opentrons 8.6.0a1__py3-none-any.whl

opentrons/protocol_engine/execution/gantry_mover.py

@@ -0,0 +1,686 @@
+"""Gantry movement wrapper for hardware and simulation based movement."""
+from logging import getLogger
+from opentrons.config.types import OT3Config
+from functools import partial
+from typing import Optional, List, Dict, Tuple
+from typing_extensions import Protocol as TypingProtocol
+
+from opentrons.types import Point, Mount, MountType
+
+from opentrons.hardware_control import HardwareControlAPI
+from opentrons.hardware_control.types import Axis as HardwareAxis, CriticalPoint
+from opentrons.hardware_control.motion_utilities import (
+    target_axis_map_from_relative,
+    target_axis_map_from_absolute,
+)
+from opentrons_shared_data.errors.exceptions import PositionUnknownError
+
+from opentrons.motion_planning import Waypoint
+
+from ..state.state import StateView
+from ..types import MotorAxis, CurrentWell
+from ..errors import MustHomeError, InvalidAxisForRobotType
+
+log = getLogger(__name__)
+
+
+_MOTOR_AXIS_TO_HARDWARE_AXIS: Dict[MotorAxis, HardwareAxis] = {
+    MotorAxis.X: HardwareAxis.X,
+    MotorAxis.Y: HardwareAxis.Y,
+    MotorAxis.LEFT_Z: HardwareAxis.Z,
+    MotorAxis.RIGHT_Z: HardwareAxis.A,
+    MotorAxis.LEFT_PLUNGER: HardwareAxis.B,
+    MotorAxis.RIGHT_PLUNGER: HardwareAxis.C,
+    MotorAxis.EXTENSION_Z: HardwareAxis.Z_G,
+    MotorAxis.EXTENSION_JAW: HardwareAxis.G,
+    MotorAxis.AXIS_96_CHANNEL_CAM: HardwareAxis.Q,
+}
+
+_MOTOR_AXIS_TO_HARDWARE_MOUNT: Dict[MotorAxis, Mount] = {
+    MotorAxis.LEFT_Z: Mount.LEFT,
+    MotorAxis.RIGHT_Z: Mount.RIGHT,
+    MotorAxis.EXTENSION_Z: Mount.EXTENSION,
+}
+
+_HARDWARE_MOUNT_MOTOR_AXIS_TO: Dict[Mount, MotorAxis] = {
+    Mount.LEFT: MotorAxis.LEFT_Z,
+    Mount.RIGHT: MotorAxis.RIGHT_Z,
+    Mount.EXTENSION: MotorAxis.EXTENSION_Z,
+}
+
+_HARDWARE_AXIS_TO_MOTOR_AXIS: Dict[HardwareAxis, MotorAxis] = {
+    HardwareAxis.X: MotorAxis.X,
+    HardwareAxis.Y: MotorAxis.Y,
+    HardwareAxis.Z: MotorAxis.LEFT_Z,
+    HardwareAxis.A: MotorAxis.RIGHT_Z,
+    HardwareAxis.B: MotorAxis.LEFT_PLUNGER,
+    HardwareAxis.C: MotorAxis.RIGHT_PLUNGER,
+    HardwareAxis.P_L: MotorAxis.LEFT_PLUNGER,
+    HardwareAxis.P_R: MotorAxis.RIGHT_PLUNGER,
+    HardwareAxis.Z_L: MotorAxis.LEFT_Z,
+    HardwareAxis.Z_R: MotorAxis.RIGHT_Z,
+    HardwareAxis.Z_G: MotorAxis.EXTENSION_Z,
+    HardwareAxis.G: MotorAxis.EXTENSION_JAW,
+    HardwareAxis.Q: MotorAxis.AXIS_96_CHANNEL_CAM,
+}
+
+
+# The height of the bottom of the pipette nozzle at home position without any tips.
+# We rely on this being the same for every OT-3 pipette.
