fix(api,shared-data): Correct addressable area positions (#14100)

* Update the positions of all waste chute addressable areas to match the new hardware, which has a lower cover with a different hole position.
* ⚠️ **Breaking:** Correct the positioning of the 1-channel pipette by splitting the `1and8ChannelWasteChute` addressable area into `1ChannelWasteChute` and `8ChannelWasteChute`.
    * This is necessary because we want the drop-tip position to be same for their *rear channels,* not their *centers.*
    * This will cause our demo JSON protocols to fail with an "unknown addressable area" error. Python protocols will be fine.
    * The JavaScript half of this is done in #14109.
* Fix a Python Protocol API bug that had the 8-channel and 96-channel positions swapped with each other.
* Refactor the deck definition to remove some redundant, unused, and confusing fields.
    * Delete `dropTipsOffset` from the addressable area definitions. This was unused.
    * Delete `dropLabwareOffset` from the addressable area definitions. This was used by Protocol Engine.
    * To replace both of those, move the addressable area `offsetFromCutoutFixture`s and `boundingBox`es so the bounding box's top-center is at the expected interaction point.
        * For motion planning, this was not safe to do before, but it is now that #14082 has merged.
        * For display in the Opentrons App, this is safe because it's only looking at these positions for *deck slots,* which are not affected here. Only the waste chute and trash bins are affected.

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

@@ -477,10 +477,11 @@ def _move_to_disposal_location(
             addressable_area_name = disposal_location._addressable_area_name
         if isinstance(disposal_location, WasteChute):
             num_channels = self.get_channels()
-            if num_channels == 96:
-                addressable_area_name = "96ChannelWasteChute"
-            else:
-                addressable_area_name = "1and8ChannelWasteChute"
+            addressable_area_name = {
+                1: "1ChannelWasteChute",
+                8: "8ChannelWasteChute",
+                96: "96ChannelWasteChute",
+            }[num_channels]
 
         self._engine_client.move_to_addressable_area(
             pipette_id=self._pipette_id,

api/src/opentrons/protocol_engine/resources/deck_configuration_provider.py

@@ -1,9 +1,9 @@
 """Deck configuration resource provider."""
-from typing import List, Set, Tuple, Optional
+from typing import List, Set, Tuple
 
 from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, CutoutFixture
 
-from opentrons.types import Point, DeckSlotName
+from opentrons.types import DeckSlotName
 
 from ..types import (
     AddressableArea,
@@ -106,27 +106,6 @@ def get_addressable_area_from_name(
                 y=addressable_area["boundingBox"]["yDimension"],
                 z=addressable_area["boundingBox"]["zDimension"],
             )
-            drop_tips_deck_offset = addressable_area.get("dropTipsOffset")
-            drop_tip_location: Optional[Point]
-            if drop_tips_deck_offset:
-                drop_tip_location = Point(
-                    x=drop_tips_deck_offset[0] + cutout_position.x,
-                    y=drop_tips_deck_offset[1] + cutout_position.y,
-                    z=drop_tips_deck_offset[2] + cutout_position.z,
-                )
-            else:
-                drop_tip_location = None
-
-            drop_labware_deck_offset = addressable_area.get("dropLabwareOffset")
-            drop_labware_location: Optional[Point]
-            if drop_labware_deck_offset:
-                drop_labware_location = Point(
-                    x=drop_labware_deck_offset[0] + cutout_position.x,
-                    y=drop_labware_deck_offset[1] + cutout_position.y,
-                    z=drop_labware_deck_offset[2] + cutout_position.z,
-                )
-            else:
-                drop_labware_location = None
 
             return AddressableArea(
                 area_name=addressable_area["id"],
@@ -138,8 +117,6 @@ def get_addressable_area_from_name(
                 compatible_module_types=addressable_area.get(
                     "compatibleModuleTypes", []
                 ),
-                drop_tip_location=drop_tip_location,
-                drop_labware_location=drop_labware_location,
             )
     raise AddressableAreaDoesNotExistError(
         f"Could not find addressable area with name {addressable_area_name}"

api/src/opentrons/protocol_engine/resources/fixture_validation.py

@@ -6,7 +6,8 @@
 def is_waste_chute(addressable_area_name: str) -> bool:
     """Check if an addressable area is a Waste Chute."""
     return addressable_area_name in {
-        "1and8ChannelWasteChute",
+        "1ChannelWasteChute",
+        "8ChannelWasteChute",
         "96ChannelWasteChute",
         "gripperWasteChute",
     }
@@ -19,7 +20,11 @@ def is_gripper_waste_chute(addressable_area_name: str) -> bool:
 
 def is_drop_tip_waste_chute(addressable_area_name: str) -> bool:
     """Check if an addressable area is a Waste Chute compatible for dropping tips."""
-    return addressable_area_name in {"1and8ChannelWasteChute", "96ChannelWasteChute"}
+    return addressable_area_name in {
+        "1ChannelWasteChute",
+        "8ChannelWasteChute",
+        "96ChannelWasteChute",
+    }
 
