feat(step-generation): implement logic for collision detection with 9…

…6 partial pickup (#15725) Closes RAUT-1046 This PR addresses a number of bugs to collision detection when using the 96-channel pipette with single-column nozzle configuration. The main modifications lie in `getIsSafePipetteMovement`, which detects the location of the pipette relative to the target labware, well, and offset, and confirms whether any surrounding slots contain dangerous module + adapter + labware combinations.
Opentrons · Jul 22, 2024 · acedeb7 · acedeb7
1 parent c9a3f73
commit acedeb7
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Showing 13 changed files with 359 additions and 242 deletions.
diff --git a/step-generation/src/__tests__/aspirate.test.ts b/step-generation/src/__tests__/aspirate.test.ts
@@ -70,6 +70,7 @@ describe('aspirate', () => {
       tipRack: 'tiprack1Id',
       xOffset: 0,
       yOffset: 0,
+      nozzles: null,
     }
     const result = aspirate(params, invariantContext, robotStateWithTip)
     expect(getSuccessResult(result).commands).toEqual([
@@ -113,6 +114,7 @@ describe('aspirate', () => {
         tipRack: 'tiprack1Id',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -142,6 +144,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -164,6 +167,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -183,6 +187,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       initialRobotState
@@ -205,6 +210,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -231,6 +237,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       initialRobotState
@@ -265,6 +272,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -299,6 +307,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -339,6 +348,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -373,6 +383,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -413,6 +424,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -443,6 +455,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -472,6 +485,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -502,6 +516,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip
@@ -533,6 +548,7 @@ describe('aspirate', () => {
         tipRack: 'tipRack',
         xOffset: 0,
         yOffset: 0,
+        nozzles: null,
       },
       invariantContext,
       robotStateWithTip

diff --git a/step-generation/src/__tests__/dispense.test.ts b/step-generation/src/__tests__/dispense.test.ts
@@ -54,6 +54,8 @@ describe('dispense', () => {
         flowRate: 6,
         xOffset: 0,
         yOffset: 0,
+        tipRack: 'tiprack1Id',
+        nozzles: null,
       }
     })
     it('dispense normally (with tip)', () => {
@@ -102,6 +104,8 @@ describe('dispense', () => {
           well: 'A1',
           xOffset: 0,
           yOffset: 0,
+          tipRack: 'tiprack1Id',
+          nozzles: null,
         },
         invariantContext,
         initialRobotState

diff --git a/step-generation/src/__tests__/getIsSafePipetteMovement.test.ts b/step-generation/src/__tests__/getIsSafePipetteMovement.test.ts
@@ -1,4 +1,4 @@
-import { expect, describe, it } from 'vitest'
+import { expect, describe, it, beforeEach } from 'vitest'
 import { getIsSafePipetteMovement } from '../utils'
 import {
   TEMPERATURE_MODULE_TYPE,
@@ -18,53 +18,62 @@ const mockTipUri = 'mockTipUri'
 const mockModule = 'moduleId'
 const mockLabware2 = 'labwareId2'
 const mockAdapter = 'adapterId'
-const mockInvariantProperties: InvariantContext = {
-  pipetteEntities: {
-    pip: {
-      name: 'p1000_96',
-      id: 'pip',
-      tiprackDefURI: ['mockDefUri'],
-      tiprackLabwareDef: [fixtureTiprack1000ul as LabwareDefinition2],
-      spec: fixtureP100096V2Specs,
-    },
-  },
-  labwareEntities: {
-    [mockLabwareId]: {
-      id: mockLabwareId,
-      labwareDefURI: 'mockDefUri',
-      def: fixture96Plate as LabwareDefinition2,
-    },
-    [mockTiprackId]: {
-      id: mockTiprackId,
-      labwareDefURI: mockTipUri,
-      def: fixtureTiprack1000ul as LabwareDefinition2,
-    },
-    [mockAdapter]: {
-      id: mockAdapter,
-      labwareDefURI: 'mockAdapterUri',
-      def: fixtureTiprackAdapter as LabwareDefinition2,
-    },
-    [mockLabware2]: {
-      id: mockLabware2,
-      labwareDefURI: 'mockDefUri',
-      def: fixture96Plate as LabwareDefinition2,
-    },
-  },
-  moduleEntities: {},
-  additionalEquipmentEntities: {},
-  config: {
-    OT_PD_DISABLE_MODULE_RESTRICTIONS: false,
-  },
-}
+const mockWellName = 'A1'
 
