feat(api): Experimental, barebones support for dropping stuff in the waste chute

[SyntaxColoring]

Overview

This adds very experimental, unstable, internal methods to the Python Protocol API to let you eject tips and drop labware into the Opentrons Flex Waste Disposal Chute™.

This isn't specifically ticketed. It goes towards RSS-333 in general.

Changelog

• Add ProtocolContext.load_waste_chute(), which returns a new WasteChute object.
• You can now pass that WasteChute object to ProtocolContext.move_labware() as a destination.
• You can now pass that WasteChute object to InstrumentContext.drop_tip() as a destination.

The implementation is hacky. For example, dropping a labware in a waste chute actually moves the labware "to slot D3" with a giant offset. We intend to change this when Protocol Engine learns about the waste chute. Hacky Python Protocol API support is beneficial for unblocking internal testers and sussing out API usability concerns.

Known limitations

• Motion planning is not smart enough to move the pipettes around the waste chute. For example, it will happily jam your pipette into it if you move from slot D2 to slot C3. Plan your deck layouts carefully, or manually retract the pipettes before dangerous movements. And be ready on the e-stop.
• The API is likely to change in unpredictable ways as we figure out how to implement all of this.
• You can't dispense liquid to the waste chute. i.e. we support drop_tip() but not dispense() or blow_out().
• You can't move_to() the waste chute.
• You can't apply offsets for dropping tips. (You can provide offsets for dropping labware.)
• Nothing will prevent you from doing impossible loads, like loading a labware in slot D3 and then using it as a waste chute, or loading a waste chute on an OT-2.

Test Plan

Here are a couple of test protocols. We need to run both of them on a Flex.

• drop_labware_in_waste_chute.py
• drop_tips_in_waste_chute.py
  • With an 8-channel 1000µL pipette
  • With a 96-channel 1000µL pipette

Review requests

Anything too hacky to tolerate?

Risk assessment

[codecov]

Codecov Report

Merging #13828 (da90dde) into edge (f2625a6) will not change coverage.
Report is 12 commits behind head on edge.
The diff coverage is n/a.

Additional details and impacted files

@@           Coverage Diff           @@
##             edge   #13828   +/-   ##
=======================================
  Coverage   70.74%   70.74%           
=======================================
  Files        1612     1612           
  Lines       53532    53532           
  Branches     3711     3711           
=======================================
  Hits        37873    37873           
  Misses      15050    15050           
  Partials      609      609           

Flag	Coverage Δ
g-code-testing	96.44% <ø> (ø)
notify-server	89.13% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
api/src/opentrons/protocol_api/__init__.py	100.00% <ø> (ø)
...i/src/opentrons/protocol_api/instrument_context.py	87.73% <ø> (ø)
api/src/opentrons/protocol_api/protocol_context.py	92.39% <ø> (ø)
...c/opentrons/protocol_engine/clients/sync_client.py	100.00% <ø> (ø)
...src/opentrons/protocols/api_support/definitions.py	100.00% <ø> (ø)

[sfoster1]

Looks really good to me but can we move the test protos so i don't twitch