opentrons 8.4.0a7__tar.gz → 8.4.0a8__tar.gz

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: opentrons
-Version: 8.4.0a7
+Version: 8.4.0a8
 Summary: The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy.
 Author: Opentrons
 Author-email: engineering@opentrons.com
@@ -21,7 +21,7 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Topic :: Scientific/Engineering
 Requires-Python: >=3.10
 License-File: ../LICENSE
-Requires-Dist: opentrons-shared-data==8.4.0a7
+Requires-Dist: opentrons-shared-data==8.4.0a8
 Requires-Dist: aionotify==0.3.1
 Requires-Dist: anyio<4.0.0,>=3.6.1
 Requires-Dist: jsonschema<4.18.0,>=3.0.1
@@ -35,9 +35,9 @@ Requires-Dist: pyusb==1.2.1
 Requires-Dist: importlib-metadata>=1.0; python_version < "3.8"
 Requires-Dist: packaging>=21.0
 Provides-Extra: ot2-hardware
-Requires-Dist: opentrons-hardware==8.4.0a7; extra == "ot2-hardware"
+Requires-Dist: opentrons-hardware==8.4.0a8; extra == "ot2-hardware"
 Provides-Extra: flex-hardware
-Requires-Dist: opentrons-hardware[FLEX]==8.4.0a7; extra == "flex-hardware"
+Requires-Dist: opentrons-hardware[FLEX]==8.4.0a8; extra == "flex-hardware"
 
 .. _Full API Documentation: http://docs.opentrons.com
 

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/engine/instrument.py

@@ -834,7 +834,7 @@ class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
             )
         )
 
-    def resin_tip_unseal(self, location: Location, well_core: WellCore) -> None:
+    def resin_tip_unseal(self, location: Location | None, well_core: WellCore) -> None:
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
@@ -1188,9 +1188,9 @@ class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
             cmd.GetNextTipParams(
                 pipetteId=self._pipette_id,
                 labwareIds=[tip_rack.labware_id for tip_rack in valid_tip_racks],
-                startingTipWell=starting_well.get_name()
-                if starting_well is not None
-                else None,
+                startingTipWell=(
+                    starting_well.get_name() if starting_well is not None else None
+                ),
             )
         )
         next_tip_info = result.nextTipInfo

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/instrument.py

@@ -206,7 +206,7 @@ class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
     @abstractmethod
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCoreType,
     ) -> None:
         ...

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -332,7 +332,7 @@ class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -298,7 +298,7 @@ class LegacyInstrumentCoreSimulator(
 
     def resin_tip_unseal(
         self,
-        location: types.Location,
+        location: types.Location | None,
         well_core: WellCore,
     ) -> None:
         raise APIVersionError(api_element="Unsealing resin tips.")

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_api/instrument_context.py

@@ -606,7 +606,20 @@ class InstrumentContext(publisher.CommandPublisher):
                     "Blow_out being performed on a tiprack. "
                     "Please re-check your code"
                 )
-            move_to_location = target.location or target.well.top()
+            if target.location:
+                # because the lower levels of blowout don't handle LiquidHandlingWellLocation and
+                # there is no "operation_volume" for blowout we need to convert the relative location
+                # given with a .meniscus to an absolute point. To maintain the meniscus behavior
+                # we can just add the offset to the current liquid height.
+                if target.location.meniscus_tracking:
+                    move_to_location = target.well.bottom(
+                        target.well.current_liquid_height()  # type: ignore [arg-type]
+                        + target.location.point.z
+                    )
+                else:
+                    move_to_location = target.location
+            else:
+                move_to_location = target.well.top()
             well = target.well
         elif isinstance(target, validation.PointTarget):
             move_to_location = target.location
@@ -1611,9 +1624,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1727,9 +1740,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -1843,9 +1856,9 @@ class InstrumentContext(publisher.CommandPublisher):
                     (types.Location(types.Point(), labware=rack), rack._core)
                     for rack in transfer_args.tip_racks
                 ],
-                starting_tip=self.starting_tip._core
-                if self.starting_tip is not None
-                else None,
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
                 trash_location=transfer_args.trash_location,
                 return_tip=return_tip,
             )
@@ -2019,7 +2032,7 @@ class InstrumentContext(publisher.CommandPublisher):
                 location=well,
             ),
         ):
-            self._core.resin_tip_unseal(location=well.top(), well_core=well._core)
+            self._core.resin_tip_unseal(location=None, well_core=well._core)
 
