chore(mono): Merge chore_release-8.4.0-alpha.8 into edge

api/src/opentrons/protocol_api/core/engine/instrument.py

@@ -836,7 +836,7 @@ def resin_tip_seal(
             )
         )
 
-    def resin_tip_unseal(self, location: Location, well_core: WellCore) -> None:
+    def resin_tip_unseal(self, location: Location | None, well_core: WellCore) -> None:
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
@@ -1190,9 +1190,9 @@ def get_next_tip(
             cmd.GetNextTipParams(
                 pipetteId=self._pipette_id,
                 labwareIds=[tip_rack.labware_id for tip_rack in valid_tip_racks],
-                startingTipWell=starting_well.get_name()
-                if starting_well is not None
-                else None,
+                startingTipWell=(
+                    starting_well.get_name() if starting_well is not None else None
+                ),
             )
         )
         next_tip_info = result.nextTipInfo

api/src/opentrons/protocol_api/core/instrument.py

@@ -206,7 +206,7 @@ def resin_tip_seal(
     @abstractmethod
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCoreType,
     ) -> None:
         ...

api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -332,7 +332,7 @@ def resin_tip_seal(
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -298,7 +298,7 @@ def resin_tip_seal(
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

api/src/opentrons/protocol_api/instrument_context.py

@@ -1713,9 +1713,9 @@ def transfer_with_liquid_class(
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1829,9 +1829,9 @@ def distribute_with_liquid_class(
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1945,9 +1945,9 @@ def consolidate_with_liquid_class(
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -2121,7 +2121,7 @@ def resin_tip_unseal(
                 location=well,
             ),
         ):
-            self._core.resin_tip_unseal(location=well.top(), well_core=well._core)
+            self._core.resin_tip_unseal(location=None, well_core=well._core)
 
         return self
 

api/src/opentrons/protocol_engine/commands/liquid_probe.py

@@ -188,6 +188,12 @@ async def _execute_common(  # noqa: C901
             well_name=well_name,
             well_location=params.wellLocation,
         )
+        state_view.geometry.validate_probed_height(
+            labware_id=labware_id,
+            well_name=well_name,
+            pipette_id=pipette_id,
+            probed_height=z_pos,
+        )
     except PipetteLiquidNotFoundError as exception:
         move_result.state_update.set_pipette_ready_to_aspirate(
             pipette_id=pipette_id, ready_to_aspirate=True

api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py

@@ -1,12 +1,15 @@
 """Seal tips to pipette command request, result, and implementation models."""
 
 from __future__ import annotations
-from pydantic import Field, BaseModel
 from typing import TYPE_CHECKING, Optional, Type, Union
-from opentrons.types import MountType
-from opentrons.protocol_engine.types import MotorAxis
+
 from typing_extensions import Literal
+from pydantic import Field, BaseModel
+
+from opentrons_shared_data.errors.exceptions import PositionUnknownError
 
+from opentrons.types import MountType
+from opentrons.protocol_engine.types import MotorAxis
 from ..resources import ModelUtils, ensure_ot3_hardware
 from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
@@ -27,7 +30,6 @@
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import Axis
-from ..state.update_types import StateUpdate
 
 if TYPE_CHECKING:
     from ..state.state import StateView
@@ -138,28 +140,50 @@ async def relative_pickup_tip(
         """A relative press-fit pick up command using gantry moves."""
         prep_distance = tip_pick_up_params.prepDistance
         press_distance = tip_pick_up_params.pressDistance
-        retract_distance = -1 * (prep_distance + press_distance)
+        retract_distance = -1 * (press_distance) / 2
 
         mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         # TODO chb, 2025-01-29): Factor out the movement constants and relocate this logic into the hardware controller
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: prep_distance}, speed=10, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: prep_distance},
+                speed=10,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
         # Drive mount down for press-fit
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: press_distance},
-            speed=10.0,
-            relative_move=True,
-            expect_stalls=True,
-        )
-        # retract cam : 11.05
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: press_distance},
+                speed=10.0,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
-        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
         await ot3_hardware_api.update_axis_position_estimations(
             self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
@@ -283,13 +307,10 @@ async def execute(
             if hw_instr is not None:
                 hw_instr.set_current_volume(_SAFE_TOP_VOLUME)
 
