feat(api): add new tip option of 'always' to consolidate and distribute

[sanni-t]

Closes AUTH-1995

Overview

Allows new_tip="always" as a valid tip option for LC-based consolidate and distribute. This will make the new consolidate and distribute functions behave same as PD:

• 'always' for consolidate will pick up a new tip before the next chunk of aspirates. Or in other words, will pick up a new tip when going back to aspirate after a dispense
• 'always' for distribute will pick up a new tip before every aspirate

Note that this behavior is different from what 'always' does in the old, non-LC-based consolidate and distribute. The old functions would pick up a tip only once in the beginning of the function even if the tip option was 'always'.

Test Plan and Hands on Testing

• Added integration tests
• The following protocol passes analysis and issues the correct tip pick ups and liquid probes. Can be used to test on a robot-

requirements = {
"robotType": "Flex",
"apiLevel": "2.24"
}

def run(simulated_protocol_context):
	trash = simulated_protocol_context.load_trash_bin("A3")
	tiprack = simulated_protocol_context.load_labware(
		"opentrons_flex_96_tiprack_200ul", "D1"
		)
	pipette_1k = simulated_protocol_context.load_instrument(
		"flex_1channel_1000", mount="left", tip_racks=[tiprack], liquid_presence_detection=True
		)
	nest_plate = simulated_protocol_context.load_labware(
		"nest_96_wellplate_200ul_flat", "C3"
		)
	arma_plate = simulated_protocol_context.load_labware(
		"armadillo_96_wellplate_200ul_pcr_full_skirt", "C2"
		)

	water = simulated_protocol_context.get_liquid_class("water")
	# Should pick up tip 24 times and do liquid probing only once on the source well
	pipette_1k.distribute_with_liquid_class(
		liquid_class=water,
		volume=201,
		source=nest_plate.rows()[0][0],
		dest=arma_plate.rows()[0],
		new_tip="always",
		trash_location=trash,
		)
	# Should pick up tip 24 times and do liquid probing 12 times- before going back to aspirate each time 
	pipette_1k.consolidate_with_liquid_class(
		liquid_class=water,
		volume=201,
		dest=nest_plate.rows()[0][0],
		source=arma_plate.rows()[0],
		new_tip="always",
		trash_location=trash,
		)

Changelog

• Allowed 'always' as a tip option for all transfers
• Updated LPD for consolidate so that probing will be done after every new tip pick up, except for when accessing the same source well as before

Review requests

• Previously we didn't allow probing consolidate at all, mainly because it didn't make sense. But now that 'always' option is allowed, there are cases- for example, when consolidation volume is larger than tip volume- when the 'always' option will allow consolidation to change tip frequently and potentially be able to probe all source wells with a new tip. Are we all ok with this?

Risk assessment

Medium. Touches a part of existing code that determines tip pickups.

[ecormany]

Docstrings look good, ty.

@emilyburghardt you'll want to rebase #18619 to incorporate these changes.

[jbleon95]

Changes look good and make sense to me. I think I agree with enabling LPD for consolidate now that we have a tip strategy that allows multiple tips to be used, fits with our existing model.