fix(api): Fix the absorbance reader lid pickup (#19699)

# Overview
The updated gripper failure check did break the absorbance reader
movement check.
This PR adds a labware quirk that makes the check revert back to the
legacy check.

Author: ryanthecoder

api/src/opentrons/hardware_control/backends/flex_protocol.py

@@ -451,6 +451,7 @@ def check_gripper_position_within_bounds(
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         ...
 

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -1763,6 +1763,7 @@ def check_gripper_position_within_bounds(
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """
         Check if the gripper is at the expected location.
@@ -1805,6 +1806,7 @@ def check_gripper_position_within_bounds(
         if (
             current_gripper_position - expected_gripper_position_min
             < -max_allowed_grip_error
+            and not disable_geometry_grip_check
         ):
             raise FailedGripperPickupError(
                 message="Failed to grip: jaws closed too far",
@@ -1818,6 +1820,7 @@ def check_gripper_position_within_bounds(
         if (
             current_gripper_position - expected_gripper_position_max
             > max_allowed_grip_error
+            and not disable_geometry_grip_check
         ):
             raise FailedGripperPickupError(
                 message="Failed to grip: jaws could not close far enough",

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -848,6 +848,7 @@ def check_gripper_position_within_bounds(
         max_allowed_grip_error: float,
         hard_limit_lower: float,
         hard_limit_upper: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         # This is a (pretty bad) simulation of the gripper actually gripping something,
         # but it should work.

api/src/opentrons/hardware_control/ot3api.py

@@ -1462,6 +1462,7 @@ def raise_error_if_gripper_pickup_failed(
         expected_grip_width: float,
         grip_width_uncertainty_wider: float,
         grip_width_uncertainty_narrower: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """Ensure that a gripper pickup succeeded.
 
@@ -1482,6 +1483,7 @@ def raise_error_if_gripper_pickup_failed(
             gripper.max_allowed_grip_error,
             gripper.min_jaw_width,
             gripper.max_jaw_width,
+            disable_geometry_grip_check,
         )
 
     def gripper_jaw_can_home(self) -> bool:

api/src/opentrons/hardware_control/protocols/gripper_controller.py

@@ -41,6 +41,7 @@ def raise_error_if_gripper_pickup_failed(
         expected_grip_width: float,
         grip_width_uncertainty_wider: float,
         grip_width_uncertainty_narrower: float,
+        disable_geometry_grip_check: bool = False,
     ) -> None:
         """Ensure that a gripper pickup succeeded."""
 

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

@@ -4,7 +4,7 @@
 
 from typing import Optional, TYPE_CHECKING, overload
 
-from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition, Quirks
 
 from opentrons.types import Point
 
@@ -238,13 +238,21 @@ async def move_labware_with_gripper(  # noqa: C901
                             labware_definition=labware_definition
                         )
 
+                        disable_geometry_grip_check = False
+                        if labware_definition.parameters.quirks is not None:
+                            disable_geometry_grip_check = (
+                                Quirks.disableGeometryBasedGripCheck  # type: ignore[comparison-overlap]
+                                in labware_definition.parameters.quirks
+                            )
+
                         # todo(mm, 2024-09-26): This currently raises a lower-level 2015 FailedGripperPickupError.
                         # Convert this to a higher-level 3001 LabwareDroppedError or 3002 LabwareNotPickedUpError,
                         # depending on what waypoint we're at, to propagate a more specific error code to users.
                         ot3api.raise_error_if_gripper_pickup_failed(
                             expected_grip_width=grip_specs.targetY,
                             grip_width_uncertainty_wider=grip_specs.uncertaintyWider,
                             grip_width_uncertainty_narrower=grip_specs.uncertaintyNarrower,
+                            disable_geometry_grip_check=disable_geometry_grip_check,
                         )
                 await ot3api.move_to(
                     mount=gripper_mount, abs_position=waypoint_data.position

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -1292,6 +1292,7 @@ async def test_engage_motors(
         (80, 79, 0, 0, 1, 92, 60, False),
         (80, 45, 40, 0, 1, 92, 60, True),
         (80, 100, 0, 40, 0, 92, 60, True),
+        (95.5, 84, 0, 5, 5, 94, 60, True),
     ],
 )
 def test_grip_error_detection(
@@ -1321,6 +1322,42 @@ def test_grip_error_detection(
         )
 
