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feat(api): inner well geometry unit tests (#17082)
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@caila-marashaj
caila-marashaj authored Jan 7, 2025
1 parent 3952884 commit 9a28d32
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Showing 25 changed files with 1,922 additions and 1,437 deletions.
57 changes: 13 additions & 44 deletions api/src/opentrons/protocol_engine/state/frustum_helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -82,19 +82,12 @@ def _circular_frustum_polynomial_roots(


def _volume_from_height_circular(
target_height: float,
total_frustum_height: float,
bottom_radius: float,
top_radius: float,
target_height: float, segment: ConicalFrustum
) -> float:
"""Find the volume given a height within a circular frustum."""
a, b, c = _circular_frustum_polynomial_roots(
bottom_radius=bottom_radius,
top_radius=top_radius,
total_frustum_height=total_frustum_height,
)
volume = a * (target_height**3) + b * (target_height**2) + c * target_height
return volume
heights = segment.height_to_volume_table.keys()
best_fit_height = min(heights, key=lambda x: abs(x - target_height))
return segment.height_to_volume_table[best_fit_height]


def _volume_from_height_rectangular(
Expand Down Expand Up @@ -138,26 +131,12 @@ def _volume_from_height_squared_cone(


def _height_from_volume_circular(
volume: float,
total_frustum_height: float,
bottom_radius: float,
top_radius: float,
target_volume: float, segment: ConicalFrustum
) -> float:
"""Find the height given a volume within a circular frustum."""
a, b, c = _circular_frustum_polynomial_roots(
bottom_radius=bottom_radius,
top_radius=top_radius,
total_frustum_height=total_frustum_height,
)
d = volume * -1
x_intercept_roots = (a, b, c, d)

height_from_volume_roots = roots(x_intercept_roots)
height = _reject_unacceptable_heights(
potential_heights=list(height_from_volume_roots),
max_height=total_frustum_height,
)
return height
"""Find the height given a volume within a squared cone segment."""
volumes = segment.volume_to_height_table.keys()
best_fit_volume = min(volumes, key=lambda x: abs(x - target_volume))
return segment.volume_to_height_table[best_fit_volume]


def _height_from_volume_rectangular(
Expand Down Expand Up @@ -243,9 +222,7 @@ def _get_segment_capacity(segment: WellSegment) -> float:
return (
_volume_from_height_circular(
target_height=section_height,
total_frustum_height=section_height,
bottom_radius=(segment.bottomDiameter / 2),
top_radius=(segment.topDiameter / 2),
segment=segment,
)
* segment.count
)
Expand Down Expand Up @@ -293,12 +270,7 @@ def height_at_volume_within_section(
radius_of_curvature=section.radiusOfCurvature,
)
case ConicalFrustum():
return _height_from_volume_circular(
volume=target_volume_relative,
top_radius=(section.bottomDiameter / 2),
bottom_radius=(section.topDiameter / 2),
total_frustum_height=section_height,
)
return _height_from_volume_circular(target_volume_relative, section)
case CuboidalFrustum():
return _height_from_volume_rectangular(
volume=target_volume_relative,
Expand Down Expand Up @@ -334,10 +306,7 @@ def volume_at_height_within_section(
case ConicalFrustum():
return (
_volume_from_height_circular(
target_height=target_height_relative,
total_frustum_height=section_height,
bottom_radius=(section.bottomDiameter / 2),
top_radius=(section.topDiameter / 2),
target_height=target_height_relative, segment=section
)
* section.count
)
Expand Down Expand Up @@ -427,7 +396,7 @@ def _find_height_in_partial_frustum(
if (
bottom_section_volume
< target_volume
< (bottom_section_volume + section_volume)
<= (bottom_section_volume + section_volume)
):
relative_target_volume = target_volume - bottom_section_volume
section_height = section.topHeight - section.bottomHeight
Expand Down
1 change: 0 additions & 1 deletion api/src/opentrons/protocol_engine/state/labware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -525,7 +525,6 @@ def get_well_definition(
will be used.
"""
definition = self.get_definition(labware_id)

if well_name is None:
well_name = definition.ordering[0][0]

