feat(api): remove use of LPC offsets during labware movement (#13144)

api/src/opentrons/protocol_api/core/engine/protocol.py

@@ -253,8 +253,6 @@ def move_labware(
             DeckSlotName, LabwareCore, ModuleCore, NonConnectedModuleCore, OffDeckType
         ],
         use_gripper: bool,
-        use_pick_up_location_lpc_offset: bool,
-        use_drop_location_lpc_offset: bool,
         pick_up_offset: Optional[Tuple[float, float, float]],
         drop_offset: Optional[Tuple[float, float, float]],
     ) -> None:
@@ -286,8 +284,6 @@ def move_labware(
             labware_id=labware_core.labware_id,
             new_location=to_location,
             strategy=strategy,
-            use_pick_up_location_lpc_offset=use_pick_up_location_lpc_offset,
-            use_drop_location_lpc_offset=use_drop_location_lpc_offset,
             pick_up_offset=_pick_up_offset,
             drop_offset=_drop_offset,
         )

api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py

@@ -254,8 +254,6 @@ def move_labware(
             OffDeckType,
         ],
         use_gripper: bool,
-        use_pick_up_location_lpc_offset: bool,
-        use_drop_location_lpc_offset: bool,
         pick_up_offset: Optional[Tuple[float, float, float]],
         drop_offset: Optional[Tuple[float, float, float]],
     ) -> None:

api/src/opentrons/protocol_api/core/protocol.py

@@ -86,8 +86,6 @@ def move_labware(
         labware_core: LabwareCoreType,
         new_location: Union[DeckSlotName, LabwareCoreType, ModuleCoreType, OffDeckType],
         use_gripper: bool,
-        use_pick_up_location_lpc_offset: bool,
-        use_drop_location_lpc_offset: bool,
         pick_up_offset: Optional[Tuple[float, float, float]],
         drop_offset: Optional[Tuple[float, float, float]],
     ) -> None:

api/src/opentrons/protocol_api/protocol_context.py

@@ -529,8 +529,6 @@ def move_labware(
         labware: Labware,
         new_location: Union[DeckLocation, Labware, ModuleTypes, OffDeckType],
         use_gripper: bool = False,
-        use_pick_up_location_lpc_offset: bool = False,
-        use_drop_location_lpc_offset: bool = False,
         pick_up_offset: Optional[Mapping[str, float]] = None,
         drop_offset: Optional[Mapping[str, float]] = None,
     ) -> None:
@@ -600,8 +598,6 @@ def move_labware(
             labware_core=labware._core,
             new_location=location,
             use_gripper=use_gripper,
-            use_pick_up_location_lpc_offset=use_pick_up_location_lpc_offset,
-            use_drop_location_lpc_offset=use_drop_location_lpc_offset,
             pick_up_offset=_pick_up_offset,
             drop_offset=_drop_offset,
         )

api/src/opentrons/protocol_engine/clients/sync_client.py

@@ -145,8 +145,6 @@ def move_labware(
         labware_id: str,
         new_location: LabwareLocation,
         strategy: LabwareMovementStrategy,
-        use_pick_up_location_lpc_offset: bool,
-        use_drop_location_lpc_offset: bool,
         pick_up_offset: Optional[LabwareOffsetVector],
         drop_offset: Optional[LabwareOffsetVector],
     ) -> commands.MoveLabwareResult:
@@ -156,8 +154,6 @@ def move_labware(
                 labwareId=labware_id,
                 newLocation=new_location,
                 strategy=strategy,
-                usePickUpLocationLpcOffset=use_pick_up_location_lpc_offset,
-                useDropLocationLpcOffset=use_drop_location_lpc_offset,
                 pickUpOffset=pick_up_offset,
                 dropOffset=drop_offset,
             )