 
+@pytest.mark.parametrize(
+    "expected_grip_width,actual_grip_width,wider,narrower,allowed_error,hard_max,hard_min,raise_error",
+    [
+        (95.5, 84, 0, 5, 5, 94, 60, False),
+        (95.5, 60, 0, 5, 5, 94, 60, True),
+        (95.5, 94, 0, 5, 5, 94, 60, True),
+    ],
+)
+def test_grip_error_detection_disable_geometry(
+    controller: OT3Controller,
+    expected_grip_width: float,
+    actual_grip_width: float,
+    wider: float,
+    narrower: float,
+    allowed_error: float,
+    hard_max: float,
+    hard_min: float,
+    raise_error: bool,
+) -> None:
+    context = cast(
+        AbstractContextManager[None],
+        pytest.raises(FailedGripperPickupError) if raise_error else does_not_raise(),
+    )
+    with context:
+        controller.check_gripper_position_within_bounds(
+            expected_grip_width,
+            wider,
+            narrower,
+            actual_grip_width,
+            allowed_error,
+            hard_min,
+            hard_max,
+            True,
+        )
+
+
 def move_group_run_side_effect(
     controller: OT3Controller, target_pos: Dict[Axis, float]
 ) -> Iterator[Dict[NodeId, MotorPositionStatus]]:

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

@@ -4,11 +4,12 @@
 
 from datetime import datetime
 from typing import TYPE_CHECKING, Union, Optional
-from unittest.mock import sentinel
 
 from decoy import Decoy, matchers
 import pytest
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition2
+
 from opentrons.protocol_engine.execution import EquipmentHandler, MovementHandler
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.types import DeckSlotName, Point
@@ -89,8 +90,17 @@ def heater_shaker_movement_flagger(decoy: Decoy) -> HeaterShakerMovementFlagger:
     return decoy.mock(cls=HeaterShakerMovementFlagger)
 
 
+@pytest.fixture
+def labware_def(decoy: Decoy) -> LabwareDefinition2:
+    """Get a mocked out LabwareDefinition2 instance."""
+    return decoy.mock(cls=LabwareDefinition2)
+
+
 async def set_up_decoy_hardware_gripper(
-    decoy: Decoy, ot3_hardware_api: OT3API, state_store: StateStore
+    decoy: Decoy,
+    ot3_hardware_api: OT3API,
+    state_store: StateStore,
+    labware_def: LabwareDefinition2,
 ) -> None:
     """Shared hardware gripper decoy setup."""
     decoy.when(state_store.config.use_virtual_gripper).then_return(False)
@@ -111,9 +121,7 @@ async def set_up_decoy_hardware_gripper(
 
     decoy.when(ot3_hardware_api.hardware_gripper.jaw_width).then_return(89)
 
-    decoy.when(
-        state_store.labware.get_grip_force(sentinel.my_teleporting_labware_def)
-    ).then_return(100)
+    decoy.when(state_store.labware.get_grip_force(labware_def)).then_return(100)
 
     decoy.when(state_store.labware.get_labware_offset("new-offset-id")).then_return(
         LabwareOffset(
@@ -156,13 +164,16 @@ async def test_raise_error_if_gripper_pickup_failed(
     state_store: StateStore,
     thermocycler_plate_lifter: ThermocyclerPlateLifter,
     ot3_hardware_api: OT3API,
+    labware_def: LabwareDefinition2,
     subject: LabwareMovementHandler,
 ) -> None:
     """Test that the gripper position check is called at the right time."""
     #  This function should only be called when after the gripper opens,
     #  and then closes again. This is when we expect the labware to be
     #  in the gripper jaws.
-    await set_up_decoy_hardware_gripper(decoy, ot3_hardware_api, state_store)
+    await set_up_decoy_hardware_gripper(
+        decoy, ot3_hardware_api, state_store, labware_def
+    )
     assert ot3_hardware_api.hardware_gripper
 
     user_pick_up_offset = Point(x=123, y=234, z=345)
@@ -175,9 +186,11 @@ async def test_raise_error_if_gripper_pickup_failed(
     starting_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_1)
     to_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_2)
 
+    labware_def.parameters.quirks = []
+
     decoy.when(
         state_store.labware.get_definition("my-teleporting-labware")
-    ).then_return(sentinel.my_teleporting_labware_def)
+    ).then_return(labware_def)
 
     mock_tc_context_manager = decoy.mock(name="mock_tc_context_manager")
     decoy.when(
@@ -202,21 +215,19 @@ async def test_raise_error_if_gripper_pickup_failed(
 
     decoy.when(
         state_store.geometry.get_labware_grip_point(
-            labware_definition=sentinel.my_teleporting_labware_def,
+            labware_definition=labware_def,
             location=starting_location,
         )
     ).then_return(Point(101, 102, 119.5))
 
     decoy.when(
         state_store.geometry.get_labware_grip_point(
-            labware_definition=sentinel.my_teleporting_labware_def, location=to_location
+            labware_definition=labware_def, location=to_location
         )
     ).then_return(Point(201, 202, 219.5))
 
     decoy.when(
-        state_store.labware.get_gripper_width_specs(
-            labware_definition=sentinel.my_teleporting_labware_def
-        )
+        state_store.labware.get_gripper_width_specs(labware_definition=labware_def)
     ).then_return(GripSpecs(targetY=100, uncertaintyNarrower=5, uncertaintyWider=10))
 
