Merge branch 'edge' into app_dqa-desktop-device-details-deck-config

api/src/opentrons/protocol_api/instrument_context.py

@@ -2,7 +2,7 @@
 
 import logging
 from contextlib import nullcontext
-from typing import Any, List, Optional, Sequence, Union, cast
+from typing import Any, List, Optional, Sequence, Union, cast, Dict
 from opentrons_shared_data.errors.exceptions import (
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
@@ -435,6 +435,10 @@ def mix(
 
         c_vol = self._core.get_available_volume() if not volume else volume
 
+        dispense_kwargs: Dict[str, Any] = {}
+        if self.api_version >= APIVersion(2, 16):
+            dispense_kwargs["push_out"] = 0.0
+
         with publisher.publish_context(
             broker=self.broker,
             command=cmds.mix(
@@ -446,7 +450,7 @@ def mix(
         ):
             self.aspirate(volume, location, rate)
             while repetitions - 1 > 0:
-                self.dispense(volume, rate=rate)
+                self.dispense(volume, rate=rate, **dispense_kwargs)
                 self.aspirate(volume, rate=rate)
                 repetitions -= 1
             self.dispense(volume, rate=rate)

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

@@ -1349,7 +1349,7 @@ def test_get_deck_gripper_offsets(ot3_standard_deck_def: DeckDefinitionV4) -> No
 
     assert subject.get_deck_default_gripper_offsets() == LabwareMovementOffsetData(
         pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
-        dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.25),
+        dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.75),
     )
 
 

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

@@ -1756,14 +1756,14 @@ def test_is_edge_move_unsafe(
             lazy_fixture("thermocycler_v2_def"),
             LabwareMovementOffsetData(
                 pickUpOffset=LabwareOffsetVector(x=0, y=0, z=4.6),
-                dropOffset=LabwareOffsetVector(x=0, y=0, z=4.6),
+                dropOffset=LabwareOffsetVector(x=0, y=0, z=5.6),
             ),
         ),
         (
             lazy_fixture("heater_shaker_v1_def"),
             LabwareMovementOffsetData(
                 pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
-                dropOffset=LabwareOffsetVector(x=0, y=0, z=0.5),
+                dropOffset=LabwareOffsetVector(x=0, y=0, z=1.0),
             ),
         ),
         (

app/src/organisms/LabwarePositionCheck/PrepareSpace.tsx

@@ -112,7 +112,9 @@ export const PrepareSpace = (props: PrepareSpaceProps): JSX.Element | null => {
                 labwareLocation: location,
                 definition: labwareDef,
               },
-            ]}
+            ].filter(
+              () => !('moduleModel' in location && location.moduleModel != null)
+            )}
             deckConfig={deckConfig}
           />
         </Flex>

components/src/hardware-sim/BaseDeck/BaseDeck.tsx

@@ -121,7 +121,14 @@ export function BaseDeck(props: BaseDeckProps): JSX.Element {
       ) : (
         <>
           {showSlotLabels ? (
-            <SlotLabels robotType={robotType} color={darkFill} />
+            <SlotLabels
+              robotType={robotType}
+              color={darkFill}
+              show4thColumn={
+                stagingAreaFixtures.length > 0 ||
+                wasteChuteStagingAreaFixtures.length > 0
+              }
+            />
           ) : null}
           {singleSlotFixtures.map(fixture => (
             <SingleSlotFixture

components/src/hardware-sim/Deck/SlotLabels.tsx

@@ -10,6 +10,7 @@ import type { RobotType } from '@opentrons/shared-data'
 interface SlotLabelsProps {
   robotType: RobotType
   color?: string
+  show4thColumn?: boolean
 }
 
