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Merged
jbleon95 merged 13 commits into from
Apr 23, 2025
Merged

refactor(api, shared-data): rename certain liquid class properties #17310

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8408ac0
rename camel case mmToEdge to mmFromEdge
jbleon95 Jan 21, 2025
316efeb
fix command schema
jbleon95 Jan 21, 2025
9e11bfd
change snake_case mm_to_edge to mm_from_edge
jbleon95 Jan 21, 2025
4116818
Merge branch 'edge' of https://github.com/Opentrons/opentrons into re…
jbleon95 Apr 17, 2025
261791e
fix up rogue mm_to_edge references
jbleon95 Apr 17, 2025
de42839
refactor liquid class schema position reference and offset
jbleon95 Apr 18, 2025
9e76694
python code update for tip position
jbleon95 Apr 18, 2025
27e33d6
Merge branch 'edge' of https://github.com/Opentrons/opentrons into re…
jbleon95 Apr 21, 2025
3b65778
i have become typescript developer
jbleon95 Apr 21, 2025
a236c8d
revert previous schema change
jbleon95 Apr 21, 2025
2f49914
i have become typescript refactorer
jbleon95 Apr 21, 2025
788e2e7
update pydantic field descriptions
jbleon95 Apr 23, 2025
55c8e07
fixing some typescript nits
jbleon95 Apr 23, 2025
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190 changes: 106 additions & 84 deletions api/src/opentrons/protocol_api/_liquid_properties.py
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12 changes: 6 additions & 6 deletions api/src/opentrons/protocol_api/core/engine/instrument.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1962,8 +1962,8 @@ def aspirate_liquid_class(
aspirate_point = (
tx_comps_executor.absolute_point_from_position_reference_and_offset(
well=source_well,
position_reference=aspirate_props.position_reference,
offset=aspirate_props.offset,
position_reference=aspirate_props.aspirate_position.position_reference,
offset=aspirate_props.aspirate_position.offset,
)
)
aspirate_location = Location(aspirate_point, labware=source_loc.labware)
Expand Down Expand Up @@ -2073,8 +2073,8 @@ def dispense_liquid_class(
dispense_point = (
tx_comps_executor.absolute_point_from_position_reference_and_offset(
well=dest_well,
position_reference=dispense_props.position_reference,
offset=dispense_props.offset,
position_reference=dispense_props.dispense_position.position_reference,
offset=dispense_props.dispense_position.offset,
)
)
dispense_location = Location(dispense_point, labware=dest_loc.labware)
Expand Down Expand Up @@ -2155,8 +2155,8 @@ def dispense_liquid_class_during_multi_dispense(
dispense_point = (
tx_comps_executor.absolute_point_from_position_reference_and_offset(
well=dest_well,
position_reference=dispense_props.position_reference,
offset=dispense_props.offset,
position_reference=dispense_props.dispense_position.position_reference,
offset=dispense_props.dispense_position.offset,
)
)
dispense_location = Location(dispense_point, labware=dest_loc.labware)
Expand Down
24 changes: 12 additions & 12 deletions api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,8 @@ def submerge(
"""
submerge_start_point = absolute_point_from_position_reference_and_offset(
well=self._target_well,
position_reference=submerge_properties.position_reference,
offset=submerge_properties.offset,
position_reference=submerge_properties.start_position.position_reference,
offset=submerge_properties.start_position.offset,
)
submerge_start_location = Location(
point=submerge_start_point, labware=self._target_location.labware
Expand Down Expand Up @@ -332,8 +332,8 @@ def retract_after_aspiration(
retract_props = self._transfer_properties.aspirate.retract
retract_point = absolute_point_from_position_reference_and_offset(
well=self._target_well,
position_reference=retract_props.position_reference,
offset=retract_props.offset,
position_reference=retract_props.end_position.position_reference,
offset=retract_props.end_position.offset,
)
retract_location = Location(
retract_point, labware=self._target_location.labware
Expand Down Expand Up @@ -363,15 +363,15 @@ def retract_after_aspiration(
assert (
touch_tip_props.speed is not None
and touch_tip_props.z_offset is not None
and touch_tip_props.mm_to_edge is not None
and touch_tip_props.mm_from_edge is not None
)
self._instrument.touch_tip(
location=retract_location,
well_core=self._target_well,