         return self
 

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/liquid_probe.py

@@ -188,6 +188,12 @@ async def _execute_common(  # noqa: C901
             well_name=well_name,
             well_location=params.wellLocation,
         )
+        state_view.geometry.validate_probed_height(
+            labware_id=labware_id,
+            well_name=well_name,
+            pipette_id=pipette_id,
+            probed_height=z_pos,
+        )
     except PipetteLiquidNotFoundError as exception:
         move_result.state_update.set_pipette_ready_to_aspirate(
             pipette_id=pipette_id, ready_to_aspirate=True

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py

@@ -1,12 +1,15 @@
 """Seal tips to pipette command request, result, and implementation models."""
 
 from __future__ import annotations
-from pydantic import Field, BaseModel
 from typing import TYPE_CHECKING, Optional, Type, Union
-from opentrons.types import MountType
-from opentrons.protocol_engine.types import MotorAxis
+
 from typing_extensions import Literal
+from pydantic import Field, BaseModel
+
+from opentrons_shared_data.errors.exceptions import PositionUnknownError
 
+from opentrons.types import MountType
+from opentrons.protocol_engine.types import MotorAxis
 from ..resources import ModelUtils, ensure_ot3_hardware
 from ..types import PickUpTipWellLocation, FluidKind, AspiratedFluid
 from .pipetting_common import (
@@ -27,7 +30,6 @@ from .command import (
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import Axis
-from ..state.update_types import StateUpdate
 
 if TYPE_CHECKING:
     from ..state.state import StateView
@@ -138,28 +140,50 @@ class SealPipetteToTipImplementation(
         """A relative press-fit pick up command using gantry moves."""
         prep_distance = tip_pick_up_params.prepDistance
         press_distance = tip_pick_up_params.pressDistance
-        retract_distance = -1 * (prep_distance + press_distance)
+        retract_distance = -1 * (press_distance) / 2
 
         mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-
+        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         # TODO chb, 2025-01-29): Factor out the movement constants and relocate this logic into the hardware controller
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: prep_distance}, speed=10, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: prep_distance},
+                speed=10,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
         # Drive mount down for press-fit
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: press_distance},
-            speed=10.0,
-            relative_move=True,
-            expect_stalls=True,
-        )
-        # retract cam : 11.05
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: press_distance},
+                speed=10.0,
+                relative_move=True,
+                expect_stalls=True,
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
+        await ot3_hardware_api.update_axis_position_estimations(
+            self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
 
-        ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
+        try:
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: retract_distance}, speed=5.5, relative_move=True
+            )
+        except PositionUnknownError:
+            # if this happens it's from the get position after the move and we can ignore it
+            pass
+
         await ot3_hardware_api.update_axis_position_estimations(
             self._gantry_mover.motor_axes_to_present_hardware_axes([mount_axis])
         )
@@ -283,13 +307,10 @@ class SealPipetteToTipImplementation(
             if hw_instr is not None:
                 hw_instr.set_current_volume(_SAFE_TOP_VOLUME)
 
-        state_update = StateUpdate()
-        state_update.update_pipette_tip_state(
+        state_update = move_result.state_update.update_pipette_tip_state(
             pipette_id=pipette_id,
             tip_geometry=tip_geometry,
-        )
-
-        state_update.set_fluid_aspirated(
+        ).set_fluid_aspirated(
             pipette_id=pipette_id,
             fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=_SAFE_TOP_VOLUME),
         )

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/commands/unseal_pipette_from_tip.py

