chore(hardware-testing): Mergeback all the script updates from the recent factory trip

api/src/opentrons/config/defaults_ot3.py

@@ -158,7 +158,7 @@
         OT3AxisKind.X: 0.5,
         OT3AxisKind.Y: 0.5,
         OT3AxisKind.Z: 0.5,
-        OT3AxisKind.P: 0.3,
+        OT3AxisKind.P: 0.8,
         OT3AxisKind.Z_G: 0.2,
         OT3AxisKind.Q: 0.3,
     },

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

@@ -110,7 +110,10 @@ 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": 1.0, "minVolume": 0.0}},
+        pipette_lld_settings={
+            "t20": {"minHeight": 1.5, "minVolume": 0.0},
+            "t50": {"minHeight": 1.0, "minVolume": 0.0},
+        },
         plunger_positions={
             "top": 0.0,
             "bottom": 71.5,
@@ -144,7 +147,10 @@ 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": 1.0, "minVolume": 0.0}},
+        pipette_lld_settings={
+            "t20": {"minHeight": 1.5, "minVolume": 0.0},
+            "t50": {"minHeight": 1.0, "minVolume": 0.0},
+        },
         plunger_positions={
             "top": 0.0,
             "bottom": 61.5,

hardware-testing/Makefile

@@ -229,7 +229,12 @@ push-no-restart-ot3: sdist Pipfile.lock
 	$(call push-python-sdist,$(host),$(ssh_key),$(ssh_opts),$(sdist_file),/opt/opentrons-robot-server,"hardware_testing",,,$(version_file))
 
 .PHONY: push-ot3
-push-ot3: push-no-restart-ot3 push-plot-webpage-ot3 push-description-ot3 push-labware-ot3
+push-ot3:
+	$(MAKE) push-no-restart-ot3
+	$(MAKE) push-plot-webpage-ot3
+	$(MAKE) push-description-ot3
+	$(MAKE) push-labware-ot3
+	cd ../ && $(MAKE) -C shared-data push-ot3
 
 .PHONE: open-dev-app
 open-dev-app:
@@ -280,27 +285,21 @@ echo "Restarting robot server" &&\
 systemctl restart opentrons-robot-server"
 endef
 
-.PHONY: sync-sw-ot3
-sync-sw-ot3: push-ot3
-	cd .. && $(MAKE) push-ot3 host=$(host)
+.PHONY: push-ot3-factory
+push-ot3-factory: push-ot3
+	cd ../ && $(MAKE) push-ot3 host=$(host)
+	$(MAKE) push-ot3
+
+.PHONY: push-ot3-scripts
+push-ot3-scripts: push-ot3
+	$(MAKE) -C hardware-testing push-ot3
 
 .PHONY: push-ot3-fixture
 push-ot3-fixture:
 	$(MAKE) apply-patches-fixture
-	-$(MAKE) sync-sw-ot3
+	-$(MAKE) push-ot3-factory
 	$(MAKE) remove-patches-fixture
 
-
-.PHONY: push-ot3-lld
-push-ot3-lld:
-	$(MAKE) apply-patches-fixture
-	cd ../ && $(MAKE) -C shared-data push-ot3
-	cd ../ && $(MAKE) -C hardware push-ot3
-	cd ../ && $(MAKE) -C hardware_testing push-ot3
-	cd ../ && $(MAKE) -C api push-ot3
-	$(MAKE) remove-patches-fixture
-
-
 .PHONY: apply-patches-fixture
 apply-patches-fixture:
 	cd ../ && git apply ./hardware-testing/fixture_overrides/*.patch --allow-empty
@@ -315,14 +314,7 @@ sync-fw-ot3:
 	$(call push-and-update-fw,$(host),$(ssh_key),$(ssh_opts),$(zip),$(notdir $(zip)))
 
 .PHONY: sync-ot3
-sync-ot3: sync-sw-ot3 sync-fw-ot3
-
-.PHONY: push-ot3-gravimetric
-push-ot3-gravimetric:
-	$(MAKE) push-ot3
-	$(MAKE) apply-patches-gravimetric
-	cd ../ && $(MAKE) -C shared-data push-ot3
-	$(MAKE) remove-patches-gravimetric
+sync-ot3: push-ot3-factory sync-fw-ot3
 
 .PHONY: apply-patches-gravimetric
 apply-patches-gravimetric:

hardware-testing/hardware_testing/gravimetric/helpers.py

@@ -18,6 +18,7 @@
 from opentrons.protocol_api._types import OffDeckType
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from opentrons.protocols.types import APIVersion
+from opentrons.protocols.api_support.deck_type import NoTrashDefinedError
 from opentrons.hardware_control.thread_manager import ThreadManager
 from opentrons.hardware_control.types import OT3Mount, Axis, HardwareFeatureFlags
 from opentrons.hardware_control.ot3api import OT3API
@@ -365,19 +366,7 @@ def _drop_tip(
     if return_tip:
         pipette.return_tip(home_after=False)
     else:
-        if offset is not None:
-            # we don't actually need the offset, if this is an 8 channel we always center channel
-            # a1 over the back of the trash
-            trash_well = pipette.trash_container.well(0)  # type: ignore[union-attr]
-            trash_container = trash_well.center().move(
-                Point(0, trash_well.width / 2, 0)  # type: ignore[union-attr, operator]
-            )
-            pipette.drop_tip(
-                trash_container,
-                home_after=False,
-            )
-        else:
-            pipette.drop_tip(home_after=False)
+        pipette.drop_tip(home_after=False)
     if minimum_z_height > 0:
         cur_location = pipette._get_last_location_by_api_version()
         if cur_location is not None:
@@ -439,7 +428,6 @@ def _load_pipette(
     if pipette_mount in loaded_pipettes.keys():
         return loaded_pipettes[pipette_mount]
 
-    trash = ctx.load_labware("opentrons_1_trash_3200ml_fixed", "A3")
     pipette = ctx.load_instrument(pip_name, pipette_mount)
     loaded_pipettes = ctx.loaded_instruments
     assert pipette.max_volume == pipette_volume, (
@@ -462,7 +450,12 @@ def _load_pipette(
         pipette_movement_conflict.check_safe_for_pipette_movement = (
             _override_check_safe_for_pipette_movement
         )
-    pipette.trash_container = trash
+    try:
+        trash = pipette.trash_container
+    except NoTrashDefinedError:
+        trash = ctx.load_trash_bin("A3")
+        pipette.trash_container = trash
+        pass
     return pipette