feat(api, shared-data): Add support for labware lids and publish tc lid seal labware

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

@@ -126,6 +126,7 @@ async def move_labware_with_gripper(
             current_location=current_location,
         )
 
+        current_labware = self._state_store.labware.get_definition(labware_id)
         async with self._thermocycler_plate_lifter.lift_plate_for_labware_movement(
             labware_location=current_location
         ):
@@ -134,6 +135,7 @@ async def move_labware_with_gripper(
                     from_location=current_location,
                     to_location=new_location,
                     additional_offset_vector=user_offset_data,
+                    current_labware=current_labware,
                 )
             )
             from_labware_center = self._state_store.geometry.get_labware_grip_point(

api/src/opentrons/protocol_engine/resources/labware_validation.py

@@ -27,6 +27,11 @@ def validate_definition_is_adapter(definition: LabwareDefinition) -> bool:
     return LabwareRole.adapter in definition.allowedRoles
 
 
+def validate_definition_is_lid(definition: LabwareDefinition) -> bool:
+    """Validate that one of the definition's allowed roles is `lid`."""
+    return LabwareRole.lid in definition.allowedRoles
+
+
 def validate_labware_can_be_stacked(
     top_labware_definition: LabwareDefinition, below_labware_load_name: str
 ) -> bool:

api/src/opentrons/protocol_engine/state/geometry.py

@@ -12,6 +12,7 @@
 from opentrons_shared_data.deck.types import CutoutFixture
 from opentrons_shared_data.pipette import PIPETTE_X_SPAN
 from opentrons_shared_data.pipette.types import ChannelCount
+from opentrons.protocols.models import LabwareDefinition
 
 from .. import errors
 from ..errors import (
@@ -20,7 +21,7 @@
     LabwareMovementNotAllowedError,
     InvalidWellDefinitionError,
 )
-from ..resources import fixture_validation
+from ..resources import fixture_validation, labware_validation
 from ..types import (
     OFF_DECK_LOCATION,
     LoadedLabware,
@@ -46,6 +47,7 @@
     AddressableOffsetVector,
     StagingSlotLocation,
     LabwareOffsetLocation,
+    ModuleModel,
 )
 from .config import Config
 from .labware import LabwareView
@@ -997,17 +999,22 @@ def get_final_labware_movement_offset_vectors(
         from_location: OnDeckLabwareLocation,
         to_location: OnDeckLabwareLocation,
         additional_offset_vector: LabwareMovementOffsetData,
+        current_labware: LabwareDefinition,
     ) -> LabwareMovementOffsetData:
         """Calculate the final labware offset vector to use in labware movement."""
         pick_up_offset = (
             self.get_total_nominal_gripper_offset_for_move_type(
-                location=from_location, move_type=_GripperMoveType.PICK_UP_LABWARE
+                location=from_location,
+                move_type=_GripperMoveType.PICK_UP_LABWARE,
+                current_labware=current_labware,
             )
             + additional_offset_vector.pickUpOffset
         )
         drop_offset = (
             self.get_total_nominal_gripper_offset_for_move_type(
-                location=to_location, move_type=_GripperMoveType.DROP_LABWARE
+                location=to_location,
+                move_type=_GripperMoveType.DROP_LABWARE,
+                current_labware=current_labware,
             )
             + additional_offset_vector.dropOffset
         )
@@ -1038,7 +1045,10 @@ def ensure_valid_gripper_location(
         return location
 