     await subject.move_labware_with_gripper(
@@ -238,18 +249,21 @@ async def test_raise_error_if_gripper_pickup_failed(
             expected_grip_width=100,
             grip_width_uncertainty_wider=10,
             grip_width_uncertainty_narrower=5,
+            disable_geometry_grip_check=False,
         ),
         await ot3_hardware_api.grip(force_newtons=100),
         ot3_hardware_api.raise_error_if_gripper_pickup_failed(
             expected_grip_width=100,
             grip_width_uncertainty_wider=10,
             grip_width_uncertainty_narrower=5,
+            disable_geometry_grip_check=False,
         ),
         await ot3_hardware_api.grip(force_newtons=100),
         ot3_hardware_api.raise_error_if_gripper_pickup_failed(
             expected_grip_width=100,
             grip_width_uncertainty_wider=10,
             grip_width_uncertainty_narrower=5,
+            disable_geometry_grip_check=False,
         ),
         await ot3_hardware_api.disengage_axes([Axis.Z_G]),
         await ot3_hardware_api.ungrip(),
@@ -292,6 +306,7 @@ async def test_move_labware_with_gripper(
     thermocycler_plate_lifter: ThermocyclerPlateLifter,
     ot3_hardware_api: OT3API,
     subject: LabwareMovementHandler,
+    labware_def: LabwareDefinition2,
     from_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
     to_location: Union[DeckSlotLocation, ModuleLocation, OnLabwareLocation],
     slide_offset: Optional[Point],
@@ -300,11 +315,14 @@ async def test_move_labware_with_gripper(
     # TODO (spp, 2023-07-26): this test does NOT stub out movement waypoints in order to
     #  keep this as the semi-smoke test that it previously was. We should add a proper
     #  smoke test for gripper labware movement with actual labware and make this a unit test.
-    await set_up_decoy_hardware_gripper(decoy, ot3_hardware_api, state_store)
+    labware_def.parameters.quirks = []
+    await set_up_decoy_hardware_gripper(
+        decoy, ot3_hardware_api, state_store, labware_def
+    )
 
     decoy.when(
         state_store.labware.get_definition("my-teleporting-labware")
-    ).then_return(sentinel.my_teleporting_labware_def)
+    ).then_return(labware_def)
 
     user_pick_up_offset = Point(x=123, y=234, z=345)
     user_drop_offset = Point(x=111, y=222, z=333)
@@ -329,26 +347,22 @@ async def test_move_labware_with_gripper(
     )  # TODO: Is this used for anything? Could this have been a sentinel? Are sentinels appropriate here?
 
     decoy.when(
-        state_store.labware.get_dimensions(
-            labware_definition=sentinel.my_teleporting_labware_def
-        )
+        state_store.labware.get_dimensions(labware_definition=labware_def)
     ).then_return(Dimensions(x=100, y=85, z=0))
 
     decoy.when(
-        state_store.labware.get_well_bbox(
-            labware_definition=sentinel.my_teleporting_labware_def
-        )
+        state_store.labware.get_well_bbox(labware_definition=labware_def)
     ).then_return(Dimensions(x=99, y=80, z=1))
 
     decoy.when(
         state_store.geometry.get_labware_grip_point(
-            labware_definition=sentinel.my_teleporting_labware_def,
+            labware_definition=labware_def,
             location=from_location,
         )
     ).then_return(Point(101, 102, 119.5))
     decoy.when(
         state_store.geometry.get_labware_grip_point(
-            labware_definition=sentinel.my_teleporting_labware_def, location=to_location
+            labware_definition=labware_def, location=to_location
         )
     ).then_return(Point(201, 202, 219.5))
     mock_tc_context_manager = decoy.mock(name="mock_tc_context_manager")
@@ -359,9 +373,7 @@ async def test_move_labware_with_gripper(
     ).then_return(mock_tc_context_manager)
 
     decoy.when(
-        state_store.labware.get_gripper_width_specs(
-            labware_definition=sentinel.my_teleporting_labware_def
-        )
+        state_store.labware.get_gripper_width_specs(labware_definition=labware_def)
     ).then_return(GripSpecs(targetY=100, uncertaintyNarrower=5, uncertaintyWider=10))
 
     expected_waypoints = [

shared-data/js/__tests__/labwareDefQuirks.test.ts

@@ -15,6 +15,7 @@ const EXPECTED_VALID_QUIRKS = [
   'tiprackAdapterFor96Channel',
   'stackingMaxFive',
   'stackingOnly',
+  'disableGeometryBasedGripCheck',
 ]
 
 describe('check quirks for all labware defs', () => {

shared-data/labware/definitions/2/opentrons_flex_lid_absorbance_plate_reader_module/1.json

@@ -24,7 +24,7 @@
   ],
   "parameters": {
     "format": "irregular",
-    "quirks": [],
+    "quirks": ["disableGeometryBasedGripCheck"],
     "isTiprack": false,
     "isMagneticModuleCompatible": false,
     "loadName": "opentrons_flex_lid_absorbance_plate_reader_module"