radius=1,
z_offset=touch_tip_props.z_offset,
speed=touch_tip_props.speed,
mm_from_edge=touch_tip_props.mm_to_edge,
mm_from_edge=touch_tip_props.mm_from_edge,
)
self._instrument.move_to(
location=retract_location,
Expand Down Expand Up @@ -429,8 +429,8 @@ def retract_after_dispensing(
retract_props = self._transfer_properties.dispense.retract
retract_point = absolute_point_from_position_reference_and_offset(
well=self._target_well,
position_reference=retract_props.position_reference,
offset=retract_props.offset,
position_reference=retract_props.end_position.position_reference,
offset=retract_props.end_position.offset,
)
retract_location = Location(
retract_point, labware=self._target_location.labware
Expand Down Expand Up @@ -568,8 +568,8 @@ def retract_during_multi_dispensing(
retract_props = self._transfer_properties.multi_dispense.retract
retract_point = absolute_point_from_position_reference_and_offset(
well=self._target_well,
position_reference=retract_props.position_reference,
offset=retract_props.offset,
position_reference=retract_props.end_position.position_reference,
offset=retract_props.end_position.offset,
)
retract_location = Location(
retract_point, labware=self._target_location.labware
Expand Down Expand Up @@ -724,7 +724,7 @@ def _do_touch_tip_and_air_gap(
assert (
touch_tip_properties.speed is not None
and touch_tip_properties.z_offset is not None
and touch_tip_properties.mm_to_edge is not None
and touch_tip_properties.mm_from_edge is not None
)
# TODO:, check that when blow out is a non-dest-well,
# whether the touch tip params from transfer props should be used for
Expand All @@ -737,7 +737,7 @@ def _do_touch_tip_and_air_gap(
radius=1,
z_offset=touch_tip_properties.z_offset,
speed=touch_tip_properties.speed,
mm_from_edge=touch_tip_properties.mm_to_edge,
mm_from_edge=touch_tip_properties.mm_from_edge,
)
except TouchTipDisabledError:
# TODO: log a warning
Expand Down
2 changes: 1 addition & 1 deletion api/src/opentrons/protocol_api/instrument_context.py
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Original file line number Diff line number Diff line change
Expand Up @@ -703,7 +703,7 @@ def touch_tip( # noqa: C901
``None``. This should happen if ``touch_tip`` is called
without first calling a method that takes a location, like
:py:meth:`.aspirate` or :py:meth:`dispense`.
:raises: ValueError: If both ``mm_to_edge`` and ``radius`` are specified.
:raises: ValueError: If both ``mm_from_edge`` and ``radius`` are specified.
:returns: This instance.

.. versionchanged:: 2.24
Expand Down
97 changes: 64 additions & 33 deletions api/tests/opentrons/conftest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
ByTipTypeSetting,
AspirateProperties,
Submerge,
TipPosition,
PositionReference,
DelayProperties,
DelayParams,
Expand Down Expand Up @@ -818,23 +819,29 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1:
tiprack="opentrons_flex_96_tiprack_50ul",
aspirate=AspirateProperties(
submerge=Submerge(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=-5),
startPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=-5),
),
speed=100,
delay=DelayProperties(
enable=True, params=DelayParams(duration=1.5)
),
),
retract=RetractAspirate(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=5),
endPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=5),
),
speed=100,
airGapByVolume=[(5.0, 3.0), (10.0, 4.0)],
touchTip=TouchTipProperties(enable=False),
delay=DelayProperties(enable=False),
),
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=0, y=0, z=-5),
aspiratePosition=TipPosition(
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=0, y=0, z=-5),
),
flowRateByVolume=[(10.0, 40.0), (20.0, 30.0)],
correctionByVolume=[(15.0, 1.5), (30.0, -5.0)],
preWet=True,
Expand All @@ -845,22 +852,28 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1:
),
singleDispense=SingleDispenseProperties(
submerge=Submerge(
positionReference=PositionReference.LIQUID_MENISCUS,
offset=Coordinate(x=0, y=0, z=-5),
startPosition=TipPosition(
positionReference=PositionReference.LIQUID_MENISCUS,
offset=Coordinate(x=0, y=0, z=-5),
),
speed=100,
delay=DelayProperties(enable=False),
),
retract=RetractDispense(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=5),
endPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=5),
),
speed=100,
airGapByVolume=[(5.0, 3.0), (10.0, 4.0)],
blowout=BlowoutProperties(enable=False),
touchTip=TouchTipProperties(enable=False),
delay=DelayProperties(enable=False),
),
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=0, y=0, z=-5),
dispensePosition=TipPosition(
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=0, y=0, z=-5),
),
flowRateByVolume=[(10.0, 40.0), (20.0, 30.0)],
correctionByVolume=[(15.0, -1.5), (30.0, 5.0)],
mix=MixProperties(enable=False),
Expand Down Expand Up @@ -892,30 +905,36 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1:
tiprack="opentrons_flex_96_tiprack_50ul",
aspirate=AspirateProperties(
submerge=Submerge(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=1, y=2, z=3),
startPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=1, y=2, z=3),
),
speed=100,
delay=DelayProperties(
enable=True, params=DelayParams(duration=10.0)
),
),
retract=RetractAspirate(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=3, y=2, z=1),
endPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=3, y=2, z=1),
),
speed=50,
airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
touchTip=TouchTipProperties(
enable=True,
params=LiquidClassTouchTipParams(
zOffset=-1, mmToEdge=0.5, speed=30
zOffset=-1, mmFromEdge=0.5, speed=30
),
),
delay=DelayProperties(
enable=True, params=DelayParams(duration=20)
),
),
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=10, y=20, z=30),
aspiratePosition=TipPosition(
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=10, y=20, z=30),
),
flowRateByVolume=[(1.0, 35.0), (10.0, 24.0), (50.0, 35.0)],
correctionByVolume=[(0.0, 0.0)],
preWet=True,
Expand All @@ -928,16 +947,20 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1:
),
singleDispense=SingleDispenseProperties(
submerge=Submerge(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=30, y=20, z=10),
startPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=30, y=20, z=10),
),
speed=100,
delay=DelayProperties(
enable=True, params=DelayParams(duration=0.0)
),
),
retract=RetractDispense(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=11, y=22, z=33),
endPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=11, y=22, z=33),
),
speed=50,
airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
blowout=BlowoutProperties(
Expand All @@ -950,15 +973,17 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1:
touchTip=TouchTipProperties(
enable=True,
params=LiquidClassTouchTipParams(
zOffset=-1, mmToEdge=0.75, speed=30
zOffset=-1, mmFromEdge=0.75, speed=30
),
),
delay=DelayProperties(
enable=True, params=DelayParams(duration=10)
),
),
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=33, y=22, z=11),
dispensePosition=TipPosition(
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=33, y=22, z=11),
),
flowRateByVolume=[(1.0, 50.0)],
correctionByVolume=[(0.0, 0.0)],
mix=MixProperties(
Expand All @@ -977,16 +1002,20 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1:
),
multiDispense=MultiDispenseProperties(
submerge=Submerge(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=2),
startPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=0, y=0, z=2),
),
speed=100,
delay=DelayProperties(
enable=False, params=DelayParams(duration=0.0)
),
),
retract=RetractDispense(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=2, y=3, z=1),
endPosition=TipPosition(
positionReference=PositionReference.WELL_TOP,
offset=Coordinate(x=2, y=3, z=1),
),
speed=50,
airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
blowout=BlowoutProperties(
Expand All @@ -999,15 +1028,17 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1:
touchTip=TouchTipProperties(
enable=False,
params=LiquidClassTouchTipParams(
zOffset=-1, mmToEdge=0.5, speed=30
zOffset=-1, mmFromEdge=0.5, speed=30
),
),
delay=DelayProperties(
enable=False, params=DelayParams(duration=0)
),
),
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=1, y=3, z=2),
dispensePosition=TipPosition(
positionReference=PositionReference.WELL_BOTTOM,
offset=Coordinate(x=1, y=3, z=2),
),
flowRateByVolume=[(50.0, 50.0)],
correctionByVolume=[(0.0, 0.0)],
conditioningByVolume=[(1.0, 5.0), (45.0, 5.0), (50.0, 0.0)],
Expand Down
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