use pipette bounding box offsets to find pipette bounds at target pos…

…ition

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

@@ -246,9 +246,8 @@ def check_safe_for_pipette_movement(
 
     labware_slot = engine_state.geometry.get_ancestor_slot_name(labware_id)
     pipette_bounds_at_well_location = (
-        engine_state.pipettes.get_nozzle_bounds_at_specified_move_to_position(
-            pipette_id=pipette_id,
-            destination_position=well_location_point,
+        engine_state.pipettes.get_pipette_bounds_at_specified_move_to_position(
+            pipette_id=pipette_id, destination_position=well_location_point
         )
     )
     surrounding_slots = adjacent_slots_getters.get_surrounding_slots(

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

@@ -37,6 +37,8 @@ class LoadedStaticPipetteData:
         float, pipette_definition.SupportedTipsDefinition
     ]
     nominal_tip_overlap: Dict[str, float]
+    back_left_corner_offset: Point
+    front_right_corner_offset: Point
     back_left_nozzle_offset: Point
     front_right_nozzle_offset: Point
 
@@ -151,6 +153,8 @@ def _get_virtual_pipette_static_config_by_model(
         ]
 
         nozzle_manager = NozzleConfigurationManager.build_from_config(config)
+        pip_back_left = config.pipette_bounding_box_offsets.back_left_corner
+        pip_front_right = config.pipette_bounding_box_offsets.front_right_corner
         return LoadedStaticPipetteData(
             model=str(pipette_model),
             display_name=config.display_name,
@@ -173,6 +177,12 @@ def _get_virtual_pipette_static_config_by_model(
             nominal_tip_overlap=config.liquid_properties[
                 liquid_class
             ].tip_overlap_dictionary,
+            back_left_corner_offset=Point(
+                pip_back_left[0], pip_back_left[1], pip_back_left[2]
+            ),
+            front_right_corner_offset=Point(
+                pip_front_right[0], pip_front_right[1], pip_front_right[2]
+            ),
             back_left_nozzle_offset=nozzle_manager.current_configuration.back_left_nozzle_offset,
             front_right_nozzle_offset=nozzle_manager.current_configuration.front_right_nozzle_offset,
         )
@@ -189,6 +199,8 @@ def get_virtual_pipette_static_config(
 
 def get_pipette_static_config(pipette_dict: PipetteDict) -> LoadedStaticPipetteData:
     """Get the config for a pipette, given the state/config object from the HW API."""
+    back_left_offset = pipette_dict["pipette_bounding_box_offsets"].back_left_corner
+    front_right_offset = pipette_dict["pipette_bounding_box_offsets"].front_right_corner
     return LoadedStaticPipetteData(
         model=pipette_dict["model"],
         display_name=pipette_dict["display_name"],
@@ -215,4 +227,10 @@ def get_pipette_static_config(pipette_dict: PipetteDict) -> LoadedStaticPipetteD
         front_right_nozzle_offset=pipette_dict[
             "current_nozzle_map"
         ].front_right_nozzle_offset,
+        back_left_corner_offset=Point(
+            back_left_offset[0], back_left_offset[1], back_left_offset[2]
+        ),
+        front_right_corner_offset=Point(
+            front_right_offset[0], front_right_offset[1], front_right_offset[2]
+        ),
     )

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

@@ -85,6 +85,14 @@ class BoundingNozzlesOffsets:
     front_right_offset: Point
 
 
+@dataclass(frozen=True)
+class PipetteBoundingBoxOffsets:
+    """Offsets of the bounding nozzles of the pipette."""
+
+    back_left_corner: Point
+    front_right_corner: Point
+
+
 @dataclass(frozen=True)
 class StaticPipetteConfig:
     """Static config for a pipette."""
@@ -101,6 +109,7 @@ class StaticPipetteConfig:
     nominal_tip_overlap: Dict[str, float]
     home_position: float
     nozzle_offset_z: float
+    pipette_bounding_box_offsets: PipetteBoundingBoxOffsets
     bounding_nozzle_offsets: BoundingNozzlesOffsets
 
