Merge branch 'edge' into fix_tiprack-second-window

Author: koji

api/docs/v2/basic_commands/liquids.rst

@@ -75,7 +75,7 @@ This example measures the liquid height in well A2 of a plate and then immediate
 
 To ensure the pipette stays submerged while aspirating, set ``target="end"`` for the aspirate or use multiple location parameters. For more, see :ref:`well-meniscus`. 
 
-!!! note:: 
+.. note:: 
     ``measure_liquid_height()`` works best with a new pipette tip each time. To save time and tips throughout your protocol, use ``Labware.load_liquid`` instead to specify starting liquid volumes.
 
 Use the ``location`` and ``end_location`` parameters in combination to direct the pipette to move to specific locations while aspirating::
@@ -192,7 +192,7 @@ This example measures the liquid height in well B1 of a plate and then immediate
 
 To ensure the pipette begins the dispense at the liquid meniscus, set ``target="start"``. See :ref:`well-meniscus` for more details on pipetting relative to the liquid meniscus. 
 
-!!! note::
+.. note::
     ``measure_liquid_height()`` works best with a new pipette tip each time. To save time and tips throughout your protocol, use ``Labware.load_liquid`` instead to specify starting liquid volumes. 
 
 

api/docs/v2/liquid_classes.rst

@@ -235,9 +235,9 @@ Next, edit individual liquid class properties based on your Flex pipette and tip
 
 .. code-block:: python
     
-  # edit aspirate submerge speed to 80 μL/sec
+  # edit aspirate submerge speed to 80 µL/sec
     custom_water_properties.aspirate.submerge.speed = 80
-  # edit aspirate flow rate by volume for 10 μL and 20 μL volumes
+  # edit aspirate flow rate by volume for 10 µL and 20 µL volumes
     custom_water_properties.aspirate.flow_rate_by_volume.set_for_volume(volume=10.0, value=40.0)
     custom_water_properties.aspirate.flow_rate_by_volume.set_for_volume(volume=20.0, value=30.0)
   # edit to delay for 1 sec before retracting after an aspirate

api/docs/v2/robot_position.rst

@@ -117,6 +117,8 @@ Here, the pipette tip stays at 1 mm below the liquid meniscus, regardless of cha
     Detecting liquid in a well requires pipette sensors, so you can only measure liquid height with a Flex pipette. 
 
 .. versionadded:: 2.23
+.. versionchanged:: 2.27
+    Use the optional ``end_location`` parameter to pipette relative to the liquid meniscus as it changes.  
 
 .. _new-default-op-positions:
 

api/docs/v2/versioning.rst

@@ -170,7 +170,7 @@ Version 2.25
 -------------
 
 - Adds :py:class:`.FlexStackerContext` to support the :ref:`Flex Stacker Module <stacker>`. Use the load name ``flexStackerModuleV1`` with :py:meth:`.ProtocolContext.load_module` to add a Flex Stacker and automate labware storage in a protocol.
-- Use the load name ``flex_96channel_200`` with :py:meth:`.load_instrument` to add the Opentrons Flex 96-Channel Pipette (1–200 μL) to a protocol. Note that this pipette does not work with liquid class commands in this API version. 
+- Use the load name ``flex_96channel_200`` with :py:meth:`.load_instrument` to add the Opentrons Flex 96-Channel Pipette (1–200 µL) to a protocol. Note that this pipette does not work with liquid class commands in this API version. 
 
 Version 2.24
 -------------

api/release-notes.md

@@ -31,7 +31,7 @@ Use Opentrons Tough Universal Lids on compatible well plates and reservoirs.
 
 ### Improvements
 
-Transfer aqueous, viscous, or volatile liquids with the Opentrons Flex 96-Channel Pipette (1–200 μL) to apply optimized, liquid class transfer behavior to volumes as low as 1 µL.
+Transfer aqueous, viscous, or volatile liquids with the Opentrons Flex 96-Channel Pipette (1–200 µL) to apply optimized, liquid class transfer behavior to volumes as low as 1 µL.
 
 ### Bug Fixes
 
@@ -45,12 +45,12 @@ Welcome to the v8.6.0 release of the Opentrons robot software! This release adds
 ### New Features
 
 - Automate labware storage with the Flex Stacker Module. Use new commands like `retrieve()` and `store()` to move well plates, reservoirs, or Flex tip racks to and from the Stacker during a protocol.
-- This release adds support for the Opentrons Flex 96-Channel Pipette (1–200 μL) to transfer as little as 1 µL in a protocol.
+- This release adds support for the Opentrons Flex 96-Channel Pipette (1–200 µL) to transfer as little as 1 µL in a protocol.
 - Control individual robot motors, like the gantry, extension mount, or gripper, with new commands.
 