     def get_total_nominal_gripper_offset_for_move_type(
-        self, location: OnDeckLabwareLocation, move_type: _GripperMoveType
+        self,
+        location: OnDeckLabwareLocation,
+        move_type: _GripperMoveType,
+        current_labware: LabwareDefinition,
     ) -> LabwareOffsetVector:
         """Get the total of the offsets to be used to pick up labware in its current location."""
         if move_type == _GripperMoveType.PICK_UP_LABWARE:
@@ -1054,14 +1064,39 @@ def get_total_nominal_gripper_offset_for_move_type(
                     location
                 )
                 ancestor = self._labware.get_parent_location(location.labwareId)
+                extra_offset = LabwareOffsetVector(x=0, y=0, z=0)
+                if (
+                    isinstance(ancestor, ModuleLocation)
+                    and self._modules._state.requested_model_by_id[ancestor.moduleId]
+                    == ModuleModel.THERMOCYCLER_MODULE_V2
+                    and labware_validation.validate_definition_is_lid(current_labware)
+                ):
+                    if "lidOffsets" in current_labware.gripperOffsets.keys():
+                        extra_offset = LabwareOffsetVector(
+                            x=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.x,
+                            y=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.y,
+                            z=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.z,
+                        )
+                    else:
+                        raise errors.LabwareOffsetDoesNotExistError(
+                            f"Labware Definition {current_labware.parameters.loadName} does not contain required field 'lidOffsets' of 'gripperOffsets'."
+                        )
+
                 assert isinstance(
-                    ancestor, (DeckSlotLocation, ModuleLocation)
+                    ancestor, (DeckSlotLocation, ModuleLocation, OnLabwareLocation)
                 ), "No gripper offsets for off-deck labware"
                 return (
                     direct_parent_offset.pickUpOffset
                     + self._nominal_gripper_offsets_for_location(
                         location=ancestor
                     ).pickUpOffset
+                    + extra_offset
                 )
         else:
             if isinstance(
@@ -1076,14 +1111,39 @@ def get_total_nominal_gripper_offset_for_move_type(
                     location
                 )
                 ancestor = self._labware.get_parent_location(location.labwareId)
+                extra_offset = LabwareOffsetVector(x=0, y=0, z=0)
+                if (
+                    isinstance(ancestor, ModuleLocation)
+                    and self._modules._state.requested_model_by_id[ancestor.moduleId]
+                    == ModuleModel.THERMOCYCLER_MODULE_V2
+                    and labware_validation.validate_definition_is_lid(current_labware)
+                ):
+                    if "lidOffsets" in current_labware.gripperOffsets.keys():
+                        extra_offset = LabwareOffsetVector(
+                            x=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.x,
+                            y=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.y,
+                            z=current_labware.gripperOffsets[
+                                "lidOffsets"
+                            ].pickUpOffset.z,
+                        )
+                    else:
+                        raise errors.LabwareOffsetDoesNotExistError(
+                            f"Labware Definition {current_labware.parameters.loadName} does not contain required field 'lidOffsets' of 'gripperOffsets'."
+                        )
+
                 assert isinstance(
-                    ancestor, (DeckSlotLocation, ModuleLocation)
+                    ancestor, (DeckSlotLocation, ModuleLocation, OnLabwareLocation)
                 ), "No gripper offsets for off-deck labware"
                 return (
                     direct_parent_offset.dropOffset
                     + self._nominal_gripper_offsets_for_location(
                         location=ancestor
                     ).dropOffset
+                    + extra_offset
                 )
 
     def check_gripper_labware_tip_collision(
@@ -1147,11 +1207,20 @@ def _labware_gripper_offsets(
         """
         parent_location = self._labware.get_parent_location(labware_id)
         assert isinstance(
-            parent_location, (DeckSlotLocation, ModuleLocation)
+            parent_location,
+            (
+                DeckSlotLocation,
+                ModuleLocation,
+                AddressableAreaLocation,
+            ),
         ), "No gripper offsets for off-deck labware"
 
         if isinstance(parent_location, DeckSlotLocation):
             slot_name = parent_location.slotName
+        elif isinstance(parent_location, AddressableAreaLocation):
+            slot_name = self._addressable_areas.get_addressable_area_base_slot(
+                parent_location.addressableAreaName
+            )
         else:
             module_loc = self._modules.get_location(parent_location.moduleId)
             slot_name = module_loc.slotName

api/src/opentrons/protocol_engine/state/labware.py

@@ -405,6 +405,16 @@ def get_parent_location(self, labware_id: str) -> NonStackedLocation:
             return self.get_parent_location(parent.labwareId)
         return parent
 
+    def get_labware_stack(
+        self, labware_stack: List[LoadedLabware]
+    ) -> List[LoadedLabware]:
+        """Get the a stack of labware starting from a given labware or existing stack."""
+        parent = self.get_location(labware_stack[-1].id)
+        if isinstance(parent, OnLabwareLocation):
+            labware_stack.append(self.get(parent.labwareId))
+            return self.get_labware_stack(labware_stack)
+        return labware_stack
+
     def get_all(self) -> List[LoadedLabware]:
         """Get a list of all labware entries in state."""
         return list(self._state.labware_by_id.values())
@@ -429,6 +439,27 @@ def get_should_center_column_on_target_well(self, labware_id: str) -> bool:
             and len(self.get_definition(labware_id).wells) < 96
         )
 
+    def get_labware_stacking_maximum(self, labware: LabwareDefinition) -> int:
+        """Returns the maximum number of labware allowed in a stack for a given labware definition.
+
+        If not defined within a labware, defaults to one.
+        """
+        stacking_quirks = {
+            "stackingMaxFive": 5,
+            "stackingMaxFour": 4,
+            "stackingMaxThree": 3,
+            "stackingMaxTwo": 2,
+            "stackingMaxOne": 1,
+            "stackingMaxZero": 0,
+        }
+        for quirk in stacking_quirks.keys():
+            if (
+                labware.parameters.quirks is not None
+                and quirk in labware.parameters.quirks
+            ):
+                return stacking_quirks[quirk]
+        return 1
+
     def get_should_center_pipette_on_target_well(self, labware_id: str) -> bool:
         """True if a pipette moving to a well of this labware should center its body on the target.
 