-const mockRobotState: RobotState = {
-  pipettes: { pip: { mount: 'left' } },
-  labware: { [mockLabwareId]: { slot: 'D2' }, [mockTiprackId]: { slot: 'A2' } },
-  modules: {},
-  tipState: { tipracks: {}, pipettes: {} },
-  liquidState: { pipettes: {}, labware: {}, additionalEquipment: {} },
-}
 describe('getIsSafePipetteMovement', () => {
+  let mockInvariantProperties: InvariantContext
+  let mockRobotState: RobotState
+  beforeEach(() => {
+    mockInvariantProperties = {
+      pipetteEntities: {
+        pip: {
+          name: 'p1000_96',
+          id: 'pip',
+          tiprackDefURI: ['mockDefUri'],
+          tiprackLabwareDef: [fixtureTiprack1000ul as LabwareDefinition2],
+          spec: fixtureP100096V2Specs,
+        },
+      },
+      labwareEntities: {
+        [mockLabwareId]: {
+          id: mockLabwareId,
+          labwareDefURI: 'mockDefUri',
+          def: fixture96Plate as LabwareDefinition2,
+        },
+        [mockTiprackId]: {
+          id: mockTiprackId,
+          labwareDefURI: mockTipUri,
+          def: fixtureTiprack1000ul as LabwareDefinition2,
+        },
+        [mockAdapter]: {
+          id: mockAdapter,
+          labwareDefURI: 'mockAdapterUri',
+          def: fixtureTiprackAdapter as LabwareDefinition2,
+        },
+        [mockLabware2]: {
+          id: mockLabware2,
+          labwareDefURI: 'mockDefUri',
+          def: fixture96Plate as LabwareDefinition2,
+        },
+      },
+      moduleEntities: {},
+      additionalEquipmentEntities: {},
+      config: {
+        OT_PD_DISABLE_MODULE_RESTRICTIONS: false,
+      },
+    }
+    mockRobotState = {
+      pipettes: { pip: { mount: 'left' } },
+      labware: {
+        [mockLabwareId]: { slot: 'D2' },
+        [mockTiprackId]: { slot: 'A2' },
+      },
+      modules: {},
+      tipState: { tipracks: {}, pipettes: {} },
+      liquidState: { pipettes: {}, labware: {}, additionalEquipment: {} },
+    }
+  })
+
   it('returns true when the labware id is a trash bin', () => {
     const result = getIsSafePipetteMovement(
       {
@@ -97,7 +106,8 @@ describe('getIsSafePipetteMovement', () => {
       mockPipId,
       mockLabwareId,
       mockTipUri,
-      { x: -12, y: -100, z: 20 }
+      { x: -12, y: -100, z: 20 },
+      mockWellName
     )
     expect(result).toEqual(false)
   })
@@ -118,25 +128,31 @@ describe('getIsSafePipetteMovement', () => {
       mockPipId,
       mockLabwareId,
       mockTipUri,
-      { x: -1, y: 5, z: 20 }
+      { x: -1, y: 5, z: 20 },
+      mockWellName
     )
     expect(result).toEqual(true)
   })
   it('returns false when there is a tip that collides', () => {
     mockRobotState.tipState.tipracks = { mockTiprackId: { A1: true } }
+    mockRobotState.labware = {
+      ...mockRobotState.labware,
+      [mockAdapter]: { slot: 'D1' },
+    }
     const result = getIsSafePipetteMovement(
       mockRobotState,
       mockInvariantProperties,
       mockPipId,
       mockLabwareId,
       mockTipUri,
-      { x: -1, y: 5, z: 0 }
+      { x: -1, y: 5, z: 0 },
+      mockWellName
     )
     expect(result).toEqual(false)
   })
   it('returns false when there is a tall module nearby in a diagonal slot with adapter and labware', () => {
     mockRobotState.modules = {
-      [mockModule]: { slot: 'C1', moduleState: {} as any },
+      [mockModule]: { slot: 'D1', moduleState: {} as any },
     }
     mockRobotState.labware = {
       [mockLabwareId]: { slot: 'D2' },
@@ -160,7 +176,8 @@ describe('getIsSafePipetteMovement', () => {
       mockPipId,
       mockLabwareId,
       mockTipUri,
-      { x: 0, y: 0, z: 0 }
+      { x: 0, y: 0, z: 0 },
+      mockWellName
     )
     expect(result).toEqual(false)
   })

diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts
@@ -1,4 +1,4 @@
-import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
+import { COLUMN, FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data'
 import * as errorCreators from '../../errorCreators'
 import { getPipetteWithTipMaxVol } from '../../robotStateSelectors'
 import {
@@ -12,16 +12,21 @@ import {
   getIsHeaterShakerEastWestMultiChannelPipette,
   getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette,
   uuid,
+  getIsSafePipetteMovement,
 } from '../../utils'
 import { COLUMN_4_SLOTS } from '../../constants'
-import type { CreateCommand } from '@opentrons/shared-data'
+import type {
+  CreateCommand,
+  NozzleConfigurationStyle,
+} from '@opentrons/shared-data'
 import type { AspirateParams } from '@opentrons/shared-data/protocol/types/schemaV3'
 import type { CommandCreator, CommandCreatorError } from '../../types'
 
 export interface ExtendedAspirateParams extends AspirateParams {
   xOffset: number
   yOffset: number
   tipRack: string
+  nozzles: NozzleConfigurationStyle | null
 }
 /** Aspirate with given args. Requires tip. */
 export const aspirate: CommandCreator<ExtendedAspirateParams> = (
@@ -40,6 +45,7 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     tipRack,
     xOffset,
     yOffset,
+    nozzles,
   } = args
   const actionName = 'aspirate'
   const labwareState = prevRobotState.labware
@@ -108,6 +114,25 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     )
   }
 
+  const is96Channel =
+    invariantContext.pipetteEntities[args.pipette]?.spec.channels === 96
+
+  if (
+    is96Channel &&
+    nozzles === COLUMN &&
+    !getIsSafePipetteMovement(
+      prevRobotState,
+      invariantContext,
+      args.pipette,
+      args.labware,
+      args.tipRack,
+      { x: xOffset, y: yOffset, z: offsetFromBottomMm },
+      args.well
+    )
+  ) {
+    errors.push(errorCreators.possiblePipetteCollision())
+  }
+
   if (
     thermocyclerPipetteCollision(
       prevRobotState.modules,