@@ -3,12 +3,10 @@
 from __future__ import annotations
 
 from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Final
 from typing_extensions import Literal
 
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
-from opentrons.protocol_engine.types import MotorAxis
-from opentrons.types import MountType
 
 from ..types import DropTipWellLocation
 from .pipetting_common import (
@@ -56,6 +54,8 @@ _ExecuteReturn = (
     SuccessData[UnsealPipetteFromTipResult] | DefinedErrorData[StallOrCollisionError]
 )
 
+CUSTOM_TIP_LENGTH_MARGIN: Final = 10
+
 
 class UnsealPipetteFromTipImplementation(
     AbstractCommandImpl[UnsealPipetteFromTipParams, _ExecuteReturn]
@@ -85,6 +85,10 @@ class UnsealPipetteFromTipImplementation(
 
         well_location = params.wellLocation
 
+        tip_geometry = self._state_view.geometry.get_nominal_tip_geometry(
+            pipette_id, labware_id, well_name
+        )
+
         is_partially_configured = self._state_view.pipettes.get_is_partially_configured(
             pipette_id=pipette_id
         )
@@ -93,6 +97,7 @@ class UnsealPipetteFromTipImplementation(
             labware_id=labware_id,
             well_location=well_location,
             partially_configured=is_partially_configured,
+            override_default_offset=-(tip_geometry.length - CUSTOM_TIP_LENGTH_MARGIN),
         )
 
         move_result = await move_to_well(
@@ -106,14 +111,6 @@ class UnsealPipetteFromTipImplementation(
         if isinstance(move_result, DefinedErrorData):
             return move_result
 
-        # Move to an appropriate position
-        mount = self._state_view.pipettes.get_mount(pipette_id)
-
-        mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
-        await self._gantry_mover.move_axes(
-            axis_map={mount_axis: -14}, speed=10, relative_move=True
-        )
-
         await self._tip_handler.drop_tip(
             pipette_id=pipette_id,
             home_after=None,

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/errors/__init__.py

@@ -88,6 +88,7 @@ from .exceptions import (
     OffsetLocationInvalidError,
     FlexStackerLabwarePoolNotYetDefinedError,
     FlexStackerNotLogicallyEmptyError,
+    InvalidLabwarePositionError,
 )
 
 from .error_occurrence import ErrorOccurrence, ProtocolCommandFailedError
@@ -171,6 +172,7 @@ __all__ = [
     "OffsetLocationInvalidError",
     "FlexStackerLabwarePoolNotYetDefinedError",
     "FlexStackerNotLogicallyEmptyError",
+    "InvalidLabwarePositionError",
     # error occurrence models
     "ErrorOccurrence",
     "CommandNotAllowedError",

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/errors/exceptions.py

@@ -1281,3 +1281,15 @@ class FlexStackerLabwarePoolNotYetDefinedError(ProtocolEngineError):
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
+
+
+class InvalidLabwarePositionError(ProtocolEngineError):
+    """Raised when a labware position is internally invalid."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        details: Optional[dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/execution/pipetting.py

@@ -326,7 +326,7 @@ class HardwarePipettingHandler(PipettingHandler):
         well_name: str,
         well_location: WellLocation,
     ) -> LiquidTrackingType:
-        """Detect liquid level."""
+        """Return liquid level relative to the bottom of the well."""
         hw_pipette = self._state_view.pipettes.get_hardware_pipette(
             pipette_id=pipette_id,
             attached_pipettes=self._hardware_api.attached_instruments,

{opentrons-8.4.0a7 → opentrons-8.4.0a8}/src/opentrons/protocol_engine/state/geometry.py

@@ -17,7 +17,10 @@ from opentrons.types import (
     MeniscusTrackingTarget,
 )
 
