feat(api): remove z safety margin from pipette movement check (#14613)

Closes RESC-216
Opentrons · Mar 11, 2024 · 5090243 · 5090243
1 parent 7f5a687
commit 5090243
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Showing 3 changed files with 33 additions and 4 deletions.
diff --git a/api/src/opentrons/protocol_api/core/engine/deck_conflict.py b/api/src/opentrons/protocol_api/core/engine/deck_conflict.py
@@ -79,9 +79,6 @@ def __init__(self, message: str) -> None:
     x=A12_column_back_right_bound.x - _NOZZLE_PITCH * 11, y=506.2
 )
 
-# Arbitrary safety margin in z-direction
-Z_SAFETY_MARGIN = 10
-
 _FLEX_TC_LID_BACK_LEFT_PT = Point(
     x=FLEX_TC_LID_COLLISION_ZONE["back_left"]["x"],
     y=FLEX_TC_LID_COLLISION_ZONE["back_left"]["y"],
@@ -333,7 +330,7 @@ def _slot_has_potential_colliding_object(
             slot_highest_z = engine_state.geometry.get_highest_z_in_slot(
                 StagingSlotLocation(slotName=surrounding_slot)
             )
-        return slot_highest_z + Z_SAFETY_MARGIN > pipette_bounds[0].z
+        return slot_highest_z >= pipette_bounds[0].z
     return False
 
 

diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
@@ -1103,6 +1103,7 @@ def home_plunger(self) -> InstrumentContext:
         self._core.home_plunger()
         return self
 
+    # TODO (spp, 2024-03-08): verify if ok to & change source & dest types to AdvancedLiquidHandling
     @publisher.publish(command=cmds.distribute)
     @requires_version(2, 0)
     def distribute(
@@ -1142,6 +1143,7 @@ def distribute(
 
         return self.transfer(volume, source, dest, **kwargs)
 
+    # TODO (spp, 2024-03-08): verify if ok to & change source & dest types to AdvancedLiquidHandling
     @publisher.publish(command=cmds.consolidate)
     @requires_version(2, 0)
     def consolidate(

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
@@ -99,6 +99,36 @@ def test_deck_conflicts_for_96_ch_a12_column_configuration() -> None:
     instrument.dispense(50, accessible_plate.wells_by_name()["A1"])
 
 
+@pytest.mark.ot3_only
+def test_close_shave_deck_conflicts_for_96_ch_a12_column_configuration() -> None:
+    """Shouldn't raise errors for "almost collision"s."""
+    protocol_context = simulate.get_protocol_api(version="2.16", robot_type="Flex")
+    res12 = protocol_context.load_labware("nest_12_reservoir_15ml", "C3")
+
+    # Mag block and tiprack adapter are very close to the destination reservoir labware
+    protocol_context.load_module("magneticBlockV1", "D2")
+    protocol_context.load_labware(
+        "opentrons_flex_96_tiprack_200ul",
+        "B3",
+        adapter="opentrons_flex_96_tiprack_adapter",
+    )
+    tiprack_8 = protocol_context.load_labware("opentrons_flex_96_tiprack_200ul", "B2")
+    hs = protocol_context.load_module("heaterShakerModuleV1", "D1")
+    hs_adapter = hs.load_adapter("opentrons_96_deep_well_adapter")
+    deepwell = hs_adapter.load_labware("nest_96_wellplate_2ml_deep")
+    protocol_context.load_trash_bin("A3")
+    p1000_96 = protocol_context.load_instrument("flex_96channel_1000")
+    p1000_96.configure_nozzle_layout(style=COLUMN, start="A12", tip_racks=[tiprack_8])
+
+    hs.close_labware_latch()  # type: ignore[union-attr]
+    p1000_96.distribute(
+        15,
+        res12.wells()[0],
+        deepwell.rows()[0],
+        disposal_vol=0,
+    )
+
+
 @pytest.mark.ot3_only
 def test_deck_conflicts_for_96_ch_a1_column_configuration() -> None:
     """It should raise errors for expected deck conflicts."""