Expand Down
150 changes: 150 additions & 0 deletions api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,150 @@
"""Arguments needed to test inner geometry.
Each labware has 2 nominal volumes calculated in solidworks.
- One is a nominal bottom volume, calculated some set distance from the bottom of the inside of the well.
- The other is a nominal top volume, calculated some set distance from the top of the inside of the well.
"""
INNER_WELL_GEOMETRY_TEST_PARAMS = [
[
"opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
"conicalWell15mL",
16.7,
15546.9,
3.0,
5.0,
],
[
"opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
"conicalWell50mL",
111.2,
56110.3,
3.0,
5.0,
],
["opentrons_24_tuberack_nest_2ml_screwcap", "conicalWell", 66.6, 2104.9, 3.0, 3.0],
[
"opentrons_24_tuberack_nest_1.5ml_screwcap",
"conicalWell",
19.5,
1750.8,
3.0,
3.0,
],
["nest_1_reservoir_290ml", "cuboidalWell", 16570.380, 271690.520, 3.0, 3.0],
["opentrons_24_tuberack_nest_2ml_snapcap", "conicalWell", 69.62, 2148.5, 3.0, 3.0],
["nest_96_wellplate_2ml_deep", "cuboidalWell", 118.3, 2060.4, 3.0, 3.0],
["opentrons_24_tuberack_nest_1.5ml_snapcap", "conicalWell", 27.8, 1682.3, 3.0, 3.0],
["nest_12_reservoir_15ml", "cuboidalWell", 1219.0, 13236.1, 3.0, 3.0],
["nest_1_reservoir_195ml", "cuboidalWell", 14034.2, 172301.9, 3.0, 3.0],
[
"opentrons_24_tuberack_nest_0.5ml_screwcap",
"conicalWell",
21.95,
795.4,
3.0,
3.0,
],
[
"opentrons_96_wellplate_200ul_pcr_full_skirt",
"conicalWell",
14.3,
150.2,
3.0,
3.0,
],
["nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 15.5, 150.8, 3.0, 3.0],
["nest_96_wellplate_200ul_flat", "conicalWell", 96.3, 259.8, 3.0, 3.0],
[
"opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
"50mlconicalWell",
163.9,
57720.5,
3.0,
3.0,
],
[
"opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
"15mlconicalWell",
40.8,
15956.6,
3.0,
3.0,
],
["usascientific_12_reservoir_22ml", "cuboidalWell", 529.36, 21111.5, 3.0, 3.0],
["thermoscientificnunc_96_wellplate_2000ul", "conicalWell", 73.5, 1768.0, 3.0, 3.0],
[
"usascientific_96_wellplate_2.4ml_deep",
"cuboidalWell",
72.220,
2241.360,
3.0,
3.0,
],
["agilent_1_reservoir_290ml", "cuboidalWell", 15652.9, 268813.8, 3.0, 3.0],
[
"opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
"conicalWell",
25.8,
1576.1,
3.0,
3.0,
],
["thermoscientificnunc_96_wellplate_1300ul", "conicalWell", 73.5, 1155.1, 3.0, 3.0],
["corning_12_wellplate_6.9ml_flat", "conicalWell", 1156.3, 5654.8, 3.0, 3.0],
["corning_24_wellplate_3.4ml_flat", "conicalWell", 579.0, 2853.4, 3.0, 3.0],
["corning_6_wellplate_16.8ml_flat", "conicalWell", 2862.1, 13901.9, 3.0, 3.0],
["corning_48_wellplate_1.6ml_flat", "conicalWell", 268.9, 1327.0, 3.0, 3.0],
["biorad_96_wellplate_200ul_pcr", "conicalWell", 17.9, 161.2, 3.0, 3.0],
["axygen_1_reservoir_90ml", "cuboidalWell", 22373.4, 70450.6, 3.0, 3.0],
["corning_384_wellplate_112ul_flat", "flatWell", 22.4, 77.4, 2.88, 3.0],
["corning_96_wellplate_360ul_flat", "conicalWell", 97.2, 257.1, 3.0, 3.0],
["biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.8, 3.0, 3.0],
[
"appliedbiosystemsmicroamp_384_wellplate_40ul",
"conicalWell",
7.44,
26.19,
3.0,
3.0,
],
[
"opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap",
"conicalWell",
60.940,
2163.980,
3.0,
3.0,
],
[
"opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
"conicalWell15mL",
16.690,
15546.930,
3.0,
5.0,
],
[
"opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
"conicalWell50mL",
111.200,
56110.279,
3.0,
5.0,
],
[
"opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
"15mlconicalWell",
40.830,
15956.600,
3.0,
3.0,
],
[
"opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
"50mlconicalWell",
163.860,
57720.510,
3.0,
3.0,
],
]
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