+#
+# We found this number by peeking at the height that OT3Simulator returns for these pipettes:
+#   * Flex Single- and 8-Channel P50
+#   * Flex Single-, 8-, and 96-channel P1000
+#
+# That OT3Simulator return value is what Protocol Engine uses for simulation when Protocol Engine
+# is configured to not virtualize pipettes, so this number should match it.
+VIRTUAL_MAX_OT3_HEIGHT = 248.0
+# This number was found by using the longest pipette's P1000V2 default configuration values.
+VIRTUAL_MAX_OT2_HEIGHT = 268.14
+
+
+class GantryMover(TypingProtocol):
+    """Abstract class for gantry movement handler."""
+
+    async def get_position(
+        self,
+        pipette_id: str,
+        current_well: Optional[CurrentWell] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry."""
+        ...
+
+    async def get_position_from_mount(
+        self,
+        mount: Mount,
+        critical_point: Optional[CriticalPoint] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry based on the given mount."""
+        ...
+
+    def get_max_travel_z(self, pipette_id: str) -> float:
+        """Get the maximum allowed z-height for pipette movement."""
+        ...
+
+    def get_max_travel_z_from_mount(self, mount: MountType) -> float:
+        """Get the maximum allowed z-height for mount movement."""
+        ...
+
+    async def move_axes(
+        self,
+        axis_map: Dict[MotorAxis, float],
+        critical_point: Optional[Dict[MotorAxis, float]] = None,
+        speed: Optional[float] = None,
+        relative_move: bool = False,
+        expect_stalls: bool = False,
+    ) -> Dict[MotorAxis, float]:
+        """Move a set of axes a given distance."""
+        ...
+
+    async def move_to(
+        self, pipette_id: str, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the hardware gantry to a waypoint."""
+        ...
+
+    async def move_mount_to(
+        self, mount: Mount, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the provided hardware mount to a waypoint."""
+        ...
+
+    async def move_relative(
+        self,
+        pipette_id: str,
+        delta: Point,
+        speed: Optional[float],
+    ) -> Point:
+        """Move the hardware gantry in a relative direction by delta."""
+        ...
+
+    async def home(self, axes: Optional[List[MotorAxis]]) -> None:
+        """Home the gantry."""
+        ...
+
+    async def retract_axis(self, axis: MotorAxis) -> None:
+        """Retract the specified axis to its home position."""
+        ...
+
+    async def prepare_for_mount_movement(self, mount: Mount) -> None:
+        """Retract the 'idle' mount if necessary."""
+        ...
+
+    def motor_axis_to_hardware_axis(self, motor_axis: MotorAxis) -> HardwareAxis:
+        """Transform an engine motor axis into a hardware axis."""
+        ...
+
+    def pick_mount_from_axis_map(self, axis_map: Dict[MotorAxis, float]) -> Mount:
+        """Find a mount axis in the axis_map if it exists otherwise default to left mount."""
+        ...
+
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Transform a list of engine axes into a list of hardware axes, filtering out non-present axes."""
+        ...
+
+
+class HardwareGantryMover(GantryMover):
+    """Hardware API based gantry movement handler."""
+
+    def __init__(self, hardware_api: HardwareControlAPI, state_view: StateView) -> None:
+        self._hardware_api = hardware_api
+        self._state_view = state_view
+
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Get hardware axes from engine axes while filtering out non-present axes."""
+        return [
+            self.motor_axis_to_hardware_axis(motor_axis)
+            for motor_axis in motor_axes
+            if self._hardware_api.axis_is_present(
+                self.motor_axis_to_hardware_axis(motor_axis)
+            )
+        ]
+
+    def motor_axis_to_hardware_axis(self, motor_axis: MotorAxis) -> HardwareAxis:
+        """Transform an engine motor axis into a hardware axis."""
+        return _MOTOR_AXIS_TO_HARDWARE_AXIS[motor_axis]
+
+    def _hardware_axis_to_motor_axis(self, motor_axis: HardwareAxis) -> MotorAxis:
+        """Transform an hardware axis into a engine motor axis."""
