feat(api): inner well geometry unit tests

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

@@ -82,19 +82,12 @@ def _circular_frustum_polynomial_roots(
 
 
 def _volume_from_height_circular(
-    target_height: float,
-    total_frustum_height: float,
-    bottom_radius: float,
-    top_radius: float,
+    target_height: float, segment: ConicalFrustum
 ) -> float:
     """Find the volume given a height within a circular frustum."""
-    a, b, c = _circular_frustum_polynomial_roots(
-        bottom_radius=bottom_radius,
-        top_radius=top_radius,
-        total_frustum_height=total_frustum_height,
-    )
-    volume = a * (target_height**3) + b * (target_height**2) + c * target_height
-    return volume
+    heights = segment.height_to_volume_table.keys()
+    best_fit_height = min(heights, key=lambda x: abs(x - target_height))
+    return segment.height_to_volume_table[best_fit_height]
 
 
 def _volume_from_height_rectangular(
@@ -138,26 +131,12 @@ def _volume_from_height_squared_cone(
 
 
 def _height_from_volume_circular(
-    volume: float,
-    total_frustum_height: float,
-    bottom_radius: float,
-    top_radius: float,
+    target_volume: float, segment: ConicalFrustum
 ) -> float:
-    """Find the height given a volume within a circular frustum."""
-    a, b, c = _circular_frustum_polynomial_roots(
-        bottom_radius=bottom_radius,
-        top_radius=top_radius,
-        total_frustum_height=total_frustum_height,
-    )
-    d = volume * -1
-    x_intercept_roots = (a, b, c, d)
-
-    height_from_volume_roots = roots(x_intercept_roots)
-    height = _reject_unacceptable_heights(
-        potential_heights=list(height_from_volume_roots),
-        max_height=total_frustum_height,
-    )
-    return height
+    """Find the height given a volume within a squared cone segment."""
+    volumes = segment.volume_to_height_table.keys()
+    best_fit_volume = min(volumes, key=lambda x: abs(x - target_volume))
+    return segment.volume_to_height_table[best_fit_volume]
 
 
 def _height_from_volume_rectangular(
@@ -243,9 +222,7 @@ def _get_segment_capacity(segment: WellSegment) -> float:
             return (
                 _volume_from_height_circular(
                     target_height=section_height,
-                    total_frustum_height=section_height,
-                    bottom_radius=(segment.bottomDiameter / 2),
-                    top_radius=(segment.topDiameter / 2),
+                    segment=segment,
                 )
                 * segment.count
             )
@@ -293,12 +270,7 @@ def height_at_volume_within_section(
                 radius_of_curvature=section.radiusOfCurvature,
             )
         case ConicalFrustum():
-            return _height_from_volume_circular(
-                volume=target_volume_relative,
-                top_radius=(section.bottomDiameter / 2),
-                bottom_radius=(section.topDiameter / 2),
-                total_frustum_height=section_height,
-            )
+            return _height_from_volume_circular(target_volume_relative, section)
         case CuboidalFrustum():
             return _height_from_volume_rectangular(
                 volume=target_volume_relative,
@@ -334,10 +306,7 @@ def volume_at_height_within_section(
         case ConicalFrustum():
             return (
                 _volume_from_height_circular(
-                    target_height=target_height_relative,
-                    total_frustum_height=section_height,
-                    bottom_radius=(section.bottomDiameter / 2),
-                    top_radius=(section.topDiameter / 2),
+                    target_height=target_height_relative, segment=section
                 )
                 * section.count
             )
@@ -427,7 +396,7 @@ def _find_height_in_partial_frustum(
         if (
             bottom_section_volume
             < target_volume
-            < (bottom_section_volume + section_volume)
+            <= (bottom_section_volume + section_volume)
         ):
             relative_target_volume = target_volume - bottom_section_volume
             section_height = section.topHeight - section.bottomHeight

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

@@ -569,6 +569,8 @@ def get_well_height(
     ) -> float:
         """Get the height of a specified well for a labware."""
         well_def = self._labware.get_well_definition(labware_id, well_name)
+        # if labware_id == "axygen_1_reservoir_90ml":
+        # breakpoint()
         return well_def.depth
 
     def _get_highest_z_from_labware_data(self, lw_data: LoadedLabware) -> float:
@@ -1528,6 +1530,7 @@ def get_well_volume_at_height(
     ) -> float:
         """Convert well height to volume."""
         well_geometry = self._labware.get_well_geometry(labware_id, well_name)
+        # breakpoint()
         return find_volume_at_well_height(
             target_height=height, well_geometry=well_geometry
         )

