move offsets into labware definition and further test fixture adjustm…

…ents
Opentrons · Oct 30, 2024 · 4a7f694 · 4a7f694
1 parent 1b3340c
commit 4a7f694
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Showing 3 changed files with 38 additions and 7 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/move_labware.py b/api/src/opentrons/protocol_engine/commands/move_labware.py
@@ -22,7 +22,11 @@
     LabwareOffsetVector,
     LabwareMovementOffsetData,
 )
-from ..errors import LabwareMovementNotAllowedError, NotSupportedOnRobotType
+from ..errors import (
+    LabwareMovementNotAllowedError,
+    NotSupportedOnRobotType,
+    LabwareOffsetDoesNotExistError,
+)
 from ..resources import labware_validation, fixture_validation
 from .command import (
     AbstractCommandImpl,
@@ -171,11 +175,26 @@ async def execute(self, params: MoveLabwareParams) -> _ExecuteReturn:  # noqa: C
                 if labware_validation.validate_definition_is_lid(
                     self._state_view.labware.get_definition(params.labwareId)
                 ):
-                    trash_lid_drop_offset = LabwareOffsetVector(
-                        x=0,
-                        y=10.0,
-                        z=50.0,
-                    )
+                    self._state_view.labware.get_labware_gripper_offsets
+                    if (
+                        "lidDisposalOffsets"
+                        in current_labware_definition.gripperOffsets.keys()
+                    ):
+                        trash_lid_drop_offset = LabwareOffsetVector(
+                            x=current_labware_definition.gripperOffsets[
+                                "lidDisposalOffsets"
+                            ].dropOffset.x,
+                            y=current_labware_definition.gripperOffsets[
+                                "lidDisposalOffsets"
+                            ].dropOffset.y,
+                            z=current_labware_definition.gripperOffsets[
+                                "lidDisposalOffsets"
+                            ].dropOffset.z,
+                        )
+                    else:
+                        raise LabwareOffsetDoesNotExistError(
+                            f"Labware Definition {current_labware.loadName} does not contain required field 'lidDisposalOffsets' of 'gripperOffsets'."
+                        )
                 else:
                     raise LabwareMovementNotAllowedError(
                         "Can only move labware with allowed role 'Lid' to a Trash Bin."

diff --git a/api/tests/opentrons/protocol_api/test_protocol_context.py b/api/tests/opentrons/protocol_api/test_protocol_context.py
@@ -1012,7 +1012,7 @@ def test_move_lid_to_trash_passes(
         mock_core.move_labware(
             labware_core=mock_labware_core,
             new_location=trash_location,
-            use_gripper=True,
+            use_gripper=False,
             pause_for_manual_move=True,
             pick_up_offset=None,
             drop_offset=None,

diff --git a/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json b/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json
@@ -98,6 +98,18 @@
         "y": 0,
         "z": -1
       }
+    },
+    "lidDisposalOffsets": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 5.0,
+        "z": 50.0
+      }
     }
   }
 }