 ### Known Limitations
 
-- The Opentrons Flex 96-Channel Pipette (1–200 μL) does not yet support liquid classes. Use legacy liquid-handling commands from the Python Protocol API.
+- The Opentrons Flex 96-Channel Pipette (1–200 µL) does not yet support liquid classes. Use legacy liquid-handling commands from the Python Protocol API.
 - The Flex Gripper can't currently sense if it has failed to pick up a labware lid.
 - Certain partial tip pickup actions adjacent to a Flex Stacker raise an error, even though no collision would occur.
 - Certain robot motor control commands don't appear properly in the run log. The commands are still functional.

api/src/opentrons/system/camera.py

@@ -158,7 +158,7 @@ async def update_live_stream_status(
         and camera_enable_settings.liveStreamEnabled
     ):
         # Check to see if the camera device is available
-        raw_device = str(contents["SOURCE"])[1:-1]
+        raw_device = str(contents["SOURCE"])
         if not os.path.exists(raw_device):
             log.error(
                 f"Opentrons Live Stream cannot sample the camera. No video device found with device path: {raw_device}"

app-shell/build/release-notes.md

@@ -24,6 +24,11 @@ Welcome to the v8.8.0 release of the Opentrons App! This release includes concur
 - An attached pipette no longer descends to attach a calibration probe for Labware Position Check, creating more clearance on the deck.
 - Changed runtime parameters no longer revert to their default values.
 
+### Known Issues
+
+- Error recovery in the app or on the Flex touchscreen can't successfully resolve overpressure errors that occur while pipetting relative to the liquid meniscus. We recommend canceling the protocol when these errors occur.
+- Images captured in a protocol are not available during the run via USB. Use a different connection type (Wi-Fi or Ethernet), view the images on the touchscreen, or download the images after the run is complete.
+
 ---
 
 ## Opentrons App Changes in 8.7.0

app/src/assets/localization/zh/protocol_setup.json

@@ -92,10 +92,12 @@
   "deck_hardware": "甲板硬件",
   "deck_map": "甲板布局图",
   "default_values": "默认值",
+  "disabled": "禁用",
   "download_files": "下载文件",
   "enable_camera": "启用摄像头以继续操作",
   "enable_camera_to_proceed": "启用摄像头以继续",
   "enabled": "已启用",
+  "error_confirming_camera": "确认摄像头偏好设置时出错",
   "example": "示例",
   "exit_to_deck_configuration": "退出到甲板配置",
   "extension_mount": "扩展安装支架",

app/src/molecules/InterventionModal/DeckMapContent.tsx

@@ -2,9 +2,10 @@ import { useEffect } from 'react'
 import { css } from 'styled-components'
 
 import {
-  AlignControlToModule,
   BaseDeck,
   Box,
+  CenterLabwareInModuleChildSlot,
+  CenterLabwareInSlot,
   COLORS,
   DIRECTION_COLUMN,
   DISPLAY_FLEX,
@@ -15,10 +16,9 @@ import {
 import {
   FLEX_STACKER_MODULE_TYPE,
   getDeckDefFromRobotType,
+  getLabwareViewBox,
   getModuleDef,
   getModuleType,
-  getSchema2CornerOffsetFromSlot,
-  getSchema2Dimensions,
 } from '@opentrons/shared-data'
 
 import type { ComponentProps } from 'react'
@@ -73,10 +73,16 @@ function InterventionStyleDeckMapContent(
         ? {
             ...labwareOnDeck,
             labwareChildren: (
-              <LabwareHighlight
-                highlight={true}
-                definition={labwareOnDeck.definition}
-              />
+              <CenterLabwareInSlot definition={labwareOnDeck.definition}>
+                {/*
+                LabwareHighlight is a valid "labware" in CenterLabwareInSlot because it
+                sizes and positions itself exactly like the underlying labware definition would.
+                */}
+                <LabwareHighlight
+                  highlight={true}
+                  definition={labwareOnDeck.definition}
+                />
+              </CenterLabwareInSlot>
             ),
           }
         : labwareOnDeck
@@ -96,16 +102,20 @@ function InterventionStyleDeckMapContent(
             ...module,
             moduleChildren:
               module?.nestedLabwareDefsBottomToTop.length > 0 ? (
-                <AlignControlToModule
-                  // todo(mm, 2025-07-14): This <AlignControlToModule> ought to be a
-                  // <AlignLabwareToModule>; right now, this will misalign the highlight
-                  // for schema-3 labware definitions. Before we can do that,
-                  // <LabwareHighlight> and probably <BaseDeck>'s labwareChildren prop
-                  // will need to be modified.
+                <CenterLabwareInModuleChildSlot
                   deckId={deckDef.otId}
                   slotId={module.moduleLocation.slotName}
                   moduleDefinition={getModuleDef(module.moduleModel)}
+                  labwareDefinition={
+                    module.nestedLabwareDefsBottomToTop[
+                      module.nestedLabwareDefsBottomToTop.length - 1
+                    ]
+                  }
                 >
+                  {/*
+                  LabwareHighlight is a valid "labware" in CenterLabwareInModuleChildSlot because it
+                  sizes and positions itself exactly like the underlying labware definition would.
+                  */}
                   <LabwareHighlight
                     highlight={true}
                     definition={
@@ -114,7 +124,7 @@ function InterventionStyleDeckMapContent(
                       ]
                     }
                   />
-                </AlignControlToModule>
+                </CenterLabwareInModuleChildSlot>
               ) : undefined,
           }
         : module
@@ -144,22 +154,22 @@ function DeckConfigStyleDeckMapContent({
   return <>{DeckLocationSelect}</>
 }
 
