feat(api): allow lids on h/s to be moved when h/s is latched (#18891)

Helps with EXEC-1647

# Overview

It's been observed that moving lids with a gripper (specifically the
Greiner labware lids) to labware on H/S is more reliable when the
labware itself is latched and doesn't have any room to wiggle on the
H/S- specifically when placed on a universal adapter. So we should allow
lids to be placed on H/S labware with the labware latched.

## Risk assessment

Low- medium. This change will allow any labware categorized as a lid to
be placed on H/S (either directly or on a stack of adpater/labware(s))
without doing a labware latch check. This puts the onus on the user to
make sure to leave the latch closed for the lids. Which is not too much
of a responsibility and has no dire consequences in reality even if the
latch stays open.
We also plan on testing whether we need to add any other restrictions to
improve the user experience.

Author: sanni-t

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

@@ -277,9 +277,12 @@ async def ensure_movement_not_obstructed_by_module(
                 await self._tc_movement_flagger.ensure_labware_in_open_thermocycler(
                     labware_parent=parent
                 )
-                await self._hs_movement_flagger.raise_if_labware_latched_on_heater_shaker(
-                    labware_parent=parent
-                )
+                if not self._state_store.labware.is_lid(labware_id):
+                    # Lid placement is actually improved by holding the labware latched on the H/S
+                    # So, we skip this check for lids.
+                    await self._hs_movement_flagger.raise_if_labware_latched_on_heater_shaker(
+                        labware_parent=parent
+                    )
             except ThermocyclerNotOpenError:
                 raise LabwareMovementNotAllowedError(
                     "Cannot move labware to or from a Thermocycler with its lid closed."

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

@@ -1029,6 +1029,10 @@ def is_absorbance_reader_lid(self, labware_id: str) -> bool:
             self.get(labware_id).loadName
         )
 
+    def is_lid(self, labware_id: str) -> bool:
+        """Check if labware is a lid."""
+        return LabwareRole.lid in self.get_definition(labware_id).allowedRoles
+
     def raise_if_labware_inaccessible_by_pipette(self, labware_id: str) -> None:
         """Raise an error if the specified location cannot be reached via a pipette."""
         labware = self.get(labware_id)

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

@@ -557,7 +557,7 @@ async def test_ensure_movement_obstructed_by_thermocycler_raises(
             labware_parent=ModuleLocation(moduleId="a-thermocycler-id")
         )
     ).then_raise(ThermocyclerNotOpenError("Thou shall not pass!"))
-
+    decoy.when(state_store.labware.is_lid(labware_id="labware-id")).then_return(False)
     with pytest.raises(LabwareMovementNotAllowedError):
         await subject.ensure_movement_not_obstructed_by_module(
             labware_id="labware-id", new_location=to_loc
@@ -573,6 +573,7 @@ async def test_ensure_movement_not_obstructed_by_modules(
     decoy.when(
         state_store.labware.get_parent_location(labware_id="labware-id")
     ).then_return(ModuleLocation(moduleId="a-rando-module-id"))
+    decoy.when(state_store.labware.is_lid(labware_id="labware-id")).then_return(False)
     await subject.ensure_movement_not_obstructed_by_module(
         labware_id="labware-id",
         new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_3),
@@ -604,6 +605,7 @@ async def test_ensure_movement_obstructed_by_heater_shaker_raises(
     decoy.when(
         state_store.labware.get_parent_location(labware_id="labware-id")
     ).then_return(from_loc)
+    decoy.when(state_store.labware.is_lid(labware_id="labware-id")).then_return(False)
     decoy.when(
         await heater_shaker_movement_flagger.raise_if_labware_latched_on_heater_shaker(
             labware_parent=ModuleLocation(moduleId="a-heater-shaker-id")
@@ -629,3 +631,39 @@ async def test_ensure_movement_not_obstructed_does_not_raise_for_slot_locations(
         labware_id="labware-id",
         new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_3),
     )
+
+
+@pytest.mark.parametrize(
+    argnames=["from_loc", "to_loc"],
+    argvalues=[
+        (
+            ModuleLocation(moduleId="a-heater-shaker-id"),
+            DeckSlotLocation(slotName=DeckSlotName.SLOT_3),
+        ),
+        (
+            DeckSlotLocation(slotName=DeckSlotName.SLOT_3),
+            ModuleLocation(moduleId="a-heater-shaker-id"),
+        ),
+    ],
+)
+async def test_ensure_movement_not_obstructed_does_not_raise_for_lids_on_hs(
+    decoy: Decoy,
+    subject: LabwareMovementHandler,
+    heater_shaker_movement_flagger: HeaterShakerMovementFlagger,
+    state_store: StateStore,
+    from_loc: NonStackedLocation,
+    to_loc: LabwareLocation,
+) -> None:
+    """It should not raise any errors when moving lid from a latched H/S."""
+    decoy.when(
+        state_store.labware.get_parent_location(labware_id="labware-id")
+    ).then_return(from_loc)
+    decoy.when(state_store.labware.is_lid(labware_id="labware-id")).then_return(True)
+    decoy.when(
+        await heater_shaker_movement_flagger.raise_if_labware_latched_on_heater_shaker(
+            labware_parent=ModuleLocation(moduleId="a-heater-shaker-id")
+        )
+    ).then_raise(HeaterShakerLabwareLatchNotOpenError("Thou shall not take!"))
+    await subject.ensure_movement_not_obstructed_by_module(
+        labware_id="labware-id", new_location=to_loc
+    )

api/tests/opentrons/protocol_engine/state/test_labware_view_old.py

@@ -108,6 +108,14 @@
     offsetId=None,
 )
 
+tiprack_lid = LoadedLabware(
+    id="tiprack-lid-id",
+    loadName="tiprack-lid-load-name",
+    location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
+    definitionUri="some-tiprack-lid-uri",
+    offsetId=None,
+)
+
 
 def get_labware_view(
     labware_by_id: Optional[Dict[str, LoadedLabware]] = None,
@@ -722,6 +730,24 @@ def test_is_tiprack(
     assert subject.is_tiprack(labware_id="reservoir-id") is False
 
 
+def test_is_lid(
+    reservoir_def: LabwareDefinition, tiprack_lid_def: LabwareDefinition
+) -> None:
+    """It should return True if labware is a lid."""
+    subject = get_labware_view(
+        labware_by_id={
+            "reservoir-id": reservoir,
+            "tiprack-lid-id": tiprack_lid,
+        },
+        definitions_by_uri={
+            "some-reservoir-uri": reservoir_def,
+            "some-tiprack-lid-uri": tiprack_lid_def,
+        },
+    )
+    assert subject.is_lid(labware_id="reservoir-id") is False
+    assert subject.is_lid(labware_id="tiprack-lid-id") is True
+
+
 def test_get_load_name(reservoir_def: LabwareDefinition) -> None:
     """It should return the load name."""
     subject = get_labware_view(