+        return _HARDWARE_AXIS_TO_MOTOR_AXIS[motor_axis]
+
+    def _convert_axis_map_for_hw(
+        self, axis_map: Dict[MotorAxis, float]
+    ) -> Dict[HardwareAxis, float]:
+        """Transform an engine motor axis map to a hardware axis map."""
+        return {_MOTOR_AXIS_TO_HARDWARE_AXIS[ax]: dist for ax, dist in axis_map.items()}
+
+    def _critical_point_for(
+        self, mount: Mount, cp_override: Optional[Dict[MotorAxis, float]] = None
+    ) -> Point:
+        if cp_override:
+            return Point(
+                x=cp_override[MotorAxis.X],
+                y=cp_override[MotorAxis.Y],
+                z=cp_override[_HARDWARE_MOUNT_MOTOR_AXIS_TO[mount]],
+            )
+        else:
+            return self._hardware_api.critical_point_for(mount)
+
+    def _get_gantry_offsets_for_robot_type(
+        self,
+    ) -> Tuple[Point, Point, Optional[Point]]:
+        if isinstance(self._hardware_api.config, OT3Config):
+            return (
+                Point(*self._hardware_api.config.left_mount_offset),
+                Point(*self._hardware_api.config.right_mount_offset),
+                Point(*self._hardware_api.config.gripper_mount_offset),
+            )
+        else:
+            return (
+                Point(*self._hardware_api.config.left_mount_offset),
+                Point(0, 0, 0),
+                None,
+            )
+
+    def pick_mount_from_axis_map(self, axis_map: Dict[MotorAxis, float]) -> Mount:
+        """Find a mount axis in the axis_map if it exists otherwise default to left mount."""
+        found_mount = Mount.LEFT
+        mounts = list(_MOTOR_AXIS_TO_HARDWARE_MOUNT.keys())
+        for k in axis_map.keys():
+            if k in mounts:
+                found_mount = _MOTOR_AXIS_TO_HARDWARE_MOUNT[k]
+                break
+        return found_mount
+
+    async def get_position(
+        self,
+        pipette_id: str,
+        current_well: Optional[CurrentWell] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry.
+
+        Args:
+            pipette_id: Pipette ID to get location data for.
+            current_well: Optional parameter for getting pipette location data, effects critical point.
+            fail_on_not_homed: Raise PositionUnknownError if gantry position is not known.
+        """
+        pipette_location = self._state_view.motion.get_pipette_location(
+            pipette_id=pipette_id,
+            current_location=current_well,
+        )
+        point = await self.get_position_from_mount(
+            mount=pipette_location.mount.to_hw_mount(),
+            critical_point=pipette_location.critical_point,
+            fail_on_not_homed=fail_on_not_homed,
+        )
+        return point
+
+    async def get_position_from_mount(
+        self,
+        mount: Mount,
+        critical_point: Optional[CriticalPoint] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry based on the mount.
+
+        Args:
+            mount: The mount to get the position for.
+            critical_point: Optional parameter for getting instrument location data, effects critical point.
+            fail_on_not_homed: Raise PositionUnknownError if gantry position is not known.
+        """
+        try:
+            point = await self._hardware_api.gantry_position(
+                mount=mount,
+                critical_point=critical_point,
+                fail_on_not_homed=fail_on_not_homed,
+            )
+            return point
+        except PositionUnknownError as e:
+            raise MustHomeError(message=str(e), wrapping=[e])
+
+    def get_max_travel_z(self, pipette_id: str) -> float:
+        """Get the maximum allowed z-height for pipette movement.
+
+        Args:
+            pipette_id: Pipette ID to get max travel z-height for.
+        """
+        mount = self._state_view.pipettes.get_mount(pipette_id)
+        return self.get_max_travel_z_from_mount(mount=mount)
+
+    def get_max_travel_z_from_mount(self, mount: MountType) -> float:
+        """Get the maximum allowed z-height for any mount movement.