-from opentrons_shared_data.errors.exceptions import InvalidStoredData
+from opentrons_shared_data.errors.exceptions import (
+    InvalidStoredData,
+    PipetteLiquidNotFoundError,
+)
 from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.deck.types import CutoutFixture
@@ -31,6 +34,8 @@ from ..errors import (
     LabwareNotLoadedOnModuleError,
     LabwareMovementNotAllowedError,
     OperationLocationNotInWellError,
+    InvalidLabwarePositionError,
+    LabwareNotOnDeckError,
 )
 from ..errors.exceptions import InvalidLiquidHeightFound
 from ..resources import (
@@ -373,6 +378,59 @@ class GeometryView:
                 "Either it has been loaded off-deck or its been moved off-deck."
             )
 
+    def _get_offset_from_parent_addressable_area(
+        self, child_definition: LabwareDefinition, parent: LabwareLocation
+    ) -> LabwareOffsetVector:
+        """Gets the offset vector of a labware from its eventual parent addressable area.
+
+        This returns the sum of the offsets for any labware-on-labware pairs plus the
+        "base offset", which is (0, 0, 0) in all cases except for modules on the
+        OT-2. See
+        protocol_engine.state.modules.get_nominal_offset_to_child_from_addressable_area
+        for more.
+
+        This does not incorporate LPC offsets or module calibration offsets.
+        """
+        if isinstance(parent, (AddressableAreaLocation, DeckSlotLocation)):
+            return LabwareOffsetVector(x=0, y=0, z=0)
+        elif isinstance(parent, ModuleLocation):
+            module_id = parent.moduleId
+            module_model = self._modules.get_connected_model(module_id)
+            stacking_overlap = self._labware.get_module_overlap_offsets(
+                child_definition, module_model
+            )
+            module_to_child = (
+                self._modules.get_nominal_offset_to_child_from_addressable_area(
+                    module_id=module_id
+                )
+            )
+            return LabwareOffsetVector(
+                x=module_to_child.x - stacking_overlap.x,
+                y=module_to_child.y - stacking_overlap.y,
+                z=module_to_child.z - stacking_overlap.z,
+            )
+        elif isinstance(parent, OnLabwareLocation):
+            on_labware = self._labware.get(parent.labwareId)
+            on_labware_dimensions = self._labware.get_dimensions(
+                labware_id=on_labware.id
+            )
+            stacking_overlap = self._labware.get_labware_overlap_offsets(
+                definition=child_definition, below_labware_name=on_labware.loadName
+            )
+            labware_offset = LabwareOffsetVector(
+                x=stacking_overlap.x,
+                y=stacking_overlap.y,
+                z=on_labware_dimensions.z - stacking_overlap.z,
+            )
+            return labware_offset + self._get_offset_from_parent_addressable_area(
+                self._labware.get_definition(on_labware.id), on_labware.location
+            )
+        else:
+            raise errors.LabwareNotOnDeckError(
+                "Cannot access labware since it is not on the deck. "
+                "Either it has been loaded off-deck or it has been moved off-deck."
+            )
+
     def _normalize_module_calibration_offset(
         self,
         module_location: DeckSlotLocation,
@@ -498,6 +556,30 @@ class GeometryView:
                     f"Specifying {well_location.origin} with an offset of {well_location.offset} results in an operation location below the bottom of the well"
                 )
 
+    def validate_probed_height(
+        self,
+        labware_id: str,
+        well_name: str,
+        pipette_id: str,
+        probed_height: LiquidTrackingType,
+    ) -> None:
+        """Raise an error if a probed liquid height is not within well bounds."""
+        if isinstance(probed_height, SimulatedProbeResult):
+            return
+        lld_min_height = self._pipettes.get_current_tip_lld_settings(
+            pipette_id=pipette_id
+        )
+        well_def = self._labware.get_well_definition(labware_id, well_name)
+        well_depth = well_def.depth
+        if probed_height < lld_min_height:
+            raise PipetteLiquidNotFoundError(
+                f"Liquid Height of {probed_height} mm is lower minumum allowed lld height {lld_min_height} mm."
+            )
+        if probed_height > well_depth:
+            raise PipetteLiquidNotFoundError(
+                f"Liquid Height of {probed_height} mm is greater than maximum well height {well_depth} mm."
+            )
+
     def get_well_position(
         self,
         labware_id: str,
@@ -695,6 +777,7 @@ class GeometryView:
         labware_id: str,
         well_location: DropTipWellLocation,
         partially_configured: bool = False,
+        override_default_offset: float | None = None,
     ) -> WellLocation:
         """Get tip drop location given labware and hardware pipette.
 
