Overview

Closes RSS-353

• Adds the stackingOverlapWithModule for Biorad & NEST PCR plates on TC Gen2.
• Also adds a default overlap for any labware placed on a thermocycler on the OT2 such that the final height of the labware is the same as what it would have been prior to introducing stacking overlaps for thermocycler labware.

Test Plan

The ticket above has a protocol attached for testing. That protocol places a nest PCR plate, a biorad plate and a custom pcr plate on the thermocycler one ofter the other to check for location precision. You will need to create and upload a custom PCR plate definition as mentioned in the protocol.

1. Upload this protocol to a Flex and check that:

   • when you run LPC, the pipette moves to accurate z-positions for the NEST and Biorad plates, and moves too high for the custom pcr plate
   • during the protocol run the gripper is able to move the NEST & biorad plates correctly but can't move the custom pcr plate because the gripper moves too high

2. Adjust the protocol for running on OT2 and upload to an OT2:

   • when you run LPC, the pipette moves to accurate z-positions for the NEST and Biorad plates, and an okay position for custom pcr plate (unless it happens to be based on an armadillo plate). Also note that positional accuracy of the OT2 for labware on modules is not as high as the Flex so I wouldn't stress too much if there is an offset of a couple of mm.

Changelog

• updated Biorad & NEST PCR plate definitions
• added backwards-compatible stacking overlap for OT2 based TC in state.labware. get_module_overlap_offsets()

Review requests

• Do above tests on both Flex & OT-2
• Do we need to bump labware definition revision number for this?

Risk assessment

Low. Just adds the missing overlap values. Low risk if tests show expected results.