-        state_update = StateUpdate()
-        state_update.update_pipette_tip_state(
+        state_update = move_result.state_update.update_pipette_tip_state(
             pipette_id=pipette_id,
             tip_geometry=tip_geometry,
-        )
-
-        state_update.set_fluid_aspirated(
+        ).set_fluid_aspirated(
             pipette_id=pipette_id,
             fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
         )

api/src/opentrons/protocol_engine/commands/unseal_pipette_from_tip.py

@@ -3,12 +3,10 @@
 from __future__ import annotations
 
 from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Final
 from typing_extensions import Literal
 
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
-from opentrons.protocol_engine.types import MotorAxis
-from opentrons.types import MountType
 
 from ..types import DropTipWellLocation
 from .pipetting_common import (
@@ -56,6 +54,8 @@ class UnsealPipetteFromTipResult(DestinationPositionResult):
     SuccessData[UnsealPipetteFromTipResult] | DefinedErrorData[StallOrCollisionError]
 )
 
+CUSTOM_TIP_LENGTH_MARGIN: Final = 10
+
 
 class UnsealPipetteFromTipImplementation(
     AbstractCommandImpl[UnsealPipetteFromTipParams, _ExecuteReturn]
@@ -85,6 +85,10 @@ async def execute(self, params: UnsealPipetteFromTipParams) -> _ExecuteReturn:
 
         well_location = params.wellLocation
 
+        tip_geometry = self._state_view.geometry.get_nominal_tip_geometry(
+            pipette_id, labware_id, well_name
+        )
+
         is_partially_configured = self._state_view.pipettes.get_is_partially_configured(
             pipette_id=pipette_id
         )
@@ -93,6 +97,7 @@ async def execute(self, params: UnsealPipetteFromTipParams) -> _ExecuteReturn:
             labware_id=labware_id,
             well_location=well_location,
             partially_configured=is_partially_configured,
+            override_default_offset=-(tip_geometry.length - CUSTOM_TIP_LENGTH_MARGIN),
         )
 
         move_result = await move_to_well(
@@ -106,14 +111,6 @@ async def execute(self, params: UnsealPipetteFromTipParams) -> _ExecuteReturn:
         if isinstance(move_result, DefinedErrorData):
             return move_result
 
-        # Move to an appropriate position
-        mount = self._state_view.pipettes.get_mount(pipette_id)
-
-        mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: -14}, speed=10, relative_move=True
-        )
-
         await self._tip_handler.drop_tip(
             pipette_id=pipette_id,
             home_after=None,

api/src/opentrons/protocol_engine/errors/__init__.py

@@ -88,6 +88,7 @@
     OffsetLocationInvalidError,
     FlexStackerLabwarePoolNotYetDefinedError,
     FlexStackerNotLogicallyEmptyError,
+    InvalidLabwarePositionError,
 )
 
 from .error_occurrence import ErrorOccurrence, ProtocolCommandFailedError
@@ -171,6 +172,7 @@
     "OffsetLocationInvalidError",
     "FlexStackerLabwarePoolNotYetDefinedError",
     "FlexStackerNotLogicallyEmptyError",
+    "InvalidLabwarePositionError",
     # error occurrence models
     "ErrorOccurrence",
     "CommandNotAllowedError",

api/src/opentrons/protocol_engine/errors/exceptions.py

@@ -1281,3 +1281,15 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
+
+
+class InvalidLabwarePositionError(ProtocolEngineError):
+    """Raised when a labware position is internally invalid."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        details: Optional[dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)

api/src/opentrons/protocol_engine/execution/pipetting.py

@@ -326,7 +326,7 @@ async def liquid_probe_in_place(
         well_name: str,
         well_location: WellLocation,
     ) -> LiquidTrackingType:
-        """Detect liquid level."""
+        """Return liquid level relative to the bottom of the well."""
         hw_pipette = self._state_view.pipettes.get_hardware_pipette(
             pipette_id=pipette_id,
             attached_pipettes=self._hardware_api.attached_instruments,