chore(merge): Merge head of chore_release into edge (#16161)

api/docs/static/override_sphinx.css

@@ -1,11 +1,12 @@
-@import url('https://fonts.googleapis.com/css?family=Open+Sans:300,400,400i,600,700');
+@import url('https://fonts.googleapis.com/css?family=Public+Sans:300,400,400i,600,700');
+@import url('https://fonts.googleapis.com/css2?family=Reddit+Mono:[email protected]&display=swap');
 
 /* OT NAV */
 
 body {
     padding: 0;
     margin: 0;
-    font-family: "Open Sans", "sans-serif";
+    font-family: "Public Sans", "sans-serif";
 }
 
 .highlight-none, .mi, .literal {
@@ -35,7 +36,18 @@ div.document [id] {
 
 div.body p {
     line-height: 20pt;
-    font-family: "Open Sans", "sans-serif";
+    font-family: "Public Sans", "sans-serif";
+}
+
+pre, tt, code {
+    font-size: 0.9em;
+    font-family: "Reddit Mono", "Consolas", "Lucida Console", monospace;
+}
+
+/* classes for API Reference docstring signatures */
+.sig, .sig-name, code.descname, .sig-prename, .optional, .sig-paren {
+    font-size: 1em;
+    font-family: "Reddit Mono", "Consolas", "Lucida Console", monospace;
 }
 
 div.body h1 {
@@ -90,7 +102,13 @@ div.body h2,
 div.body h3,
 div.body h4,
 div.body h5 {
-    font-family: "Open Sans", "sans-serif";
+    font-family: "Public Sans", "sans-serif";
+}
+
+/* Links need an extra two pixels of padding to compensate between body font height 
+being 1em and code font height being 0.9em */
+a.reference {
+    padding-bottom: 2px;
 }
 
 /* Suppressing the display of the toctrees rendered in the doc body means we
@@ -193,13 +211,13 @@ div.body p.caption {
 
 ul {
     /* margin-left: 0; */
-    font-family: "Open Sans", "sans-serif";
+    font-family: "Public Sans", "sans-serif";
 }
 
 ul ul {
     list-style-type: circle;
     margin-left: 30px;
-    font-family: "Open Sans", "sans-serif";
+    font-family: "Public Sans", "sans-serif";
 }
 
 @media screen and (min-device-width: 320px)and (max-device-width: 640px) {

api/docs/v2/parameters/use_case_cherrypicking.rst

@@ -123,6 +123,7 @@ The entire start of the ``run()`` function, including a pipette and fixed labwar
             instrument_name="flex_1channel_1000",
             mount="left",
             tip_racks=[tiprack]
+        )
         # load trash bin
         trash = protocol.load_trash_bin("A3")
         )

api/src/opentrons/protocol_api/core/engine/deck_conflict.py

@@ -416,23 +416,48 @@ def _is_within_pipette_extents(
     pipette_bounding_box_at_loc: Tuple[Point, Point, Point, Point],
 ) -> bool:
     """Whether a given point is within the extents of a configured pipette on the specified robot."""
-    mount = engine_state.pipettes.get_mount(pipette_id)
-    robot_extent_per_mount = engine_state.geometry.absolute_deck_extents
-    pip_back_left_bound, pip_front_right_bound, _, _ = pipette_bounding_box_at_loc
-    pipette_bounds_offsets = engine_state.pipettes.get_pipette_bounding_box(pipette_id)
-    from_back_right = (
-        robot_extent_per_mount.back_right[mount]
-        + pipette_bounds_offsets.back_right_corner
-    )
-    from_front_left = (
-        robot_extent_per_mount.front_left[mount]
-        + pipette_bounds_offsets.front_left_corner
-    )
+    channels = engine_state.pipettes.get_channels(pipette_id)
+    robot_extents = engine_state.geometry.absolute_deck_extents
+    (
+        pip_back_left_bound,
+        pip_front_right_bound,
+        pip_back_right_bound,
+        pip_front_left_bound,
+    ) = pipette_bounding_box_at_loc
+
+    # Given the padding values accounted for against the deck extents,
+    # a pipette is within extents when all of the following are true:
+
+    # Each corner slot full pickup case:
+    # A1: Front right nozzle is within the rear and left-side padding limits
+    # D1: Back right nozzle is within the front and left-side padding limits
+    # A3 Front left nozzle is within the rear and right-side padding limits
+    # D3: Back left nozzle is within the front and right-side padding limits
+    # Thermocycler Column A2: Front right nozzle is within padding limits
+
+    if channels == 96:
+        return (
+            pip_front_right_bound.y
+            <= robot_extents.deck_extents.y + robot_extents.padding_rear
+            and pip_front_right_bound.x >= robot_extents.padding_left_side
+            and pip_back_right_bound.y >= robot_extents.padding_front
+            and pip_back_right_bound.x >= robot_extents.padding_left_side
+            and pip_front_left_bound.y
+            <= robot_extents.deck_extents.y + robot_extents.padding_rear
+            and pip_front_left_bound.x
+            <= robot_extents.deck_extents.x + robot_extents.padding_right_side
+            and pip_back_left_bound.y >= robot_extents.padding_front
+            and pip_back_left_bound.x
+            <= robot_extents.deck_extents.x + robot_extents.padding_right_side
+        )
+    # For 8ch pipettes we only check the rear and front extents
     return (
-        from_back_right.x >= pip_back_left_bound.x >= from_front_left.x
-        and from_back_right.y >= pip_back_left_bound.y >= from_front_left.y
-        and from_back_right.x >= pip_front_right_bound.x >= from_front_left.x
-        and from_back_right.y >= pip_front_right_bound.y >= from_front_left.y
+        pip_front_right_bound.y
+        <= robot_extents.deck_extents.y + robot_extents.padding_rear
+        and pip_back_right_bound.y >= robot_extents.padding_front
+        and pip_front_left_bound.y
+        <= robot_extents.deck_extents.y + robot_extents.padding_rear
+        and pip_back_left_bound.y >= robot_extents.padding_front
     )
 