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

@@ -479,7 +479,6 @@ def get_well_definition(
         will be used.
         """
         definition = self.get_definition(labware_id)
-
         if well_name is None:
             well_name = definition.ordering[0][0]
 

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

@@ -0,0 +1,217 @@
+"""Arguments needed to test inner geometry.
+
+Each labware has 2 nominal volumes calculated in solidworks.
+- One is a nominal bottom volume, calculated some set distance from the bottom of the inside of the well.
+- The other is a nominal top volume, calculated some set distance from the top of the inside of the well.
+"""
+labware_to_test = [
+    # "opentrons_96_aluminumblock_generic_pcr_strip_200ul",
+    # "opentrons_24_tuberack_generic_2ml_screwcap",
+    "appliedbiosystemsmicroamp_384_wellplate_40ul",
+    "biorad_384_wellplate_50ul",
+    "corning_96_wellplate_360ul_flat",
+    "corning_384_wellplate_112ul_flat",
+    "axygen_1_reservoir_90ml",
+    "biorad_96_wellplate_200ul_pcr",
+    "corning_48_wellplate_1.6ml_flat",
+    "corning_6_wellplate_16.8ml_flat",
+    "corning_24_wellplate_3.4ml_flat",
+    "corning_12_wellplate_6.9ml_flat",
+    "thermoscientificnunc_96_wellplate_1300ul",
+    "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
+    "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap",
+    "agilent_1_reservoir_290ml",
+    "usascientific_96_wellplate_2.4ml_deep",
+    "thermoscientificnunc_96_wellplate_2000ul",
+    "usascientific_12_reservoir_22ml",
+    "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical-15mL-ONLY",
+    "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical-50mL-ONLY",
+    "nest_96_wellplate_200ul_flat",
+    "nest_96_wellplate_100ul_pcr_full_skirt",
+    "opentrons_96_wellplate_200ul_pcr_full_skirt",
+    "opentrons_24_tuberack_nest_0.5ml_screwcap",
+    "nest_1_reservoir_195ml",
+    "nest_12_reservoir_15ml",
+    "opentrons_24_tuberack_nest_1.5ml_snapcap",
+    "nest_96_wellplate_2ml_deep",
+    "opentrons_24_tuberack_nest_2ml_snapcap",
+    "nest_1_reservoir_290ml",
+    "opentrons_24_tuberack_nest_1.5ml_screwcap",
+    "opentrons_24_tuberack_nest_2ml_screwcap",
+    "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical-50mL-ONLY",
+    "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical-15mL-ONLY",
+]
+print(f"len of list = {len(labware_to_test)}")
+print(f"len of set = {len(set(labware_to_test))}")
+
+
+INNER_WELL_GEOMETRY_TEST_PARAMS = [
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell15mL",
+        16.7,
+        15546.9,
+        3.0,
+        5.0,
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell50mL",
+        111.2,
+        56110.3,
+        3.0,
+        5.0,
+    ],
+    ["opentrons_24_tuberack_nest_2ml_screwcap", "conicalWell", 66.6, 2104.9, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_nest_1.5ml_screwcap",
+        "conicalWell",
+        19.5,
+        1750.8,
+        3.0,
+        3.0,
+    ],
+    # weird one
+    ["nest_1_reservoir_290ml", "cuboidalWell", 16570.380, 271690.520, 3.0, 3.0],
+    # failing isclose
+    ["opentrons_24_tuberack_nest_2ml_snapcap", "conicalWell", 69.62, 2148.5, 3.0, 3.0],
+    ["nest_96_wellplate_2ml_deep", "cuboidalWell", 118.3, 2060.4, 3.0, 3.0],
+    ["opentrons_24_tuberack_nest_1.5ml_snapcap", "conicalWell", 27.8, 1682.3, 3.0, 3.0],
+    ["nest_12_reservoir_15ml", "cuboidalWell", 1219.0, 13236.1, 3.0, 3.0],
+    # weird one
+    ["nest_1_reservoir_195ml", "cuboidalWell", 14034.2, 172301.9, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_nest_0.5ml_screwcap",
+        "conicalWell",
+        21.95,
+        795.4,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_96_wellplate_200ul_pcr_full_skirt",
+        "conicalWell",
+        14.3,
+        150.2,
+        3.0,
+        3.0,
+    ],