api/src/opentrons/protocol_engine/commands/move_labware.py

@@ -10,7 +10,7 @@
     OnLabwareLocation,
     LabwareMovementStrategy,
     LabwareOffsetVector,
-    ExperimentalOffsetData,
+    LabwareMovementOffsetData,
 )
 from ..errors import LabwareMovementNotAllowedError
 from ..resources import labware_validation
@@ -35,16 +35,6 @@ class MoveLabwareParams(BaseModel):
         description="Whether to use the gripper to perform the labware movement"
         " or to perform a manual movement with an option to pause.",
     )
-    usePickUpLocationLpcOffset: bool = Field(
-        False,
-        description="Whether to use LPC offset of the labware associated with its "
-        "pick up location. Experimental param, subject to change.",
-    )
-    useDropLocationLpcOffset: bool = Field(
-        False,
-        description="Whether to use LPC offset of the labware associated with its "
-        "drop off location. Experimental param, subject to change.",
-    )
     pickUpOffset: Optional[LabwareOffsetVector] = Field(
         None,
         description="Offset to use when picking up labware. "
@@ -145,9 +135,7 @@ async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult:
             validated_new_loc = self._labware_movement.ensure_valid_gripper_location(
                 available_new_location,
             )
-            experimental_offset_data = ExperimentalOffsetData(
-                usePickUpLocationLpcOffset=params.usePickUpLocationLpcOffset,
-                useDropLocationLpcOffset=params.useDropLocationLpcOffset,
+            user_offset_data = LabwareMovementOffsetData(
                 pickUpOffset=params.pickUpOffset,
                 dropOffset=params.dropOffset,
             )
@@ -156,8 +144,7 @@ async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult:
                 labware_id=params.labwareId,
                 current_location=validated_current_loc,
                 new_location=validated_new_loc,
-                experimental_offset_data=experimental_offset_data,
-                new_offset_id=new_offset_id,
+                user_offset_data=user_offset_data,
             )
         elif params.strategy == LabwareMovementStrategy.MANUAL_MOVE_WITH_PAUSE:
             # Pause to allow for manual labware movement

api/src/opentrons/protocol_engine/execution/labware_movement.py

@@ -31,7 +31,7 @@
     OnLabwareLocation,
     LabwareLocation,
     LabwareOffsetVector,
-    ExperimentalOffsetData,
+    LabwareMovementOffsetData,
 )
 
 if TYPE_CHECKING:
@@ -89,8 +89,7 @@ async def move_labware_with_gripper(
         labware_id: str,
         current_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
         new_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
-        experimental_offset_data: ExperimentalOffsetData,
-        new_offset_id: Optional[str],
+        user_offset_data: LabwareMovementOffsetData,
     ) -> None:
         """Move a loaded labware from one location to another."""
         use_virtual_gripper = self._state_store.config.use_virtual_gripper
@@ -125,12 +124,8 @@ async def move_labware_with_gripper(
         async with self._thermocycler_plate_lifter.lift_plate_for_labware_movement(
             labware_location=current_location
         ):
-            labware_pickup_offset = self.get_experimental_labware_movement_offset_vector(
-                use_current_offset=experimental_offset_data.usePickUpLocationLpcOffset,
-                current_offset_vector=self._state_store.labware.get_labware_offset_vector(
-                    labware_id
-                ),
-                additional_offset_vector=experimental_offset_data.pickUpOffset,
+            labware_pickup_offset = self.get_final_labware_movement_offset_vector(
+                additional_offset_vector=user_offset_data.pickUpOffset,
                 is_pickup_from_tc2=is_tc2_pickup,
             )
 
@@ -153,18 +148,9 @@ async def move_labware_with_gripper(
             await ot3api.move_to(
                 mount=gripper_mount, abs_position=waypoints_to_labware[-1]
             )
-
             await ot3api.grip(force_newtons=LABWARE_GRIP_FORCE)
-
-            new_labware_offset = (
-                self._state_store.labware.get_labware_offset(new_offset_id).vector
-                if new_offset_id
-                else None
-            )
-            labware_drop_offset = self.get_experimental_labware_movement_offset_vector(
-                use_current_offset=experimental_offset_data.useDropLocationLpcOffset,
-                current_offset_vector=new_labware_offset,
-                additional_offset_vector=experimental_offset_data.dropOffset,
+            labware_drop_offset = self.get_final_labware_movement_offset_vector(
+                additional_offset_vector=user_offset_data.dropOffset
             )
 
