feat(opentrons): Opentrons Flex liquid handler driver#1184
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…rotocol + discovery)
…o resource trackers Adds OpentronsFlex(OpentronsRobot): _model_setup homes the gantry; pick_up_tips/drop_tips commit tip state to TipSpot.tracker (remove_tip/ add_tip + commit) rather than a private per-device copy. Only which physical channel holds which tip is device-local state (self._channel_tips). Trash drops use the addressable-area path (moveToAddressableAreaForDropTip + dropTipInPlace) and skip the tracker add. JIT labware loading and load-name resolution ported verbatim from titronic plr_v4/flex/head8_backend.py. wellName is derived via TipRack.get_child_identifier(tip_spot) — the canonical PLR API for item->identifier — not string-splitting spot.name (which is prefixed with the rack name, e.g. "tips_A1").
…ure, volume trackers
Removes narrative comments referencing source origins (titronic, plr_v4) in favor of pure behavioral descriptions. Fixes lines 14-15 (flow-rate comment) and 169-173 (wellLocation docstring). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…dict returns Casts httpx JSON returns instead of leaking Any; narrows self.pipette and TipSpot/Container.parent with explicit asserts instead of unchecked attribute access; types _loaded_labware and _channel_tips precisely. Behavior unchanged (harness still passes all sections).
Adds docs/user_guide/opentrons/flex/hello-world.ipynb covering setup(), pick_up_tips, aspirate, dispense, and drop_tips on the plain-class OpentronsFlex with a FlexDeck, a flex_96_tiprack_50ul, and a Corning 96-well plate. Wires it into the opentrons/index toctree (opentrons/index was already listed in the Manufacturers toctree in user_guide/index.md). Documents OpentronsRobot/OpentronsFlex/OpentronsError/PipetteInfo in docs/api/pylabrobot.opentrons.rst (already referenced from pylabrobot.rst).
…es from resources Apply ruff format to standardize code layout. Remove [Capability Branch] markers and reword docstrings that referenced PIP capability/FlexPIPBackend, replacing with factual descriptions of what the racks and deck are (Opentrons Flex device definitions with ot_load_name for the robot's labware system). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…tive, note httpx transport
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Summary
Adds a driver for the Opentrons Flex liquid handler, following the plain-class device-driver architecture in
docs/contributor_guide/device-driver-guide.md.What's included
pylabrobot/opentrons/robot.py—OpentronsRobot, anabc.ABCbase that owns the HTTP connection to the Opentrons robot server (the runs/commands API on port 31950), the run and command lifecycle, and instrument (pipette) discovery. It is shared so that additional Opentrons robots can reuse the same transport and protocol.pylabrobot/opentrons/flex.py—OpentronsFlex(OpentronsRobot). Asyncsetup()/stop()plus the liquid-handling operationspick_up_tips,drop_tips,aspirate, anddispense, using PyLabRobot's standard liquid-handling signatures (resources,vols,use_channels, …). Tip and volume state is recorded on the resource-tree trackers (TipSpot/Well), gated by the globaldoes_tip_tracking()/does_volume_tracking()switches.FlexDeck(the Flex A1–D3 grid plus staging area, modeled as aDeckwhose slots areResourceHolderchildren) and the Flex 96-tip-rack definitions, underpylabrobot/resources/opentrons/.docs/user_guide/opentrons/flex/hello-world.ipynband an API reference page (docs/api/pylabrobot.opentrons.rst).Transport
The Flex is controlled over HTTP. As PyLabRobot has no
pylabrobot.ioHTTP transport, the driver holds anhttpx.AsyncClientdirectly. This is OS-agnostic (Windows/macOS/Linux).Not yet verified on hardware
This driver has not been checked against a physical Flex;
setup()emits a warning to that effect. Behavior is exercised against a simulation of the command layer, with the resource-tree tracking verified in both the tracking-on and tracking-off states.Scope
Included: tip pickup/drop and aspirate/dispense through the standard liquid-handling API, including drop-to-trash via the movable trash addressable area.
Future work (not in this PR): the 96-channel head, single-tip / nozzle-layout configuration, liquid probing, and modules.
Checks
ruff formatandruff checkclean;mypyclean; 2-space indentation.