OTDeck: model slots as resource holders and render them in the visualizer#1131
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OTDeck: model slots as resource holders, inset onto the plate cornerOTDeck: model slots as resource holders and render them in the visualizer
rickwierenga
reviewed
Jul 2, 2026
rickwierenga
reviewed
Jul 2, 2026
Model the 12 slots as ResourceHolder children (one per slot) so the deck geometry has a single source of truth that serializes and renders like the rest of PLR, instead of a bare coordinate list paralleled by hardcoded grids elsewhere. Re-base the slots onto the deck plate corner (the Opentrons cornerOffsetFromOrigin of 115.65, 68.03), so they sit correctly inside the plate rather than flush in the front-left. Set size_z to 0 to match the flat reference surface, and size slot 12's holder to the fixed-trash footprint (172.86 x 165.86 x 82) since the trash overhangs a standard slot. Default deck name is now ot2_deck. `OpentronsOT2Backend`: convert deck-frame coordinates to the robot frame before issuing moves, which cancels the inset so real hardware moves are unchanged; and walk holder->deck for the slot lookup now that labware sits in a holder. Deserializing a deck saved before slots were holders now errors loudly rather than misplacing labware. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
assign_child_resource replaced the existing slot holder via list.index(existing), but `existing` is typed Resource (not ResourceHolder), which mypy rejected. Find it by identity with an enumerate loop instead; behaviour is unchanged. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…so mypy passes The serialize/deserialize test indexed loaded.slots[6]/[3] (typed Resource | None) directly for .name and get_slot; bind them and assert non-None first. Behaviour unchanged. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Now that OTDeck's slots are ResourceHolder children, draw them from the serialized resource tree like any other holder instead of a hardcoded slot grid. Drop the deck `location` override that double-counted the plate-corner offset (labware was rendering and measuring one slot-offset too far). Slot-number labels are inset to match the holders and drawn on top of empty slots only, so labware in an occupied slot is shown instead of being covered. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The Trash renderer and the drag-snapping helpers looked up `resources["deck"]`, assuming the deck is named "deck". Renaming the OT-2 deck to ot2_deck left that lookup undefined, so `Trash.drawMainShape` read `undefined.constructor` and crashed the whole render (blank canvas and empty tree). Add a `getDeck()` helper that finds the deck by `instanceof Deck` and route all three call sites through it, so the visualizer is robust to any deck name. The Trash stays hidden whenever a deck is present, as before. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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this has conflicts but otherwise good to merge |
# Conflicts: # pylabrobot/visualizer/lib.js
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Models the OT-2 deck's 12 slots as
ResourceHolderchildren inset onto the deck plate corner, and updates the visualizer to draw those holders.Modelling each slot as a holder gives it a real location and a single child (its labware), so placement, serialization, and slot lookup all go through the holder instead of ad-hoc deck math. The visualizer then renders each slot from its holder - an occupied slot shows its labware, an empty one shows the slot number on top - and finds the deck by type (
instanceof Deck) rather than a hardcoded name.Foundation of the OT-2 series; depends on nothing else in it.
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