 
 def is_trash(addressable_area_name: str) -> bool:

api/src/opentrons/protocol_engine/state/geometry.py

@@ -617,14 +617,11 @@ def get_labware_grip_point(
         elif isinstance(location, AddressableAreaLocation):
             location_name = location.addressableAreaName
             if fixture_validation.is_gripper_waste_chute(location_name):
-                gripper_waste_chute = self._addressable_areas.get_addressable_area(
-                    location_name
-                )
-                drop_labware_location = gripper_waste_chute.drop_labware_location
-                if drop_labware_location is None:
-                    raise ValueError(
-                        f"{location_name} does not have a drop labware location associated with it"
+                drop_labware_location = (
+                    self._addressable_areas.get_addressable_area_move_to_location(
+                        location_name
                     )
+                )
                 return drop_labware_location + Point(z=grip_height_from_labware_bottom)
             # Location should have been pre-validated so this will be a deck/staging area slot
             else:

api/src/opentrons/protocol_engine/types.py

@@ -9,7 +9,7 @@
 from typing_extensions import Literal, TypeGuard
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
-from opentrons.types import MountType, DeckSlotName, Point
+from opentrons.types import MountType, DeckSlotName
 from opentrons.hardware_control.types import TipStateType as HwTipStateType
 from opentrons.hardware_control.modules import (
     ModuleType as ModuleType,
@@ -705,8 +705,6 @@ class AddressableArea:
     bounding_box: Dimensions
     position: AddressableOffsetVector
     compatible_module_types: List[SharedDataModuleType]
-    drop_tip_location: Optional[Point]
-    drop_labware_location: Optional[Point]
 
 
 class PostRunHardwareState(Enum):

api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py

@@ -7,7 +7,7 @@
 from opentrons_shared_data.deck import load as load_deck
 from opentrons_shared_data.deck.dev_types import DeckDefinitionV4
 
-from opentrons.types import Point, DeckSlotName
+from opentrons.types import DeckSlotName
 
 from opentrons.protocol_engine.errors import (
     FixtureDoesNotExistError,
@@ -259,8 +259,6 @@ def test_get_potential_cutout_fixtures_raises(
                     "temperatureModuleType",
                     "heaterShakerModuleType",
                 ],
-                drop_tip_location=None,
-                drop_labware_location=None,
             ),
             lazy_fixture("ot2_standard_deck_def"),
         ),
@@ -278,8 +276,6 @@ def test_get_potential_cutout_fixtures_raises(
                     "temperatureModuleType",
                     "heaterShakerModuleType",
                 ],
-                drop_tip_location=None,
-                drop_labware_location=None,
             ),
             lazy_fixture("ot2_short_trash_deck_def"),
         ),
@@ -297,8 +293,6 @@ def test_get_potential_cutout_fixtures_raises(
                     "heaterShakerModuleType",
                     "magneticBlockType",
                 ],
-                drop_tip_location=None,
-                drop_labware_location=None,
             ),
             lazy_fixture("ot3_standard_deck_def"),
         ),
@@ -312,8 +306,6 @@ def test_get_potential_cutout_fixtures_raises(
                 bounding_box=Dimensions(x=246.5, y=91.5, z=40),
                 position=AddressableOffsetVector(x=-16, y=-0.75, z=3),
                 compatible_module_types=[],
-                drop_tip_location=Point(x=124.25, y=47.75, z=43.0),
-                drop_labware_location=None,
             ),
             lazy_fixture("ot3_standard_deck_def"),
         ),
@@ -324,11 +316,9 @@ def test_get_potential_cutout_fixtures_raises(
                 area_type=AreaType.WASTE_CHUTE,
                 base_slot=DeckSlotName.SLOT_A1,
                 display_name="Gripper Waste Chute",
-                bounding_box=Dimensions(x=155.0, y=86.0, z=125.0),
-                position=AddressableOffsetVector(x=-12.5, y=2, z=3),
+                bounding_box=Dimensions(x=0, y=0, z=0),
+                position=AddressableOffsetVector(x=65, y=31, z=139.5),
                 compatible_module_types=[],
-                drop_tip_location=None,
-                drop_labware_location=Point(x=65, y=31, z=139.5),
             ),
             lazy_fixture("ot3_standard_deck_def"),
         ),

api/tests/opentrons/protocol_engine/state/test_addressable_area_store.py

@@ -107,8 +107,8 @@ def test_initial_state(
     assert not subject.state.use_simulated_deck_config
     assert subject.state.deck_definition == ot3_standard_deck_def
     assert subject.state.deck_configuration == _make_deck_config()
-    # Loading 9 regular slots, 1 trash, 2 Staging Area slots and 3 waste chute types
-    assert len(subject.state.loaded_addressable_areas_by_name) == 15
+    # Loading 9 regular slots, 1 trash, 2 Staging Area slots and 4 waste chute types
+    assert len(subject.state.loaded_addressable_areas_by_name) == 16
 
