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feat: add basic move-to command to protocol engine #6763

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mcous opened this issue Oct 14, 2020 · 0 comments · Fixed by #6943
Closed
1 task

feat: add basic move-to command to protocol engine #6763

mcous opened this issue Oct 14, 2020 · 0 comments · Fixed by #6943
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@mcous
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api Affects the `api` project feature-request A request for a new feature or a change that isn't a bug. May require further triage or scoping. robot-svcs Falls under the purview of the Robot Services squad (formerly CPX, Core Platform Experience).
Milestone
CPX Sprint 21

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@mcous
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mcous commented Oct 14, 2020 •
edited

overview

As part of basic pipetting over HTTP, the protocol engine should have support for a very basic "move to" command that:

  • Takes a pipette, labware, and well references
  • Moves the pipette to that well

This functionality will serve as a base for basic tip and liquid handling commands.

out of scope

  • Moving to locations other than the top center of a well

acceptance criteria

  • Protocol engine / live protocol session accepts a "move to" command

implementation details

  • Translate command request + state into existing Deck, Labware (geometry/impl), and Well (impl) objects
  • Add state to track current Location for future moves
  • Pass those object to existing motion planning utilities
  • Call HC correctly based on required movements
@mcous mcous added this to the CPX Sprint 20 milestone Oct 14, 2020
@mcous mcous added api Affects the `api` project robot-svcs Falls under the purview of the Robot Services squad (formerly CPX, Core Platform Experience). feature-request A request for a new feature or a change that isn't a bug. May require further triage or scoping. labels Oct 14, 2020
@mcous mcous self-assigned this Oct 14, 2020
@mcous mcous modified the milestones: CPX Sprint 20, CPX Sprint 21 Oct 27, 2020
@mcous mcous mentioned this issue Oct 29, 2020
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mcous added a commit that referenced this issue Oct 30, 2020
@mcous
refactor(api): add simple MoveToWell handling to the protocol engine
c6aef04 
Closes #6763
@mcous mcous mentioned this issue Oct 30, 2020
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@mcous mcous mentioned this issue Nov 6, 2020
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@mcous mcous

Labels
api Affects the `api` project feature-request A request for a new feature or a change that isn't a bug. May require further triage or scoping. robot-svcs Falls under the purview of the Robot Services squad (formerly CPX, Core Platform Experience).
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Milestone
CPX Sprint 21
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feat(api): add move-to-well to protocol engine Opentrons/opentrons
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@mcous