
  nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  back_left_corner_offset=Point(x=1, y=2, z=3),
  front_right_corner_offset=Point(x=4, y=5, z=6),
+ pipette_lld_settings={},
  )
 
 

api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py

@@ -58,6 +58,7 @@ def test_get_virtual_pipette_static_config(
  nozzle_map=result.nozzle_map,
  back_left_corner_offset=Point(0, 0, 10.45),
  front_right_corner_offset=Point(0, 0, 10.45),
+ pipette_lld_settings={},
  )
 
 
@@ -86,6 +87,7 @@ def test_configure_virtual_pipette_for_volume(
  nozzle_map=result1.nozzle_map,
  back_left_corner_offset=Point(-8.0, -22.0, -259.15),
  front_right_corner_offset=Point(-8.0, -22.0, -259.15),
+ pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
  )
  subject_instance.configure_virtual_pipette_for_volume(
  "my-pipette", 1, result1.model
@@ -111,6 +113,7 @@ def test_configure_virtual_pipette_for_volume(
  nozzle_map=result2.nozzle_map,
  back_left_corner_offset=Point(-8.0, -22.0, -259.15),
  front_right_corner_offset=Point(-8.0, -22.0, -259.15),
+ pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
  )
 
 
@@ -139,6 +142,7 @@ def test_load_virtual_pipette_by_model_string(
  nozzle_map=result.nozzle_map,
  back_left_corner_offset=Point(-16.0, 43.15, 35.52),
  front_right_corner_offset=Point(16.0, -43.15, 35.52),
+ pipette_lld_settings={},
  )
 
 
@@ -225,6 +229,11 @@ def test_get_pipette_static_config(
  backLeftCorner=[10, 20, 30],
  frontRightCorner=[40, 50, 60],
  ),
+ "lld_settings": {
+ "t50": {"minHeight": 0.5, "minVolume": 0},
+ "t200": {"minHeight": 0.5, "minVolume": 0},
+ "t1000": {"minHeight": 0.5, "minVolume": 0},
+ },
  }
 
  result = subject.get_pipette_static_config(pipette_dict)
@@ -253,4 +262,9 @@ def test_get_pipette_static_config(
  nozzle_map=dummy_nozzle_map,
  back_left_corner_offset=Point(10, 20, 30),
  front_right_corner_offset=Point(40, 50, 60),
+ pipette_lld_settings={
+ "t50": {"minHeight": 0.5, "minVolume": 0},
+ "t200": {"minHeight": 0.5, "minVolume": 0},
+ "t1000": {"minHeight": 0.5, "minVolume": 0},
+ },
  )

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -2078,6 +2078,7 @@ def test_get_next_drop_tip_location(
  back_left_corner=Point(x=10, y=20, z=30),
  front_right_corner=Point(x=40, y=50, z=60),
  ),
+ lld_settings={},
  )
  )
  decoy.when(mock_pipette_view.get_mount("pip-123")).then_return(pipette_mount)

api/tests/opentrons/protocol_engine/state/test_pipette_store.py

@@ -748,6 +748,7 @@ def test_add_pipette_config(
  nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  back_left_corner_offset=Point(x=1, y=2, z=3),
  front_right_corner_offset=Point(x=4, y=5, z=6),
+ pipette_lld_settings={},
  ),
  )
  subject.handle_action(
@@ -774,6 +775,7 @@ def test_add_pipette_config(
  back_left_corner=Point(x=1, y=2, z=3),
  front_right_corner=Point(x=4, y=5, z=6),
  ),
+ lld_settings={},
  )
  assert subject.state.flow_rates_by_id["pipette-id"].default_aspirate == {"a": 1.0}
  assert subject.state.flow_rates_by_id["pipette-id"].default_dispense == {"b": 2.0}

api/tests/opentrons/protocol_engine/state/test_pipette_view.py

@@ -276,6 +276,7 @@ def test_get_pipette_working_volume(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  )
  },
  )
@@ -306,6 +307,7 @@ def test_get_pipette_working_volume_raises_if_tip_volume_is_none(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  )
  },
  )
@@ -345,6 +347,7 @@ def test_get_pipette_available_volume(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  ),
  "pipette-id-none": StaticPipetteConfig(
  min_volume=1,
@@ -360,6 +363,7 @@ def test_get_pipette_available_volume(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  ),
  },
  )
@@ -471,6 +475,7 @@ def test_get_static_config(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  )
 
  subject = get_pipette_view(
@@ -521,6 +526,7 @@ def test_get_nominal_tip_overlap(
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  pipette_bounding_box_offsets=_SAMPLE_PIPETTE_BOUNDING_BOX_OFFSETS,
+ lld_settings={},
  )
 
  subject = get_pipette_view(static_config_by_id={"pipette-id": config})
@@ -781,6 +787,7 @@ def test_get_nozzle_bounds_at_location(
  default_nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE),
  bounding_nozzle_offsets=_SAMPLE_NOZZLE_BOUNDS_OFFSETS,
  pipette_bounding_box_offsets=bounding_box_offsets,
+ lld_settings={},
  )
  },
  )