 
 @pytest.mark.parametrize(

api/tests/opentrons/protocol_engine/state/test_addressable_area_view.py

@@ -100,8 +100,6 @@ def test_get_loaded_addressable_area() -> None:
         bounding_box=Dimensions(x=1, y=2, z=3),
         position=AddressableOffsetVector(x=7, y=8, z=9),
         compatible_module_types=["magneticModuleType"],
-        drop_tip_location=Point(11, 22, 33),
-        drop_labware_location=None,
     )
     subject = get_addressable_area_view(
         loaded_addressable_areas_by_name={"abc": addressable_area}
@@ -128,8 +126,6 @@ def test_get_addressable_area_for_simulation_already_loaded() -> None:
         bounding_box=Dimensions(x=1, y=2, z=3),
         position=AddressableOffsetVector(x=7, y=8, z=9),
         compatible_module_types=["magneticModuleType"],
-        drop_tip_location=Point(11, 22, 33),
-        drop_labware_location=None,
     )
     subject = get_addressable_area_view(
         loaded_addressable_areas_by_name={"abc": addressable_area},
@@ -162,8 +158,6 @@ def test_get_addressable_area_for_simulation_not_loaded(decoy: Decoy) -> None:
         bounding_box=Dimensions(x=1, y=2, z=3),
         position=AddressableOffsetVector(x=7, y=8, z=9),
         compatible_module_types=["magneticModuleType"],
-        drop_tip_location=Point(11, 22, 33),
-        drop_labware_location=None,
     )
 
     decoy.when(
@@ -255,8 +249,6 @@ def test_get_addressable_area_position() -> None:
                 bounding_box=Dimensions(x=10, y=20, z=30),
                 position=AddressableOffsetVector(x=1, y=2, z=3),
                 compatible_module_types=[],
-                drop_tip_location=None,
-                drop_labware_location=None,
             )
         }
     )
@@ -277,8 +269,6 @@ def test_get_addressable_area_move_to_location() -> None:
                 bounding_box=Dimensions(x=10, y=20, z=30),
                 position=AddressableOffsetVector(x=1, y=2, z=3),
                 compatible_module_types=[],
-                drop_tip_location=None,
-                drop_labware_location=None,
             )
         }
     )
@@ -299,8 +289,6 @@ def test_get_addressable_area_center() -> None:
                 bounding_box=Dimensions(x=10, y=20, z=30),
                 position=AddressableOffsetVector(x=1, y=2, z=3),
                 compatible_module_types=[],
-                drop_tip_location=None,
-                drop_labware_location=None,
             )
         }
     )
@@ -358,8 +346,6 @@ def test_get_slot_definition() -> None:
                 bounding_box=Dimensions(x=1, y=2, z=3),
                 position=AddressableOffsetVector(x=7, y=8, z=9),
                 compatible_module_types=["magneticModuleType"],
-                drop_tip_location=None,
-                drop_labware_location=None,
             )
         }
     )

shared-data/deck/definitions/4/ot2_short_trash.json

@@ -215,15 +215,14 @@
       {
         "id": "shortFixedTrash",
         "areaType": "fixedTrash",
-        "offsetFromCutoutFixture": [0.0, 0.0, 0.0],
+        "offsetFromCutoutFixture": [82.84, 80.0, 58],
         "boundingBox": {
-          "xDimension": 172.86,
-          "yDimension": 165.86,
-          "zDimension": 58
+          "xDimension": 0,
+          "yDimension": 0,
+          "zDimension": 0
         },
         "displayName": "Slot 12/Short Fixed Trash",
-        "ableToDropTips": true,
-        "dropTipsOffset": [82.84, 80.0, 58]
+        "ableToDropTips": true
       }
     ],
     "cutouts": [

shared-data/deck/definitions/4/ot2_standard.json

@@ -215,15 +215,14 @@
       {
         "id": "fixedTrash",
         "areaType": "fixedTrash",
-        "offsetFromCutoutFixture": [0.0, 0.0, 0.0],
+        "offsetFromCutoutFixture": [82.84, 80, 82],
         "boundingBox": {
-          "xDimension": 172.86,
-          "yDimension": 165.86,
-          "zDimension": 82
+          "xDimension": 0,
+          "yDimension": 0,
+          "zDimension": 0
         },
         "displayName": "Slot 12/Fixed Trash",
-        "ableToDropTips": true,
-        "dropTipsOffset": [82.84, 80.0, 82.0]
+        "ableToDropTips": true
       }
     ],
     "cutouts": [