+
+        Args:
+            mount: Mount to get max travel z-height for.
+        """
+        return self._hardware_api.get_instrument_max_height(mount=mount.to_hw_mount())
+
+    async def move_to(
+        self, pipette_id: str, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the hardware gantry to a waypoint."""
+        assert len(waypoints) > 0, "Must have at least one waypoint"
+
+        hw_mount = self._state_view.pipettes.get_mount(pipette_id).to_hw_mount()
+
+        for waypoint in waypoints:
+            await self._hardware_api.move_to(
+                mount=hw_mount,
+                abs_position=waypoint.position,
+                critical_point=waypoint.critical_point,
+                speed=speed,
+            )
+
+        return waypoints[-1].position
+
+    async def move_mount_to(
+        self, mount: Mount, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the given hardware mount to a waypoint."""
+        assert len(waypoints) > 0, "Must have at least one waypoint"
+        for waypoint in waypoints:
+            log.info(f"The current waypoint moving is {waypoint}")
+            await self._hardware_api.move_to(
+                mount=mount,
+                abs_position=waypoint.position,
+                critical_point=waypoint.critical_point,
+                speed=speed,
+            )
+
+        return waypoints[-1].position
+
+    async def move_axes(
+        self,
+        axis_map: Dict[MotorAxis, float],
+        critical_point: Optional[Dict[MotorAxis, float]] = None,
+        speed: Optional[float] = None,
+        relative_move: bool = False,
+        expect_stalls: bool = False,
+    ) -> Dict[MotorAxis, float]:
+        """Move a set of axes a given distance.
+
+        Args:
+            axis_map: The mapping of axes to command.
+            critical_point: A critical point override for axes
+            speed: Optional speed parameter for the move.
+            relative_move: Whether the axis map needs to be converted from a relative to absolute move.
+            expect_stalls: Whether it is expected that the move triggers a stall error.
+        """
+        try:
+            pos_hw = self._convert_axis_map_for_hw(axis_map)
+            mount = self.pick_mount_from_axis_map(axis_map)
+            if relative_move:
+                current_position = await self._hardware_api.current_position(
+                    mount, refresh=True
+                )
+                log.info(f"The current position of the robot is: {current_position}.")
+                converted_current_position_deck = (
+                    self._hardware_api.get_deck_from_machine(current_position)
+                )
+                log.info(f"The current position of the robot is: {current_position}.")
+
+                pos_hw = target_axis_map_from_relative(pos_hw, current_position)
+                log.info(
+                    f"The absolute position is: {pos_hw} and hw pos map is {pos_hw}."
+                )
+            log.info(f"The calculated move {pos_hw} and {mount}")
+            (
+                left_offset,
+                right_offset,
+                gripper_offset,
+            ) = self._get_gantry_offsets_for_robot_type()
+            absolute_pos = target_axis_map_from_absolute(
+                mount,
+                pos_hw,
+                partial(self._critical_point_for, cp_override=critical_point),
+                left_mount_offset=left_offset,
+                right_mount_offset=right_offset,
+                gripper_mount_offset=gripper_offset,
+            )
+            log.info(f"The prepped abs {absolute_pos}")
+            await self._hardware_api.move_axes(
+                position=absolute_pos,
+                speed=speed,
+                expect_stalls=expect_stalls,
+            )
+
+        except PositionUnknownError as e:
+            raise MustHomeError(message=str(e), wrapping=[e])
+
+        current_position = await self._hardware_api.current_position(
+            mount, refresh=True
+        )
+        converted_current_position_deck = self._hardware_api.get_deck_from_machine(
+            current_position
+        )
+        return {
+            self._hardware_axis_to_motor_axis(ax): pos
+            for ax, pos in converted_current_position_deck.items()
+        }
+
+    async def move_relative(
+        self,
+        pipette_id: str,
+        delta: Point,
+        speed: Optional[float],
+    ) -> Point:
+        """Move the hardware gantry in a relative direction by delta.
