fix(api, shared-date): Deck extents fix to utilize padding for confli…

…ct checking in place of mount offsets (#16119) Cover RQA-3067 Extent padding numbers to limit deck extent movement across deck were measured from the extent limits to ensure the following truths: - The front most nozzle must not cross the rear padding "line" - The rear most nozzle must not cross the front padding "line" - The left most nozzle must not cross the right padding "line" - the right most nozzle must not cross the left padding "line" These lines were identified on Flex as: - Rear line is row G of labware in deck row A - Front line is row F of labware in deck row D - Left line is column 2 of labware in Thermocycler - Right line is column 11 of labware in deck column 2
Opentrons · Aug 26, 2024 · 21c7adb · 21c7adb
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diff --git a/api/src/opentrons/protocol_api/core/engine/deck_conflict.py b/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
     )
 
 

diff --git a/api/src/opentrons/protocol_engine/state/addressable_areas.py b/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:

diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/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:

diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/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
         )

diff --git a/api/tests/opentrons/protocol_api/core/engine/test_deck_conflict.py b/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,

diff --git a/api/tests/opentrons/protocol_api_integration/test_pipette_movement_deck_conflicts.py b/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"])
 

diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_state.py b/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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_store.py b/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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_view.py b/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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
@@ -182,6 +182,12 @@ 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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_module_store.py b/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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_module_view.py b/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],

diff --git a/api/tests/opentrons/protocol_engine/state/test_state_store.py b/api/tests/opentrons/protocol_engine/state/test_state_store.py
@@ -48,6 +48,12 @@ 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=[],

diff --git a/shared-data/python/opentrons_shared_data/robot/types.py b/shared-data/python/opentrons_shared_data/robot/types.py
@@ -37,11 +37,21 @@ class mountOffset(TypedDict):
     gripper: NotRequired[List[float]]
 
 
+class paddingOffset(TypedDict):
+    """The padding offsets for a given robot type based off how far the pipettes can travel beyond the deck extents."""
+
+    rear: float
+    front: float
+    leftSide: float
+    rightSide: float
+
+
 class RobotDefinition(TypedDict):
     """A python version of the robot definition type."""
 
     displayName: str
     robotType: RobotType
     models: List[str]
     extents: List[float]
+    paddingOffsets: paddingOffset
     mountOffsets: mountOffset
diff --git a/shared-data/robot/definitions/1/ot2.json b/shared-data/robot/definitions/1/ot2.json
@@ -3,6 +3,12 @@
   "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]

diff --git a/shared-data/robot/definitions/1/ot3.json b/shared-data/robot/definitions/1/ot3.json
@@ -3,6 +3,12 @@
   "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],

diff --git a/shared-data/robot/schemas/1.json b/shared-data/robot/schemas/1.json
@@ -37,6 +37,29 @@
       "description": "The maximum addressable coordinates of the deck without instruments.",
       "$ref": "#/definitions/xyzArray"
     },
+    "paddingOffsets": {
+      "description": "The distance from a given edge of a deck extent by which the maximum amount of travel is limited.",
+      "type": "object",
+      "required": ["rear", "front", "leftSide", "rightSide"],
+      "properties": {
+        "rear": {
+          "description": "The padding distance from the rear edge of the deck extents which the front nozzles of a pipette must not exceed.",
+          "type": "number"
+        },
+        "front": {
+          "description": "The padding distance from the front edge of the deck extents which the rear nozzles of a pipette must not exceed.",
+          "type": "number"
+        },
+        "leftSide": {
+          "description": "The padding distance from the left edge of the deck extents which the right-most nozzles of a pipette must not exceed.",
+          "type": "number"
+        },
+        "rightSide": {
+          "description": "The padding distance from the right edge of the deck extents which the left-most nozzles of a pipette must not exceed.",
+          "type": "number"
+        }
+      }
+    },
     "mountOffsets": {
       "description": "The physical mount offsets from the center of the instrument carriage.",
       "type": "object",