 

api/src/opentrons/protocol_api/instrument_context.py

@@ -263,7 +263,6 @@ def aspirate(
             and self._96_tip_config_valid()
         ):
             self.require_liquid_presence(well=well)
-            self.prepare_to_aspirate()
 
         with publisher.publish_context(
             broker=self.broker,

api/src/opentrons/protocol_api/protocol_context.py

@@ -932,6 +932,7 @@ def load_instrument(
                              from the Opentrons App or touchscreen.
         :param bool liquid_presence_detection: If ``True``, enable automatic
             :ref:`liquid presence detection <lpd>` for Flex 1-, 8-, or 96-channel pipettes.
+
             .. versionadded:: 2.20
         """
         instrument_name = validation.ensure_lowercase_name(instrument_name)

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

@@ -352,6 +352,20 @@ def mount_offsets(self) -> Dict[str, Point]:
             "right": Point(x=right_offset[0], y=right_offset[1], z=right_offset[2]),
         }
 
+    @cached_property
+    def padding_offsets(self) -> Dict[str, float]:
+        """The padding offsets to be applied to the deck extents of the robot."""
+        rear_offset = self.state.robot_definition["paddingOffsets"]["rear"]
+        front_offset = self.state.robot_definition["paddingOffsets"]["front"]
+        left_side_offset = self.state.robot_definition["paddingOffsets"]["leftSide"]
+        right_side_offset = self.state.robot_definition["paddingOffsets"]["rightSide"]
+        return {
+            "rear": rear_offset,
+            "front": front_offset,
+            "left_side": left_side_offset,
+            "right_side": right_side_offset,
+        }
+
     def get_addressable_area(self, addressable_area_name: str) -> AddressableArea:
         """Get addressable area."""
         if not self._state.use_simulated_deck_config:

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

@@ -77,6 +77,11 @@ class _GripperMoveType(enum.Enum):
 class _AbsoluteRobotExtents:
     front_left: Dict[MountType, Point]
     back_right: Dict[MountType, Point]
+    deck_extents: Point
+    padding_rear: float
+    padding_front: float
+    padding_left_side: float
+    padding_right_side: float
 
 
 _LabwareLocation = TypeVar("_LabwareLocation", bound=LabwareLocation)
@@ -118,7 +123,13 @@ def absolute_deck_extents(self) -> _AbsoluteRobotExtents:
             MountType.RIGHT: self._addressable_areas.deck_extents + right_offset,
         }
         return _AbsoluteRobotExtents(
-            front_left=front_left_abs, back_right=back_right_abs
+            front_left=front_left_abs,
+            back_right=back_right_abs,
+            deck_extents=self._addressable_areas.deck_extents,
+            padding_rear=self._addressable_areas.padding_offsets["rear"],
+            padding_front=self._addressable_areas.padding_offsets["front"],
+            padding_left_side=self._addressable_areas.padding_offsets["left_side"],
+            padding_right_side=self._addressable_areas.padding_offsets["right_side"],
         )
 
     def get_labware_highest_z(self, labware_id: str) -> float:

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

@@ -845,8 +845,6 @@ def get_pipette_bounds_at_specified_move_to_position(
             - primary_nozzle_offset
             + pipette_bounds_offsets.front_right_corner
         )
-        # TODO (spp, 2024-02-27): remove back right & front left;
-        #  return only back left and front right points.
         pip_back_right_bound = Point(
             pip_front_right_bound.x, pip_back_left_bound.y, pip_front_right_bound.z
         )

api/tests/opentrons/protocol_api/core/engine/test_deck_conflict.py

@@ -510,6 +510,11 @@ def test_deck_conflict_raises_for_bad_pipette_move(
                 MountType.LEFT: Point(463.7, 433.3, 0.0),
                 MountType.RIGHT: Point(517.7, 433.3),
             },
+            deck_extents=Point(477.2, 493.8, 0.0),
+            padding_rear=-181.21,
+            padding_front=55.8,
+            padding_left_side=31.88,
+            padding_right_side=-80.32,
         )
     )
     decoy.when(
@@ -677,6 +682,11 @@ def test_deck_conflict_raises_for_collision_with_tc_lid(
                 MountType.LEFT: Point(463.7, 433.3, 0.0),
                 MountType.RIGHT: Point(517.7, 433.3),
             },
+            deck_extents=Point(477.2, 493.8, 0.0),
+            padding_rear=-181.21,
+            padding_front=55.8,
+            padding_left_side=31.88,
+            padding_right_side=-80.32,
         )
     )
 
@@ -696,7 +706,7 @@ def test_deck_conflict_raises_for_collision_with_tc_lid(
     )
     with pytest.raises(
         deck_conflict.PartialTipMovementNotAllowedError,
-        match="collision with thermocycler lid in deck slot A1.",
+        match="Requested motion with the A12 nozzle partial configuration is outside of robot bounds for the pipette.",
     ):
         deck_conflict.check_safe_for_pipette_movement(
             engine_state=mock_state_view,

api/tests/opentrons/protocol_api_integration/test_pipette_movement_deck_conflicts.py

@@ -61,13 +61,6 @@ def test_deck_conflicts_for_96_ch_a12_column_configuration() -> None:
     ):
         instrument.pick_up_tip(badly_placed_tiprack.wells_by_name()["A1"])
 
-    with pytest.raises(
-        PartialTipMovementNotAllowedError, match="outside of robot bounds"
-    ):
-        # Picking up from A1 in an east-most slot using a configuration with column 12 would
-        # result in a collision with the side of the robot.
-        instrument.pick_up_tip(well_placed_tiprack.wells_by_name()["A1"])
-
     instrument.pick_up_tip(well_placed_tiprack.wells_by_name()["A12"])
     instrument.aspirate(50, well_placed_labware.wells_by_name()["A4"])
 

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

@@ -33,6 +33,12 @@ def test_deck_configuration_setting(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -74,6 +74,12 @@ def simulated_subject(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],
@@ -101,6 +107,12 @@ def subject(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],
@@ -127,6 +139,12 @@ def test_initial_state_simulated(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -69,6 +69,12 @@ def get_addressable_area_view(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -184,6 +184,12 @@ def addressable_area_store(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -79,6 +79,12 @@ def get_addressable_area_view(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -92,6 +92,12 @@ def get_addressable_area_view(
             "robotType": "OT-3 Standard",
             "models": ["OT-3 Standard"],
             "extents": [477.2, 493.8, 0.0],
+            "paddingOffsets": {
+                "rear": -177.42,
+                "front": 51.8,
+                "leftSide": 31.88,
+                "rightSide": -80.32,
+            },
             "mountOffsets": {
                 "left": [-13.5, -60.5, 255.675],
                 "right": [40.5, -60.5, 255.675],

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

@@ -49,6 +49,12 @@ def placeholder_error_recovery_policy(*args: object, **kwargs: object) -> Any:
             "robotType": "OT-2 Standard",
             "models": ["OT-2 Standard", "OT-2 Refresh"],
             "extents": [446.75, 347.5, 0.0],
+            "paddingOffsets": {
+                "rear": -35.91,
+                "front": 31.89,
+                "leftSide": 0,
+                "rightSide": 0,
+            },
             "mountOffsets": {"left": [-34.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0]},
         },
         deck_fixed_labware=[],

app-shell/build/release-notes.md

@@ -28,6 +28,7 @@ Welcome to the v8.0.0 release of the Opentrons App!
 ### Known Issues
 
 - Labware offsets can't be applied to protocols that require selecting a CSV file as a runtime parameter value. Write the protocol in such a way that it passes analysis with or without the CSV file, or run Labware Position Check after confirming parameter values.
+- Error recovery can't perform partial tip pickup, because it doesn't account for the pipette nozzle configuration of 8- and 96-channel pipettes. If a recovery step requires partial tip pickup, cancel the protocol instead.
 
 ---