             # TODO: see https://opentrons.atlassian.net/browse/RLAB-215
@@ -220,31 +206,19 @@ def _get_gripper_movement_waypoints(
 
     # TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237
     @staticmethod
-    def get_experimental_labware_movement_offset_vector(
-        use_current_offset: bool,
-        current_offset_vector: Optional[LabwareOffsetVector],
+    def get_final_labware_movement_offset_vector(
         additional_offset_vector: Optional[LabwareOffsetVector],
         is_pickup_from_tc2: bool = False,
     ) -> LabwareOffsetVector:
         """Calculate the final labware offset vector to use in labware movement."""
-        _current_offset_vector = current_offset_vector or LabwareOffsetVector(
-            x=0, y=0, z=0
-        )
-        _additional_offset_vector = additional_offset_vector or LabwareOffsetVector(
+        user_offset_vector = additional_offset_vector or LabwareOffsetVector(
             x=0, y=0, z=0
         )
         if is_pickup_from_tc2:
             # TODO (fps, 2022-05-30): Remove this once RLAB-295 is merged
-            _additional_offset_vector.z += _ADDITIONAL_TC2_PICKUP_OFFSET
-
-        if not use_current_offset:
-            return _additional_offset_vector
-        else:
-            return LabwareOffsetVector(
-                x=_current_offset_vector.x + _additional_offset_vector.x,
-                y=_current_offset_vector.y + _additional_offset_vector.y,
-                z=_current_offset_vector.z + _additional_offset_vector.z,
-            )
+            user_offset_vector.z += _ADDITIONAL_TC2_PICKUP_OFFSET
+
+        return user_offset_vector
 
     # TODO (spp, 2022-10-20): move to labware view
     @staticmethod

api/src/opentrons/protocol_engine/types.py

@@ -92,13 +92,10 @@ class LabwareMovementStrategy(str, Enum):
     MANUAL_MOVE_WITHOUT_PAUSE = "manualMoveWithoutPause"
 
 
-# TODO (spp, 2022-12-14): https://opentrons.atlassian.net/browse/RLAB-237
-@dataclass(frozen=True)
-class ExperimentalOffsetData(BaseModel):
-    """The result of a load module procedure."""
+@dataclass
+class LabwareMovementOffsetData:
+    """Offsets to be used during labware movement."""
 
-    usePickUpLocationLpcOffset: bool
-    useDropLocationLpcOffset: bool
     pickUpOffset: Optional[LabwareOffsetVector]
     dropOffset: Optional[LabwareOffsetVector]
 

api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py

@@ -517,17 +517,11 @@ def test_load_adapter(
     ],
 )
 @pytest.mark.parametrize(
-    argnames=[
-        "use_pick_up_location_lpc_offset",
-        "use_drop_location_lpc_offset",
-        "pick_up_offset",
-        "drop_offset",
-    ],
+    argnames=["pick_up_offset", "drop_offset"],
     argvalues=[
-        (False, False, None, None),
-        (True, False, None, None),
-        (False, True, None, (4, 5, 6)),
-        (True, True, (4, 5, 6), (4, 5, 6)),
+        (None, None),
+        (None, (4, 5, 6)),
+        ((4, 5, 6), (4, 5, 6)),
     ],
 )
 def test_move_labware(
@@ -536,8 +530,6 @@ def test_move_labware(
     mock_engine_client: EngineClient,
     expected_strategy: LabwareMovementStrategy,
     use_gripper: bool,
-    use_pick_up_location_lpc_offset: bool,
-    use_drop_location_lpc_offset: bool,
     pick_up_offset: Optional[Tuple[float, float, float]],
     drop_offset: Optional[Tuple[float, float, float]],
 ) -> None:
@@ -552,8 +544,6 @@ def test_move_labware(
         labware_core=labware,
         new_location=DeckSlotName.SLOT_5,
         use_gripper=use_gripper,
-        use_pick_up_location_lpc_offset=use_pick_up_location_lpc_offset,
-        use_drop_location_lpc_offset=use_drop_location_lpc_offset,
         pick_up_offset=pick_up_offset,
         drop_offset=drop_offset,
     )
@@ -562,8 +552,6 @@ def test_move_labware(
             labware_id="labware-id",
             new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_5),
             strategy=expected_strategy,
-            use_pick_up_location_lpc_offset=use_pick_up_location_lpc_offset,
-            use_drop_location_lpc_offset=use_drop_location_lpc_offset,
             pick_up_offset=LabwareOffsetVector(x=4, y=5, z=6)
             if pick_up_offset
             else None,
@@ -594,8 +582,6 @@ def test_move_labware_on_non_connected_module(
         labware_core=labware,
         new_location=non_connected_module_core,
         use_gripper=False,
-        use_pick_up_location_lpc_offset=False,
-        use_drop_location_lpc_offset=False,
         pick_up_offset=None,
         drop_offset=None,
     )
@@ -604,8 +590,6 @@ def test_move_labware_on_non_connected_module(
             labware_id="labware-id",
             new_location=ModuleLocation(moduleId="module-id"),
             strategy=LabwareMovementStrategy.MANUAL_MOVE_WITH_PAUSE,
-            use_pick_up_location_lpc_offset=False,
-            use_drop_location_lpc_offset=False,
             pick_up_offset=None,
             drop_offset=None,
         )
@@ -630,8 +614,6 @@ def test_move_labware_off_deck(
         labware_core=labware,
         new_location=OFF_DECK,
         use_gripper=False,
-        use_pick_up_location_lpc_offset=False,
-        use_drop_location_lpc_offset=False,
         pick_up_offset=None,
         drop_offset=None,
     )
@@ -640,8 +622,6 @@ def test_move_labware_off_deck(
             labware_id="labware-id",
             new_location=OFF_DECK_LOCATION,
             strategy=LabwareMovementStrategy.MANUAL_MOVE_WITH_PAUSE,
-            use_pick_up_location_lpc_offset=False,
-            use_drop_location_lpc_offset=False,
             pick_up_offset=None,
             drop_offset=None,
         )