@@ -596,9 +627,14 @@ def get_labware_overlap_offsets(
     ) -> OverlapOffset:
         """Get the labware's overlap with requested labware's load name."""
         definition = self.get_definition(labware_id)
-        stacking_overlap = definition.stackingOffsetWithLabware.get(
-            below_labware_name, OverlapOffset(x=0, y=0, z=0)
-        )
+        if below_labware_name in definition.stackingOffsetWithLabware.keys():
+            stacking_overlap = definition.stackingOffsetWithLabware.get(
+                below_labware_name, OverlapOffset(x=0, y=0, z=0)
+            )
+        else:
+            stacking_overlap = definition.stackingOffsetWithLabware.get(
+                "default", OverlapOffset(x=0, y=0, z=0)
+            )
         return OverlapOffset(
             x=stacking_overlap.x, y=stacking_overlap.y, z=stacking_overlap.z
         )
@@ -767,7 +803,7 @@ def raise_if_labware_in_location(
                     f"Labware {labware.loadName} is already present at {location}."
                 )
 
-    def raise_if_labware_cannot_be_stacked(
+    def raise_if_labware_cannot_be_stacked(  # noqa: C901
         self, top_labware_definition: LabwareDefinition, bottom_labware_id: str
     ) -> None:
         """Raise if the specified labware definition cannot be placed on top of the bottom labware."""
@@ -786,17 +822,37 @@ def raise_if_labware_cannot_be_stacked(
             )
         elif isinstance(below_labware.location, ModuleLocation):
             below_definition = self.get_definition(labware_id=below_labware.id)
-            if not labware_validation.validate_definition_is_adapter(below_definition):
+            if not labware_validation.validate_definition_is_adapter(
+                below_definition
+            ) and not labware_validation.validate_definition_is_lid(
+                top_labware_definition
+            ):
                 raise errors.LabwareCannotBeStackedError(
                     f"Labware {top_labware_definition.parameters.loadName} cannot be loaded"
                     f" onto a labware on top of a module"
                 )
         elif isinstance(below_labware.location, OnLabwareLocation):
+            labware_stack = self.get_labware_stack([below_labware])
+            stack_without_adapters = []
+            for lw in labware_stack:
+                if not labware_validation.validate_definition_is_adapter(
+                    self.get_definition(lw.id)
+                ):
+                    stack_without_adapters.append(lw)
+            if len(stack_without_adapters) >= self.get_labware_stacking_maximum(
+                top_labware_definition
+            ):
+                raise errors.LabwareCannotBeStackedError(
+                    f"Labware {top_labware_definition.parameters.loadName} cannot be loaded to stack of more than {self.get_labware_stacking_maximum(top_labware_definition)} labware."
+                )
+
             further_below_definition = self.get_definition(
                 labware_id=below_labware.location.labwareId
             )
             if labware_validation.validate_definition_is_adapter(
                 further_below_definition
+            ) and not labware_validation.validate_definition_is_lid(
+                top_labware_definition
             ):
                 raise errors.LabwareCannotBeStackedError(
                     f"Labware {top_labware_definition.parameters.loadName} cannot be loaded"

api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py

@@ -202,11 +202,16 @@ async def test_raise_error_if_gripper_pickup_failed(
         )
     ).then_return(mock_tc_context_manager)
 
+    current_labware = state_store.labware.get_definition(
+        labware_id="my-teleporting-labware"
+    )
+
     decoy.when(
         state_store.geometry.get_final_labware_movement_offset_vectors(
             from_location=starting_location,
             to_location=to_location,
             additional_offset_vector=user_offset_data,
+            current_labware=current_labware,
         )
     ).then_return(final_offset_data)
 
@@ -316,12 +321,15 @@ async def test_move_labware_with_gripper(
     await set_up_decoy_hardware_gripper(decoy, ot3_hardware_api, state_store)
 
     user_offset_data, final_offset_data = hardware_gripper_offset_data
-
+    current_labware = state_store.labware.get_definition(
+        labware_id="my-teleporting-labware"
+    )
     decoy.when(
         state_store.geometry.get_final_labware_movement_offset_vectors(
             from_location=from_location,
             to_location=to_location,
             additional_offset_vector=user_offset_data,
+            current_labware=current_labware,
         )
     ).then_return(final_offset_data)