+    ["nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 15.5, 150.8, 3.0, 3.0],
+    ["nest_96_wellplate_200ul_flat", "conicalWell", 96.3, 259.8, 3.0, 3.0],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "50mlconicalWell",
+        163.9,
+        57720.5,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "15mlconicalWell",
+        40.8,
+        15956.6,
+        3.0,
+        3.0,
+    ],
+    # failed - squared cone
+    ["usascientific_12_reservoir_22ml", "cuboidalWell", 61.6, 21111.5, 3.0, 3.0],
+    ["thermoscientificnunc_96_wellplate_2000ul", "conicalWell", 73.5, 1768.0, 3.0, 3.0],
+    # skipped usascientific_96_wellplate_2.4ml_deep since it doesnt have a definition yet
+    # weird one
+    ["agilent_1_reservoir_290ml", "cuboidalWell", 15652.9, 268813.8, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
+        "conicalWell",
+        25.8,
+        1576.1,
+        3.0,
+        3.0,
+    ],
+    ["thermoscientificnunc_96_wellplate_1300ul", "conicalWell", 73.5, 1155.1, 3.0, 3.0],
+    ["corning_12_wellplate_6.9ml_flat", "conicalWell", 1156.3, 5654.8, 3.0, 3.0],
+    ["corning_24_wellplate_3.4ml_flat", "conicalWell", 579.0, 2853.4, 3.0, 3.0],
+    ["corning_6_wellplate_16.8ml_flat", "conicalWell", 2862.1, 13901.9, 3.0, 3.0],
+    ["corning_48_wellplate_1.6ml_flat", "conicalWell", 268.9, 1327.0, 3.0, 3.0],
+    ["biorad_96_wellplate_200ul_pcr", "conicalWell", 17.9, 161.2, 3.0, 3.0],
+    ["axygen_1_reservoir_90ml", "cuboidalWell", 22373.4, 70450.6, 3.0, 3.0],
+    # fails- this one thought it was a rectangle ?
+    ["corning_384_wellplate_112ul_flat", "flatWell", 22.4, 77.4, 2.88, 3.0],
+    ["corning_96_wellplate_360ul_flat", "conicalWell", 97.2, 257.1, 3.0, 3.0],
+    ["biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.8, 3.0, 3.0],
+    [
+        "appliedbiosystemsmicroamp_384_wellplate_40ul",
+        "conicalWell",
+        7.44,
+        26.19,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap",
+        "conicalWell",
+        60.940,
+        2163.980,
+        3.0,
+        3.0
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell15mL",
+        16.690,
+        15546.930,
+        3.0,
+        5.0
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell50mL",
+        111.200,
+        56110.279,
+        3.0,
+        5.0
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "15mlconicalWell",
+        40.830,
+        15956.600,
+        3.0,
+        3.0
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "50mlconicalWell",
+        163.860,
+        57720.510,
+        3.0,
+        3.0
+    ],
+    ["usascientific_96_wellplate_2.4ml_deep", "cuboidalWell", 72.22, 2241.36, 3.0, 3.0],
+]
+print(f"len of existing labware = {len(INNER_WELL_GEOMETRY_TEST_PARAMS)}")
+existing_names = [param[0] for param in INNER_WELL_GEOMETRY_TEST_PARAMS]
+diff = set(labware_to_test).difference(set(existing_names))
+print("\nlabware missing:")
+for missing in diff:
+    print(missing)
+
+gotta_add = [
+    # "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap",
+    # check if the test is looking for the right name below
+    # "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical-15mL-ONLY",
+    # "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical-50mL-ONLY",
+    # "opentrons_24_tuberack_generic_2ml_screwcap", # doesnt have volume estimates
+    # check if the test is looking for the right name below
+    # "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical-50mL-ONLY",
+    # "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical-15mL-ONLY",
+    # "usascientific_96_wellplate_2.4ml_deep" # definition isnt in yet
+]
+failing = [
+    "corning_384_wellplate_112ul_flat",
+    "agilent_1_reservoir_290ml",
+    "usascientific_12_reservoir_22ml",
+    "nest_1_reservoir_195ml",
+    "opentrons_24_tuberack_nest_2ml_snapcap",
+    "nest_1_reservoir_290ml",
+]