 
@@ -166,6 +175,10 @@ def _handle_command(  # noqa: C901
                 nominal_tip_overlap=config.nominal_tip_overlap,
                 home_position=config.home_position,
                 nozzle_offset_z=config.nozzle_offset_z,
+                pipette_bounding_box_offsets=PipetteBoundingBoxOffsets(
+                    back_left_corner=config.back_left_corner_offset,
+                    front_right_corner=config.front_right_corner_offset,
+                ),
                 bounding_nozzle_offsets=BoundingNozzlesOffsets(
                     back_left_offset=config.back_left_nozzle_offset,
                     front_right_offset=config.front_right_nozzle_offset,
@@ -685,7 +698,7 @@ def get_pipette_bounding_nozzle_offsets(
         """Get the nozzle offsets of the pipette's bounding nozzles."""
         return self.get_config(pipette_id).bounding_nozzle_offsets
 
-    def get_nozzle_bounds_at_specified_move_to_position(
+    def get_pipette_bounds_at_specified_move_to_position(
         self,
         pipette_id: str,
         destination_position: Point,
@@ -699,18 +712,19 @@ def get_nozzle_bounds_at_specified_move_to_position(
         )
 
         # Get the pipette bounding box based on total nozzles
-        bounding_nozzles_offsets = self.get_pipette_bounding_nozzle_offsets(pipette_id)
-
+        pipette_bounds_offsets = self.get_config(
+            pipette_id
+        ).pipette_bounding_box_offsets
         # TODO (spp): add a margin to these bounds
         pip_back_left_bound = (
             primary_nozzle_position
             - primary_nozzle_offset
-            + bounding_nozzles_offsets.back_left_offset
+            + pipette_bounds_offsets.back_left_corner
         )
         pip_front_right_bound = (
             primary_nozzle_position
             - primary_nozzle_offset
-            + bounding_nozzles_offsets.front_right_offset
+            + pipette_bounds_offsets.front_right_corner
         )
         pip_back_right_bound = Point(
             pip_front_right_bound.x, pip_back_left_bound.y, pip_front_right_bound.z

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

@@ -463,7 +463,7 @@ def test_deck_conflict_raises_for_bad_pipette_move(
         )
     ).then_return(destination_well_point)
     decoy.when(
-        mock_state_view.pipettes.get_nozzle_bounds_at_specified_move_to_position(
+        mock_state_view.pipettes.get_pipette_bounds_at_specified_move_to_position(
             pipette_id="pipette-id", destination_position=destination_well_point
         )
     ).then_return(nozzle_bounds)
@@ -571,7 +571,7 @@ def test_deck_conflict_raises_for_collision_with_tc_lid(
         )
     ).then_return(destination_well_point)
     decoy.when(
-        mock_state_view.pipettes.get_nozzle_bounds_at_specified_move_to_position(
+        mock_state_view.pipettes.get_pipette_bounds_at_specified_move_to_position(
             pipette_id="pipette-id", destination_position=destination_well_point
         )
     ).then_return(nozzle_bounds_at_destination)

api/tests/opentrons/protocol_engine/commands/test_configure_for_volume.py

@@ -46,6 +46,8 @@ async def test_configure_for_volume_implementation(
         nominal_tip_overlap={},
         back_left_nozzle_offset=Point(x=1, y=2, z=3),
         front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        back_left_corner_offset=Point(10, 20, 30),
+        front_right_corner_offset=Point(40, 50, 60),
     )
 
     decoy.when(

api/tests/opentrons/protocol_engine/commands/test_load_pipette.py

@@ -43,6 +43,8 @@ async def test_load_pipette_implementation(
         nominal_tip_overlap={},
         back_left_nozzle_offset=Point(x=1, y=2, z=3),
         front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        back_left_corner_offset=Point(x=1, y=2, z=3),
+        front_right_corner_offset=Point(x=4, y=5, z=6),
     )
     data = LoadPipetteParams(
         pipetteName=PipetteNameType.P300_SINGLE,
@@ -100,6 +102,8 @@ async def test_load_pipette_implementation_96_channel(
         nominal_tip_overlap={},
         back_left_nozzle_offset=Point(x=1, y=2, z=3),
         front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        back_left_corner_offset=Point(x=1, y=2, z=3),
+        front_right_corner_offset=Point(x=4, y=5, z=6),
     )
 
     decoy.when(

api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py

@@ -149,6 +149,8 @@ def loaded_static_pipette_data(
         nozzle_offset_z=12.13,
         back_left_nozzle_offset=Point(x=1, y=2, z=3),
         front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        back_left_corner_offset=Point(x=1, y=2, z=3),
+        front_right_corner_offset=Point(x=4, y=5, z=6),
     )
 
 