api/tests/opentrons/protocol_api/test_protocol_context.py

@@ -504,7 +504,6 @@ def test_move_labware_to_slot(
     subject.move_labware(
         labware=movable_labware,
         new_location=42,
-        use_pick_up_location_lpc_offset=True,
         drop_offset=drop_offset,
     )
 
@@ -513,8 +512,6 @@ def test_move_labware_to_slot(
             labware_core=mock_labware_core,
             new_location=DeckSlotName.SLOT_1,
             use_gripper=False,
-            use_pick_up_location_lpc_offset=True,
-            use_drop_location_lpc_offset=False,
             pick_up_offset=None,
             drop_offset=(1, 2, 3),
         )
@@ -554,8 +551,6 @@ def test_move_labware_to_module(
             labware_core=mock_labware_core,
             new_location=mock_module_core,
             use_gripper=False,
-            use_pick_up_location_lpc_offset=False,
-            use_drop_location_lpc_offset=False,
             pick_up_offset=None,
             drop_offset=None,
         )
@@ -586,8 +581,6 @@ def test_move_labware_off_deck(
             labware_core=mock_labware_core,
             new_location=OFF_DECK,
             use_gripper=False,
-            use_pick_up_location_lpc_offset=False,
-            use_drop_location_lpc_offset=False,
             pick_up_offset=None,
             drop_offset=None,
         )

api/tests/opentrons/protocol_engine/clients/test_sync_client.py

@@ -29,6 +29,8 @@
     DropTipWellLocation,
     MotorAxis,
     Liquid,
+    LabwareMovementStrategy,
+    LabwareOffsetVector,
 )
 
 
@@ -235,6 +237,35 @@ def test_load_pipette(
     assert result == expected_result
 
 
+def test_move_labware(
+    decoy: Decoy,
+    transport: ChildThreadTransport,
+    subject: SyncClient,
+) -> None:
+    """It should execute a move labware command."""
+    request = commands.MoveLabwareCreate(
+        params=commands.MoveLabwareParams(
+            labwareId="movable-labware-id",
+            newLocation=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
+            strategy=LabwareMovementStrategy.USING_GRIPPER,
+            pickUpOffset=LabwareOffsetVector(x=1, y=2, z=3),
+            dropOffset=LabwareOffsetVector(x=10, y=20, z=30),
+        )
+    )
+
+    response = commands.MoveLabwareResult(offsetId="offset-id")
+    decoy.when(transport.execute_command(request=request)).then_return(response)
+
+    result = subject.move_labware(
+        labware_id="movable-labware-id",
+        new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
+        strategy=LabwareMovementStrategy.USING_GRIPPER,
+        pick_up_offset=LabwareOffsetVector(x=1, y=2, z=3),
+        drop_offset=LabwareOffsetVector(x=10, y=20, z=30),
+    )
+    assert result == response
+
+
 def test_move_to_well(
     decoy: Decoy,
     transport: ChildThreadTransport,