use actual trash height for deck conflict

api/src/opentrons/motion_planning/deck_conflict.py

@@ -65,6 +65,7 @@ class TrashBin:
     """A non-labware trash bin (loaded via api level 2.16 and above)."""
 
     name_for_errors: str
+    highest_z: float
 
 
 @dataclass
@@ -138,9 +139,7 @@ def is_allowed(self, item: DeckItem) -> bool:
         elif isinstance(item, _Module):
             return item.highest_z_including_labware < self.max_height
         elif isinstance(item, TrashBin):
-            # Since this is a restriction for OT-2 only and OT-2 trashes exceeded the height limit, always return False
-            # TODO(jbl 2024-01-16) Include trash height and use that for check for more robustness
-            return False
+            return item.highest_z < self.max_height
 
 
 class _NoModule(NamedTuple):

api/src/opentrons/protocol_api/_disposal_locations.py

@@ -15,6 +15,7 @@
 #   writing cumbersome guessing logic for area name -> fixture name while still providing a direct link to
 #   the numbers in shared data.
 _TRASH_BIN_CUTOUT_FIXTURE = "trashBinAdapter"
+_TRASH_BIN_OT2_CUTOUT_FIXTURE = "fixedTrashSlot"
 _WASTE_CHUTE_CUTOUT_FIXTURE = "wasteChuteRightAdapterCovered"
 
 
@@ -92,6 +93,10 @@ def __init__(
         self._offset = offset
         self._api_version = api_version
         self._engine_client = engine_client
+        if self._engine_client.state.config.robot_type == "OT-2 Standard":
+            self._cutout_fixture_name = _TRASH_BIN_OT2_CUTOUT_FIXTURE
+        else:
+            self._cutout_fixture_name = _TRASH_BIN_CUTOUT_FIXTURE
 
     def top(self, x: float = 0, y: float = 0, z: float = 0) -> TrashBin:
         """Returns a trash bin with a user set offset."""
@@ -142,7 +147,7 @@ def height(self) -> float:
         This is intended for Opentrons internal use only and is not a guaranteed API.
         """
         return self._engine_client.state.addressable_areas.get_fixture_height(
-            _TRASH_BIN_CUTOUT_FIXTURE
+            self._cutout_fixture_name
         )
 
 

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

@@ -520,7 +520,9 @@ def _map_disposal_location(
     if isinstance(disposal_location, TrashBin):
         return (
             disposal_location.location,
-            wrapped_deck_conflict.TrashBin(name_for_errors="trash bin"),
+            wrapped_deck_conflict.TrashBin(
+                name_for_errors="trash bin", highest_z=disposal_location.height
+            ),
         )
     else:
         return None

api/tests/opentrons/motion_planning/test_deck_conflict.py

@@ -214,7 +214,7 @@ def test_flex_trash_bin_blocks_thermocycler() -> None:
         highest_z_including_labware=123,
         is_semi_configuration=False,
     )
-    trash = deck_conflict.TrashBin(name_for_errors="some_trash_bin")
+    trash = deck_conflict.TrashBin(name_for_errors="some_trash_bin", highest_z=1.23)
 
     with pytest.raises(
         deck_conflict.DeckConflictError,
@@ -539,7 +539,7 @@ def test_heater_shaker_restrictions_trash_bin_addressable_area() -> None:
     heater_shaker = deck_conflict.HeaterShakerModule(
         highest_z_including_labware=123, name_for_errors="some_heater_shaker"
     )
-    trash = deck_conflict.TrashBin(name_for_errors="some_trash_bin")
+    trash = deck_conflict.TrashBin(name_for_errors="some_trash_bin", highest_z=456)
 
     with pytest.raises(
         deck_conflict.DeckConflictError,

api/tests/opentrons/protocol_api/core/engine/test_deck_conflict.py

@@ -12,7 +12,11 @@
 from opentrons.motion_planning.adjacent_slots_getters import _MixedTypeSlots
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocol_api import MAX_SUPPORTED_VERSION
-from opentrons.protocol_api._disposal_locations import TrashBin, WasteChute
+from opentrons.protocol_api._disposal_locations import (
+    TrashBin,
+    WasteChute,
+    _TRASH_BIN_CUTOUT_FIXTURE,
+)
 from opentrons.protocol_api.labware import Labware
 from opentrons.protocol_api.core.engine import deck_conflict
 from opentrons.protocol_engine import (
@@ -347,6 +351,12 @@ def test_maps_trash_bins(
     """It should correctly map disposal locations."""
     mock_trash_lw = decoy.mock(cls=Labware)
 
+    decoy.when(
+        mock_sync_client.state.addressable_areas.get_fixture_height(
+            _TRASH_BIN_CUTOUT_FIXTURE
+        )
+    ).then_return(1.23)
+
     deck_conflict.check(
         engine_state=mock_state_view,
         existing_labware_ids=[],
@@ -372,11 +382,11 @@ def test_maps_trash_bins(
         wrapped_deck_conflict.check(
             existing_items={
                 DeckSlotName.SLOT_B1: wrapped_deck_conflict.TrashBin(
-                    name_for_errors="trash bin",
+                    name_for_errors="trash bin", highest_z=1.23
                 )
             },
             new_item=wrapped_deck_conflict.TrashBin(
-                name_for_errors="trash bin",
+                name_for_errors="trash bin", highest_z=1.23
             ),
             new_location=DeckSlotName.SLOT_A1,
             robot_type=mock_state_view.config.robot_type,