Rh 21 use real adapters (#14141)

* remove custom adapters

* use the new load_labware with adapters

* remove unneeded retracts now that it properly knows how to move and avoid adapters

* update LPC protocols to use real tiprack adapters

* format lint

* don't try and load the old custom def

* get lpc protocols passsing analaysis

* workaround a LPC bug (RAUT-897) with moving adapters

* format

* lint

hardware-testing/hardware_testing/gravimetric/__main__.py

@@ -174,9 +174,6 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
             labware_dir = Path(__file__).parent.parent / "labware"
             custom_def_uris = [
                 "radwag_pipette_calibration_vial",
-                "opentrons_flex_96_tiprack_50ul_adp",
-                "opentrons_flex_96_tiprack_200ul_adp",
-                "opentrons_flex_96_tiprack_1000ul_adp",
             ]
             for def_uri in custom_def_uris:
                 with open(labware_dir / def_uri / "1.json", "r") as f:

hardware-testing/hardware_testing/gravimetric/execute_photometric.py

@@ -219,7 +219,6 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
         if (i + 1) == num_dispenses:
             if not trial.cfg.same_tip:
                 _drop_tip(trial.pipette, trial.cfg.return_tip)
-                trial.ctx._core.get_hardware().retract(OT3Mount.LEFT)
         if not trial.ctx.is_simulating() and trial.channel_count == 96:
             ui.get_user_ready("add SEAL to plate and remove from DECK")
     return
@@ -347,8 +346,6 @@ def _find_liquid_height(
     setup_tip = _next_tip(resources, cfg, cfg.pipette_channels == 1)
     volume_for_setup = max(resources.test_volumes)
     _pick_up_tip(resources.ctx, resources.pipette, cfg, location=setup_tip.top())
-    mnt = OT3Mount.LEFT if cfg.pipette_mount == "left" else OT3Mount.RIGHT
-    resources.ctx._core.get_hardware().retract(mnt)
     if (
         not resources.ctx.is_simulating()
         and not cfg.same_tip
@@ -408,10 +405,8 @@ def _find_liquid_height(
         raise RuntimeError(
             f"bad volume in reservoir: {round(reservoir_ul / 1000, 1)} ml"
         )
-    resources.ctx._core.get_hardware().retract(OT3Mount.LEFT)
     if not cfg.same_tip:
         resources.pipette.drop_tip(home_after=False)  # always trash setup tips
-        resources.ctx._core.get_hardware().retract(OT3Mount.LEFT)
         # NOTE: the first tip-rack should have already been replaced
         #       with new tips by the operator
 

hardware-testing/hardware_testing/gravimetric/helpers.py

@@ -414,23 +414,22 @@ def _load_tipracks(
     cfg: config.VolumetricConfig,
     use_adapters: bool = False,
 ) -> List[Labware]:
-    adp_str = "_adp" if use_adapters else ""
     tiprack_load_settings: List[Tuple[int, str]] = [
         (
             slot,
-            f"opentrons_flex_96_tiprack_{cfg.tip_volume}ul{adp_str}",
+            f"opentrons_flex_96_tiprack_{cfg.tip_volume}ul",
         )
         for slot in cfg.slots_tiprack
     ]
     for ls in tiprack_load_settings:
         ui.print_info(f'Loading tiprack "{ls[1]}" in slot #{ls[0]}')
-    if use_adapters:
-        tiprack_namespace = "custom_beta"
-    else:
-        tiprack_namespace = "opentrons"
 
+    adapter: Optional[str] = (
+        "opentrons_flex_96_tiprack_adapter" if use_adapters else None
+    )
     # If running multiple tests in one run, the labware may already be loaded
     loaded_labwares = ctx.loaded_labwares
+    print(f"Loaded labwares {loaded_labwares}")
     pre_loaded_tips: List[Labware] = []
     for ls in tiprack_load_settings:
         if ls[0] in loaded_labwares.keys():
@@ -450,11 +449,15 @@ def _load_tipracks(
                     pick_up_offset=None,
                     drop_offset=None,
                 )
+                if ctx.deck[ls[0]] is not None:
+                    # remove the adapter from the slot too
+                    ui.print_info(f"removing {ctx.deck[ls[0]]} from slot {ls[0]}")
+                    del ctx.deck[ls[0]]
     if len(pre_loaded_tips) == len(tiprack_load_settings):
         return pre_loaded_tips
 
     tipracks = [
-        ctx.load_labware(ls[1], location=ls[0], namespace=tiprack_namespace)
+        ctx.load_labware(ls[1], location=ls[0], adapter=adapter)
         for ls in tiprack_load_settings
     ]
     return tipracks