+
+        Args:
+            pipette_id: Not used in hardware implementation.
+            delta: Relative X/Y/Z distance to move gantry.
+            speed: Optional speed parameter for the move.
+        """
+        pipette_location = self._state_view.motion.get_pipette_location(
+            pipette_id=pipette_id,
+        )
+        critical_point = pipette_location.critical_point
+        hw_mount = pipette_location.mount.to_hw_mount()
+        try:
+            await self._hardware_api.move_rel(
+                mount=hw_mount,
+                delta=delta,
+                fail_on_not_homed=True,
+                speed=speed,
+            )
+            point = await self._hardware_api.gantry_position(
+                mount=hw_mount,
+                critical_point=critical_point,
+                fail_on_not_homed=True,
+            )
+        except PositionUnknownError as e:
+            raise MustHomeError(message=str(e), wrapping=[e])
+
+        return point
+
+    async def home(self, axes: Optional[List[MotorAxis]]) -> None:
+        """Home the gantry."""
+        # TODO(mc, 2022-12-01): this is overly complicated
+        # https://opentrons.atlassian.net/browse/RET-1287
+        if axes is None:
+            await self._hardware_api.home()
+        elif axes == [MotorAxis.LEFT_PLUNGER]:
+            await self._hardware_api.home_plunger(Mount.LEFT)
+        elif axes == [MotorAxis.RIGHT_PLUNGER]:
+            await self._hardware_api.home_plunger(Mount.RIGHT)
+        elif axes == [MotorAxis.LEFT_Z, MotorAxis.LEFT_PLUNGER]:
+            await self._hardware_api.home_z(Mount.LEFT)
+            await self._hardware_api.home_plunger(Mount.LEFT)
+        elif axes == [MotorAxis.RIGHT_Z, MotorAxis.RIGHT_PLUNGER]:
+            await self._hardware_api.home_z(Mount.RIGHT)
+            await self._hardware_api.home_plunger(Mount.RIGHT)
+        else:
+            hardware_axes = [_MOTOR_AXIS_TO_HARDWARE_AXIS[a] for a in axes]
+            if self._state_view.config.robot_type == "OT-2 Standard" and any(
+                axis not in HardwareAxis.ot2_axes() for axis in hardware_axes
+            ):
+                raise InvalidAxisForRobotType(
+                    f"{axes} includes axes that are not valid for OT-2 Standard robot type"
+                )
+            # Hardware API will raise error if invalid axes are passed for the type of robot
+            await self._hardware_api.home(axes=hardware_axes)
+
+    async def retract_axis(self, axis: MotorAxis) -> None:
+        """Retract specified axis."""
+        hardware_axis = _MOTOR_AXIS_TO_HARDWARE_AXIS[axis]
+        if (
+            self._state_view.config.robot_type == "OT-2 Standard"
+            and hardware_axis not in HardwareAxis.ot2_axes()
+        ):
+            raise InvalidAxisForRobotType(
+                f"{axis} is not valid for OT-2 Standard robot type"
+            )
+        await self._hardware_api.retract_axis(axis=hardware_axis)
+
+    async def prepare_for_mount_movement(self, mount: Mount) -> None:
+        """Retract the 'idle' mount if necessary."""
+        await self._hardware_api.prepare_for_mount_movement(mount)
+
+
+class VirtualGantryMover(GantryMover):
+    """State store based gantry movement handler for simulation/analysis."""
+
+    def __init__(self, state_view: StateView) -> None:
+        self._state_view = state_view
+
+    def motor_axis_to_hardware_axis(self, motor_axis: MotorAxis) -> HardwareAxis:
+        """Transform an engine motor axis into a hardware axis."""