-export function LabwareHighlight({
+function LabwareHighlight({
   highlight,
   definition,
 }: {
   highlight: boolean
   definition: LabwareDefinition
 }): JSX.Element {
-  const { xDimension: width, yDimension: height } =
-    getSchema2Dimensions(definition)
-  const cornerOffsetFromSlot = getSchema2CornerOffsetFromSlot(definition)
+  // Size and position ourselves exactly like the underlying labware.
+  const { minX, minY, xDimension, yDimension } = getLabwareViewBox(definition)
 
   return (
     <RobotCoordsForeignDiv
-      x={cornerOffsetFromSlot.x}
-      y={cornerOffsetFromSlot.y}
-      {...{ width, height }}
+      x={minX}
+      y={minY}
+      width={xDimension}
+      height={yDimension}
       innerDivProps={{
         display: DISPLAY_FLEX,
         flexDirection: DIRECTION_COLUMN,

app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabware/SetupLabwareMap.tsx

@@ -1,9 +1,10 @@
 import { useMemo, useState } from 'react'
 
 import {
-  AlignControlToModule,
+  AlignToModuleChildSlot,
   BaseDeck,
   Box,
+  CenterLabwareInSlot,
   DIRECTION_COLUMN,
   Flex,
   LabwareInfoOverlay,
@@ -89,6 +90,8 @@ export function SetupLabwareMap({
           : null
       // TODO: ja 8.27.25: find a better way to find the matching lid def without
       // relying on the lidDisplayNames
+      // TODO: mm 12.3.25: deduplicate with other places where we're doing the same thing
+      // (grep for matchingLidDef)
       const matchingLidDef = Object.values(labwareDefinitionsByURI).find(
         uri => uri.metadata.displayName === topLabwareInfo?.lidDisplayName
       )
@@ -142,10 +145,7 @@ export function SetupLabwareMap({
             cursor="pointer"
           >
             {topLabwareDefinition != null && topLabwareInfo != null ? (
-              <AlignControlToModule
-                // todo(mm, 2025-07-14): This <AlignControlToModule> ought to be an
-                // <AlignLabwareToModule>. Right now, this will misalign the overlay
-                // for schema-3 labware definitions.
+              <AlignToModuleChildSlot
                 deckId={deckDef.otId}
                 slotId={slotName}
                 moduleDefinition={moduleDefinition}
@@ -163,7 +163,7 @@ export function SetupLabwareMap({
                       : 0
                   }
                 />
-              </AlignControlToModule>
+              </AlignToModuleChildSlot>
             ) : null}
           </g>
         ),
@@ -178,6 +178,10 @@ export function SetupLabwareMap({
       topLabwareInfo != null
         ? labwareDefinitionsByURI[topLabwareInfo.definitionUri]
         : null
+    // TODO: ja 8.27.25: find a better way to find the matching lid def without
+    // relying on the lidDisplayNames
+    // TODO: mm 12.3.25: deduplicate with other places where we're doing the same thing
+    // (grep for matchingLidDef)
     const matchingLidDef = Object.values(labwareDefinitionsByURI).find(
       uri => uri.metadata.displayName === topLabwareInfo?.lidDisplayName
     )
@@ -199,10 +203,12 @@ export function SetupLabwareMap({
       labwareChildren: (
         <>
           {matchingLidDef != null ? (
-            <LabwareRender
-              definition={matchingLidDef}
-              positioningMode="passThrough"
-            />
+            <CenterLabwareInSlot definition={matchingLidDef}>
+              <LabwareRender
+                definition={matchingLidDef}
+                positioningMode="passThrough"
+              />
+            </CenterLabwareInSlot>
           ) : null}
           <g
             cursor="pointer"