@@ -713,8 +796,9 @@ class GeometryView:
                 origin=WellOrigin(well_location.origin.value),
                 offset=well_location.offset,
             )
-
-        if self._labware.get_definition(labware_id).parameters.isTiprack:
+        if override_default_offset is not None:
+            z_offset = override_default_offset
+        elif self._labware.get_definition(labware_id).parameters.isTiprack:
             z_offset = self._labware.get_tip_drop_z_offset(
                 labware_id=labware_id,
                 length_scale=self._pipettes.get_return_tip_scale(pipette_id),
@@ -795,6 +879,32 @@ class GeometryView:
 
         return slot_name
 
+    def get_ancestor_addressable_area_name(self, labware_id: str) -> str:
+        """Get the name of the addressable area the labware is eventually on."""
+        labware = self._labware.get(labware_id)
+        original_display_name = self._labware.get_display_name(labware_id)
+        seen: Set[str] = set((labware_id,))
+        while isinstance(labware.location, OnLabwareLocation):
+            labware = self._labware.get(labware.location.labwareId)
+            if labware.id in seen:
+                raise InvalidLabwarePositionError(
+                    f"Cycle detected in labware positioning for {original_display_name}"
+                )
+            seen.add(labware.id)
+        if isinstance(labware.location, DeckSlotLocation):
+            return labware.location.slotName.id
+        elif isinstance(labware.location, AddressableAreaLocation):
+            return labware.location.addressableAreaName
+        elif isinstance(labware.location, ModuleLocation):
+            return self._modules.get_provided_addressable_area(
+                labware.location.moduleId
+            )
+        else:
+            raise LabwareNotOnDeckError(
+                f"Labware {original_display_name} is not loaded on deck",
+                details={"eventual-location": repr(labware.location)},
+            )
+
     def ensure_location_not_occupied(
         self,
         location: _LabwareLocation,
@@ -962,70 +1072,23 @@ class GeometryView:
             self._labware.get_grip_height_from_labware_bottom(labware_definition)
         )
         location_name: str
-        module_location: ModuleLocation | None = None
-
+        offset = self._get_offset_from_parent_addressable_area(
+            child_definition=labware_definition, parent=location
+        ) + self._get_calibrated_module_offset(location)
         if isinstance(location, DeckSlotLocation):
             location_name = location.slotName.id
-            offset = LabwareOffsetVector(x=0, y=0, z=0)
         elif isinstance(location, AddressableAreaLocation):
             location_name = location.addressableAreaName
-            if fixture_validation.is_gripper_waste_chute(location_name):
-                drop_labware_location = (
-                    self._addressable_areas.get_addressable_area_move_to_location(
-                        location_name
-                    )
-                )
-                return drop_labware_location + Point(z=grip_height_from_labware_bottom)
-            # Location should have been pre-validated so this will be a deck/staging area slot
-            else:
-                offset = LabwareOffsetVector(x=0, y=0, z=0)
-        else:
-            if isinstance(location, ModuleLocation):
-                location_name = self._modules.get_provided_addressable_area(
-                    location.moduleId
-                )
-                module_location = location
-            else:  # OnLabwareLocation
-                labware_loc = self._labware.get(location.labwareId).location
-                if isinstance(labware_loc, ModuleLocation):
-                    location_name = self._modules.get_provided_addressable_area(
-                        labware_loc.moduleId
-                    )
-                    module_location = labware_loc
-                else:
-                    location_name = self.get_ancestor_slot_name(location.labwareId).id
-            labware_offset = self._get_offset_from_parent(
-                child_definition=labware_definition, parent=location
-            )
-            # Get the calibrated offset if the on labware location is on top of a module, otherwise return empty one
-            cal_offset = self._get_calibrated_module_offset(location)
-            offset = LabwareOffsetVector(
-                x=labware_offset.x + cal_offset.x,
-                y=labware_offset.y + cal_offset.y,
-                z=labware_offset.z + cal_offset.z,
-            )
-
-        if module_location is not None:
-            # Location center must be determined from the cutout the Module is loaded in
-            position = deck_configuration_provider.get_cutout_position(
-                cutout_id=self._addressable_areas.get_cutout_id_by_deck_slot_name(
-                    self._modules.get_location(module_location.moduleId).slotName
-                ),
-                deck_definition=self._addressable_areas.deck_definition,
-            )
-            bounding_box = self._addressable_areas.get_addressable_area(
-                location_name
-            ).bounding_box
-            location_center = Point(
-                position.x + bounding_box.x / 2,
-                position.y + bounding_box.y / 2,
-                position.z,
+        elif isinstance(location, ModuleLocation):
+            location_name = self._modules.get_provided_addressable_area(
+                location.moduleId
             )
+        else:  # OnLabwareLocation
+            location_name = self.get_ancestor_addressable_area_name(location.labwareId)
 
