pull hemisphere out

api/tests/opentrons/protocol_runner/test_json_translator.py

@@ -15,6 +15,8 @@
     WellDefinition,
     BoundedSection,
     TopCrossSection,
+    InnerLabwareGeometry,
+    Hemisphere,
 )
 from opentrons_shared_data.protocol.models import (
     protocol_schema_v6,
@@ -687,23 +689,30 @@ def _load_labware_definition_data() -> LabwareDefinition:
         },
         dimensions=Dimensions(yDimension=85.5, zDimension=100, xDimension=127.75),
         cornerOffsetFromSlot=CornerOffsetFromSlot(x=0, y=0, z=0),
-        innerWellGeometry=[
-            BoundedSection(
-                geometry=TopCrossSection(
-                    shape="hemisphere",
-                    diameter=25,
+        innerWellGeometry=InnerLabwareGeometry(
+            frusta=[
+                BoundedSection(
+                    geometry=TopCrossSection(
+                        shape="rectangular",
+                        xDimension=7.6,
+                        yDimension=8.5,
+                    ),
+                    top_height=45,
                 ),
-                top_height=10,
-            ),
-            BoundedSection(
-                geometry=TopCrossSection(
-                    shape="rectangular",
-                    xDimension=5.6,
-                    yDimension=6.5,
+                BoundedSection(
+                    geometry=TopCrossSection(
+                        shape="rectangular",
+                        xDimension=5.6,
+                        yDimension=6.5,
+                    ),
+                    top_height=20,
                 ),
-                top_height=45,
+            ],
+            bottom_shape=Hemisphere(
+                diameter=6,
+                depth=10,
             ),
-        ],
+        ),
         brand=BrandData(brand="foo"),
         metadata=Metadata(
             displayName="Foo 8 Well Plate 33uL",

shared-data/python/opentrons_shared_data/labware/labware_definition.py

@@ -224,23 +224,33 @@ class Config:
     )
 
 
+class Hemisphere(BaseModel):
+    diameter: _NonNegativeNumber = Field(
+        ...,
+        description="diameter of bottom subsection of wells",
+    )
+    depth: _NonNegativeNumber = Field(
+        ..., description="The depth of a hemispherical bottom of a well"
+    )
+
+
 class TopCrossSection(BaseModel):
-    shape: Literal["rectangular", "circular", "hemisphere"] = Field(
+    shape: Literal["rectangular", "circular"] = Field(
         ...,
         description="Shape of a cross-section of a well used to determine how "
         "to calculate area",
     )
     xDimension: Optional[_NonNegativeNumber] = Field(
         None,
-        description="x dimension of rectangular wells",
+        description="x dimension of a subsection of wells",
     )
     yDimension: Optional[_NonNegativeNumber] = Field(
         None,
-        description="y dimension of rectangular wells",
+        description="y dimension of a subsection of wells",
     )
     diameter: Optional[_NonNegativeNumber] = Field(
         None,
-        description="diameter of circular wells",
+        description="diameter of a subsection of wells",
     )
 
 
@@ -282,6 +292,16 @@ class Group(BaseModel):
     )
 
 
+class InnerLabwareGeometry(BaseModel):
+    frusta: List[BoundedSection] = Field(
+        ...,
+        description="A list of all of the sections of the well that have a contiguous shape",
+    )
+    bottom_shape: Optional[Hemisphere] = Field(
+        None, description="An optional non-frustum shape at the bottom of a well"
+    )
+
+
 class LabwareDefinition(BaseModel):
     schemaVersion: Literal[1, 2] = Field(
         ..., description="Which schema version a labware is using"
@@ -356,7 +376,7 @@ class LabwareDefinition(BaseModel):
         default_factory=None,
         description="Force, in Newtons, with which the gripper should grip the labware.",
     )
-    innerWellGeometry: Optional[List[BoundedSection]] = Field(
+    innerWellGeometry: Optional[InnerLabwareGeometry] = Field(
         None,
         description="A list of bounded sections describing the geometry of the inside of the wells.",
     )

shared-data/python/opentrons_shared_data/labware/types.py

@@ -3,7 +3,7 @@
 types in this file by and large require the use of typing_extensions.
 this module shouldn't be imported unless typing.TYPE_CHECKING is true.
 """
-from typing import Dict, List, NewType, Union
+from typing import Dict, List, NewType, Union, Optional
 from typing_extensions import Literal, TypedDict
 
 
@@ -37,7 +37,6 @@
 
 Circular = Literal["circular"]
 Rectangular = Literal["rectangular"]
-Hemisphere = Literal["hemisphere"]
 WellShape = Union[Circular, Rectangular]
 
 
@@ -118,6 +117,35 @@ class WellGroup(TypedDict, total=False):
     brand: LabwareBrandData
 
 
+class CircularArea(TypedDict):
+    shape: Circular
+    diameter: float
+
+
+class RectangularArea(TypedDict):
+    shape: Rectangular
+    xDimension: float
+    yDimension: float
+
+
+TopCrossSection = Union[CircularArea, RectangularArea]
+
+
+class Hemisphere(TypedDict):
+    diameter: float
+    depth: float
+
+
+class BoundedSection(TypedDict):
+    geometry: TopCrossSection
+    top_height: float
+
+
+class InnerLabwareGeometry(TypedDict):
+    frusta: List[BoundedSection]
+    bottom_shape: Optional[Hemisphere]
+
+
 class _RequiredLabwareDefinition(TypedDict):
     schemaVersion: Literal[2]
     version: int
@@ -139,28 +167,4 @@ class LabwareDefinition(_RequiredLabwareDefinition, total=False):
     gripperOffsets: Dict[str, GripperOffsets]
     gripForce: float
     gripHeightFromLabwareBottom: float
-
-
-class CircularArea(TypedDict):
-    shape: Circular
-    diameter: float
-
-
-class RectangularArea(TypedDict):
-    shape: Rectangular
-    xDimension: float
-    yDimension: float
-
-
-class HemisphereDimensions(TypedDict):
-    shape: Hemisphere
-    diameter: float
-
-
-# This will either be a 2-Dimensional cross-section or a hemisphere
-TopCrossSection = Union[CircularArea, RectangularArea, HemisphereDimensions]
-
-
-class BoundedSection(TypedDict):
-    geometry: TopCrossSection
-    top_height: float
+    innerWellGeometry: Optional[InnerLabwareGeometry]