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

@@ -59,6 +59,8 @@ def test_get_virtual_pipette_static_config(
         },
         back_left_nozzle_offset=Point(x=0.0, y=0.0, z=10.45),
         front_right_nozzle_offset=Point(x=0.0, y=0.0, z=10.45),
+        back_left_corner_offset=Point(0, 0, 10.45),
+        front_right_corner_offset=Point(0, 0, 10.45),
     )
 
 
@@ -86,6 +88,8 @@ def test_configure_virtual_pipette_for_volume(
         nominal_tip_overlap=result1.nominal_tip_overlap,
         back_left_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
         front_right_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
+        back_left_corner_offset=Point(-8.0, -22.0, -259.15),
+        front_right_corner_offset=Point(-8.0, -22.0, -259.15),
     )
     subject_instance.configure_virtual_pipette_for_volume(
         "my-pipette", 1, result1.model
@@ -110,6 +114,8 @@ def test_configure_virtual_pipette_for_volume(
         nominal_tip_overlap=result2.nominal_tip_overlap,
         back_left_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
         front_right_nozzle_offset=Point(x=-8.0, y=-22.0, z=-259.15),
+        back_left_corner_offset=Point(-8.0, -22.0, -259.15),
+        front_right_corner_offset=Point(-8.0, -22.0, -259.15),
     )
 
 
@@ -137,6 +143,8 @@ def test_load_virtual_pipette_by_model_string(
         nominal_tip_overlap=result.nominal_tip_overlap,
         back_left_nozzle_offset=Point(x=0.0, y=31.5, z=35.52),
         front_right_nozzle_offset=Point(x=0.0, y=-31.5, z=35.52),
+        back_left_corner_offset=Point(-16.0, 43.15, 35.52),
+        front_right_corner_offset=Point(16.0, -43.15, 35.52),
     )
 
 
@@ -256,4 +264,6 @@ def test_get_pipette_static_config(
         home_position=0,
         back_left_nozzle_offset=Point(x=1, y=2, z=3),
         front_right_nozzle_offset=Point(x=4, y=5, z=6),
+        back_left_corner_offset=Point(10, 20, 30),
+        front_right_corner_offset=Point(40, 50, 60),
     )

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

@@ -54,6 +54,7 @@
     PipetteView,
     StaticPipetteConfig,
     BoundingNozzlesOffsets,
+    PipetteBoundingBoxOffsets,
 )
 from opentrons.protocol_engine.state.addressable_areas import AddressableAreaView
 from opentrons.protocol_engine.state.geometry import GeometryView, _GripperMoveType
@@ -1857,6 +1858,10 @@ def test_get_next_drop_tip_location(
                 back_left_offset=Point(x=10, y=20, z=30),
                 front_right_offset=Point(x=40, y=50, z=60),
             ),
+            pipette_bounding_box_offsets=PipetteBoundingBoxOffsets(
+                back_left_corner=Point(x=10, y=20, z=30),
+                front_right_corner=Point(x=40, y=50, z=60),
+            ),
         )
     )
     decoy.when(mock_pipette_view.get_mount("pip-123")).then_return(pipette_mount)

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

@@ -28,6 +28,7 @@
     CurrentDeckPoint,
     StaticPipetteConfig,
     BoundingNozzlesOffsets,
+    PipetteBoundingBoxOffsets,
 )
 from opentrons.protocol_engine.resources.pipette_data_provider import (
     LoadedStaticPipetteData,
@@ -684,6 +685,8 @@ def test_add_pipette_config(
             nozzle_offset_z=10.11,
             back_left_nozzle_offset=Point(x=1, y=2, z=3),
             front_right_nozzle_offset=Point(x=4, y=5, z=6),
+            back_left_corner_offset=Point(x=1, y=2, z=3),
+            front_right_corner_offset=Point(x=4, y=5, z=6),
         ),
     )
     subject.handle_action(
@@ -705,6 +708,10 @@ def test_add_pipette_config(
             back_left_offset=Point(x=1, y=2, z=3),
             front_right_offset=Point(x=4, y=5, z=6),
         ),
+        pipette_bounding_box_offsets=PipetteBoundingBoxOffsets(
+            back_left_corner=Point(x=1, y=2, z=3),
+            front_right_corner=Point(x=4, y=5, z=6),
+        ),
     )
     assert subject.state.flow_rates_by_id["pipette-id"].default_aspirate == {"a": 1.0}
     assert subject.state.flow_rates_by_id["pipette-id"].default_dispense == {"b": 2.0}