switched to using a complete TC lid collision zone

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

@@ -14,7 +14,7 @@
 )
 
 from opentrons_shared_data.errors.exceptions import MotionPlanningFailureError
-from opentrons_shared_data.module import FLEX_TC_LID_CLIP_POSITIONS_IN_DECK_COORDINATES
+from opentrons_shared_data.module import FLEX_TC_LID_COLLISION_ZONE
 
 from opentrons.hardware_control.nozzle_manager import NozzleConfigurationType
 from opentrons.hardware_control.modules.types import ModuleType
@@ -82,6 +82,18 @@ def __init__(self, message: str) -> None:
 # Arbitrary safety margin in z-direction
 Z_SAFETY_MARGIN = 10
 
+_FLEX_TC_LID_BACK_LEFT_PT = Point(
+    x=FLEX_TC_LID_COLLISION_ZONE["back_left"]["x"],
+    y=FLEX_TC_LID_COLLISION_ZONE["back_left"]["y"],
+    z=FLEX_TC_LID_COLLISION_ZONE["back_left"]["z"],
+)
+
+_FLEX_TC_LID_FRONT_RIGHT_PT = Point(
+    x=FLEX_TC_LID_COLLISION_ZONE["front_right"]["x"],
+    y=FLEX_TC_LID_COLLISION_ZONE["front_right"]["y"],
+    z=FLEX_TC_LID_COLLISION_ZONE["front_right"]["z"],
+)
+
 
 @overload
 def check(
@@ -343,22 +355,21 @@ def _will_collide_with_thermocycler_lid(
     and a crude check that disallows all partial tip movements around the thermocycler.
     """
     # TODO (spp, 2024-02-27): Improvements:
-    #  - create a complete no-go zone that includes the lid itself
     #  - make the check dynamic according to lid state:
     #     - if lid is open, check if pipette is in no-go zone
     #     - if lid is closed, use the closed lid height to check for conflict
     if (
         DeckSlotName.SLOT_A1 in surrounding_regular_slots
         and engine_state.modules.is_flex_deck_with_thermocycler()
     ):
-        tc_right_clip_pos = FLEX_TC_LID_CLIP_POSITIONS_IN_DECK_COORDINATES["right_clip"]
-        for bound_vertex in pipette_bounds:
-            if (
-                bound_vertex.x <= tc_right_clip_pos["x"]
-                and bound_vertex.y >= tc_right_clip_pos["y"]
-                and bound_vertex.z <= tc_right_clip_pos["z"]
-            ):
-                return True
+        return (
+            point_calculations.are_overlapping_rectangles(
+                rectangle1=(_FLEX_TC_LID_BACK_LEFT_PT, _FLEX_TC_LID_FRONT_RIGHT_PT),
+                rectangle2=(pipette_bounds[0], pipette_bounds[1]),
+            )
+            and pipette_bounds[0].z <= _FLEX_TC_LID_BACK_LEFT_PT.z
+        )
+
     return False
 
 

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

@@ -725,6 +725,8 @@ def get_pipette_bounds_at_specified_move_to_position(
             - primary_nozzle_offset
             + pipette_bounds_offsets.front_right_corner
         )
+        # TODO (spp, 2024-02-27): remove back right & front left;
+        #  return only back left and front right points.
         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

@@ -551,10 +551,10 @@ def test_deck_conflict_raises_for_collision_with_tc_lid(
     """It should raise an error if pipette might collide with thermocycler lid on the Flex."""
     destination_well_point = Point(x=123, y=123, z=123)
     pipette_bounds_at_destination = (
-        Point(x=50, y=150, z=60),
-        Point(x=150, y=50, z=60),
-        Point(x=97, y=403, z=204.5),
-        Point(x=50, y=50, z=60),
+        Point(x=50, y=350, z=204.5),
+        Point(x=150, y=450, z=204.5),
+        Point(x=150, y=400, z=204.5),
+        Point(x=50, y=300, z=204.5),
     )
 
     decoy.when(

shared-data/python/opentrons_shared_data/module/__init__.py

@@ -23,6 +23,15 @@
     "left_clip": {"x": -3.25, "y": 402, "z": 205},
     "right_clip": {"x": 97.75, "y": 402, "z": 205},
 }
+FLEX_TC_LID_COLLISION_ZONE = {
+    "back_left": {"x": -43.25, "y": 454.9, "z": 211.91},
+    "front_right": {"x": 128.75, "y": 402, "z": 211.91},
+}
+"""
+Deck co-ordinates of the top plane of TC lid + lid clips
+of a thermocycler on a Flex.
+"""
+
 
 # TODO (spp, 2022-05-12): Python has a built-in error called `ModuleNotFoundError` so,
 #                         maybe rename this one?