 /**
@@ -19,7 +20,11 @@ interface SlotLabelsProps {
 export const SlotLabels = ({
   robotType,
   color,
+  show4thColumn = false,
 }: SlotLabelsProps): JSX.Element | null => {
+  const widthSmallRem = 10.5
+  const widthLargeRem = 15.25
+
   return robotType === FLEX_ROBOT_TYPE ? (
     <>
       <RobotCoordsForeignObject
@@ -71,37 +76,56 @@ export const SlotLabels = ({
       </RobotCoordsForeignObject>
       <RobotCoordsForeignObject
         height="2.5rem"
-        width="30.375rem"
-        x="-15"
+        width={`${
+          show4thColumn
+            ? widthSmallRem * 2 + widthLargeRem * 2
+            : widthSmallRem + widthLargeRem * 2
+        }rem`}
+        x="-100"
         y="-55"
       >
         <Flex
           alignItems={ALIGN_CENTER}
           flex="1"
-          width="30.375rem"
+          width={`${
+            show4thColumn
+              ? widthSmallRem * 2 + widthLargeRem * 2
+              : widthSmallRem + widthLargeRem * 2
+          }rem`}
           height="2.5rem"
         >
           <Flex
             alignItems={ALIGN_CENTER}
             justifyContent={JUSTIFY_CENTER}
-            flex="1"
+            width={`${widthLargeRem}rem`}
           >
             <LocationIcon color={color} slotName="1" height="100%" />
           </Flex>
           <Flex
             alignItems={ALIGN_CENTER}
             justifyContent={JUSTIFY_CENTER}
-            flex="1"
+            width={`${widthSmallRem}rem`}
           >
             <LocationIcon color={color} slotName="2" height="100%" />
           </Flex>
           <Flex
             alignItems={ALIGN_CENTER}
             justifyContent={JUSTIFY_CENTER}
-            flex="1"
+            width={
+              show4thColumn ? `${widthSmallRem}rem` : `${widthLargeRem}rem`
+            }
           >
             <LocationIcon color={color} slotName="3" height="100%" />
           </Flex>
+          {show4thColumn ? (
+            <Flex
+              alignItems={ALIGN_CENTER}
+              justifyContent={JUSTIFY_CENTER}
+              width={`${widthSmallRem}rem`}
+            >
+              <LocationIcon color={color} slotName="4" height="100%" />
+            </Flex>
+          ) : null}
         </Flex>
       </RobotCoordsForeignObject>
     </>

components/src/hardware-sim/DeckConfigurator/index.tsx

@@ -125,7 +125,11 @@ export function DeckConfigurator(props: DeckConfiguratorProps): JSX.Element {
           fixtureLocation={cutoutId}
         />
       ))}
-      <SlotLabels robotType={FLEX_ROBOT_TYPE} color={darkFill} />
+      <SlotLabels
+        robotType={FLEX_ROBOT_TYPE}
+        color={darkFill}
+        show4thColumn={stagingAreaFixtures.length > 0}
+      />
       {children}
     </RobotCoordinateSpace>
   )

hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py

@@ -4,10 +4,10 @@
 from datetime import datetime
 from enum import Enum
 from math import pi
-from subprocess import run
+from subprocess import run, Popen
 from time import time
 from typing import Callable, Coroutine, Dict, List, Optional, Tuple, Union
-
+import atexit
 from opentrons_hardware.drivers.can_bus import DriverSettings, build, CanMessenger
 from opentrons_hardware.drivers.can_bus import settings as can_bus_settings
 from opentrons_hardware.firmware_bindings.constants import SensorId
@@ -77,6 +77,15 @@ def stop_server_ot3() -> None:
     """Stop opentrons-robot-server on the OT3."""
     print('Stopping "opentrons-robot-server"...')
     run(["systemctl", "stop", "opentrons-robot-server"])
+    atexit.register(restart_server_ot3)
+
+
+def restart_server_ot3() -> None:
+    """Start opentrons-robot-server on the OT3."""
+    print('Starting "opentrons-robot-server"...')
+    Popen(
+        ["systemctl", "restart", "opentrons-robot-server", "&"],
+    )
 
 
 def start_server_ot3() -> None:

shared-data/deck/definitions/3/ot3_standard.json

@@ -982,7 +982,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": -0.25
+        "z": -0.75
       }
     }
   }

shared-data/deck/definitions/4/ot3_standard.json

@@ -590,7 +590,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": -0.25
+        "z": -0.75
       }
     }
   }

shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json

@@ -55,7 +55,7 @@
       "z": 10.7
     }
   },
-  "gripForce": 15,
+  "gripForce": 9,
   "gripHeightFromLabwareBottom": 10,
   "ordering": [
     ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],

shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json

@@ -1014,5 +1014,19 @@
     "x": 8.5,
     "y": 5.5,
     "z": 0
+  },
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 1.0
+      }
+    }
   }
 }

shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json

@@ -1014,5 +1014,19 @@
     "x": 0,
     "y": 0,
     "z": 0
+  },
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 1.0
+      }
+    }
   }
 }

shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json

@@ -55,7 +55,7 @@
       "z": 10.7
     }
   },
-  "gripForce": 15,
+  "gripForce": 9,
   "gripHeightFromLabwareBottom": 10,
   "ordering": [
     ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],

shared-data/module/definitions/3/heaterShakerModuleV1.json

@@ -43,7 +43,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

shared-data/module/definitions/3/magneticBlockV1.json

@@ -38,7 +38,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

shared-data/module/definitions/3/temperatureModuleV2.json

@@ -41,7 +41,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

shared-data/module/definitions/3/thermocyclerModuleV2.json

@@ -44,7 +44,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 4.6
+        "z": 5.6
       }
     }
   },