-        else:
-            location_center = self._addressable_areas.get_addressable_area_center(
-                location_name
-            )
+        location_center = self._addressable_areas.get_addressable_area_center(
+            location_name
+        )
 
         return Point(
             location_center.x + offset.x,
@@ -1464,10 +1527,6 @@ class GeometryView:
     # * The "additional offset" or "user offset", e.g. the `pickUpOffset` and `dropOffset`
     #   params in the `moveLabware` command.
     #
-    # And this *does* take these extra offsets into account:
-    #
-    # * The labware's Labware Position Check offset
-    #
     # For robustness, we should combine this with `get_gripper_labware_movement_waypoints()`.
     #
     # We should also be more explicit about which offsets act to move the gripper paddles
@@ -1489,23 +1548,17 @@ class GeometryView:
                 return
 
             tip = self._pipettes.get_attached_tip(pipette.id)
-            if tip:
-                # NOTE: This call to get_labware_highest_z() uses the labware's LPC offset,
-                # which is an inconsistency between this and the actual gripper movement.
-                # See the todo comment above this function.
-                labware_top_z_when_gripped = gripper_homed_position_z + (
-                    self.get_labware_highest_z(labware_id=labware_id)
-                    - self.get_labware_grip_point(
-                        labware_definition=labware_definition, location=current_location
-                    ).z
+            if not tip:
+                continue
+            labware_top_z_when_gripped = gripper_homed_position_z + (
+                self._labware.get_dimensions(labware_definition=labware_definition).z
+                - self._labware.get_grip_height_from_labware_bottom(labware_definition)
+            )
+            # TODO(cb, 2024-01-18): Utilizing the nozzle map and labware X coordinates verify if collisions will occur on the X axis (analysis will use hard coded data to measure from the gripper critical point to the pipette mount)
+            if (_PIPETTE_HOMED_POSITION_Z - tip.length) < labware_top_z_when_gripped:
+                raise LabwareMovementNotAllowedError(
+                    f"Cannot move labware '{labware_definition.parameters.loadName}' when {int(tip.volume)} µL tips are attached."
                 )
-                # TODO(cb, 2024-01-18): Utilizing the nozzle map and labware X coordinates verify if collisions will occur on the X axis (analysis will use hard coded data to measure from the gripper critical point to the pipette mount)
-                if (
-                    _PIPETTE_HOMED_POSITION_Z - tip.length
-                ) < labware_top_z_when_gripped:
-                    raise LabwareMovementNotAllowedError(
-                        f"Cannot move labware '{labware_definition.parameters.loadName}' when {int(tip.volume)} µL tips are attached."
-                    )
         return
 
     def _nominal_gripper_offsets_for_location(