+        return _MOTOR_AXIS_TO_HARDWARE_AXIS[motor_axis]
+
+    def pick_mount_from_axis_map(self, axis_map: Dict[MotorAxis, float]) -> Mount:
+        """Find a mount axis in the axis_map if it exists otherwise default to left mount."""
+        found_mount = Mount.LEFT
+        mounts = list(_MOTOR_AXIS_TO_HARDWARE_MOUNT.keys())
+        for k in axis_map.keys():
+            if k in mounts:
+                found_mount = _MOTOR_AXIS_TO_HARDWARE_MOUNT[k]
+                break
+        return found_mount
+
+    async def get_position(
+        self,
+        pipette_id: str,
+        current_well: Optional[CurrentWell] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry.
+
+        Args:
+            pipette_id: Pipette ID to get position for.
+            current_well: Not used in virtual implementation.
+            fail_on_not_homed: Not used in virtual implementation.
+        """
+        origin_deck_point = self._state_view.pipettes.get_deck_point(pipette_id)
+        if origin_deck_point is not None:
+            origin = Point(
+                x=origin_deck_point.x, y=origin_deck_point.y, z=origin_deck_point.z
+            )
+        else:
+            origin = Point(x=0, y=0, z=0)
+        return origin
+
+    async def get_position_from_mount(
+        self,
+        mount: Mount,
+        critical_point: Optional[CriticalPoint] = None,
+        fail_on_not_homed: bool = False,
+    ) -> Point:
+        """Get the current position of the gantry based on the mount.
+
+        Args:
+            mount: The mount to get the position for.
+            critical_point: Optional parameter for getting instrument location data, effects critical point.
+            fail_on_not_homed: Raise PositionUnknownError if gantry position is not known.
+        """
+        pipette = self._state_view.pipettes.get_by_mount(MountType[mount.name])
+        origin_deck_point = (
+            self._state_view.pipettes.get_deck_point(pipette.id) if pipette else None
+        )
+        if origin_deck_point is not None:
+            origin = Point(
+                x=origin_deck_point.x, y=origin_deck_point.y, z=origin_deck_point.z
+            )
+        else:
+            origin = Point(x=0, y=0, z=0)
+        return origin
+
+    def get_max_travel_z(self, pipette_id: str) -> float:
+        """Get the maximum allowed z-height for pipette movement.
+
+        Args:
+            pipette_id: Pipette ID to get instrument height and tip length for.
+        """
+        if self._state_view.config.robot_type == "OT-2 Standard":
+            instrument_height = self._state_view.pipettes.get_instrument_max_height_ot2(
+                pipette_id
+            )
+        else:
+            instrument_height = VIRTUAL_MAX_OT3_HEIGHT
+
+        tip = self._state_view.pipettes.get_attached_tip(pipette_id=pipette_id)
+        tip_length = tip.length if tip is not None else 0
+        return instrument_height - tip_length
+
+    def get_max_travel_z_from_mount(self, mount: MountType) -> float:
+        """Get the maximum allowed z-height for mount."""
+        pipette = self._state_view.pipettes.get_by_mount(mount)
+        if self._state_view.config.robot_type == "OT-2 Standard":
+            instrument_height = (
+                self._state_view.pipettes.get_instrument_max_height_ot2(pipette.id)
+                if pipette
+                else VIRTUAL_MAX_OT2_HEIGHT
+            )
+        else:
+            instrument_height = VIRTUAL_MAX_OT3_HEIGHT
+        if pipette:
+            tip = self._state_view.pipettes.get_attached_tip(pipette_id=pipette.id)
+            tip_length = tip.length if tip is not None else 0.0
+        else:
+            tip_length = 0.0
+        return instrument_height - tip_length
+
+    async def move_axes(
+        self,
+        axis_map: Dict[MotorAxis, float],
+        critical_point: Optional[Dict[MotorAxis, float]] = None,
+        speed: Optional[float] = None,
+        relative_move: bool = False,
+        expect_stalls: bool = False,
+    ) -> Dict[MotorAxis, float]:
+        """Move the give axes map. No-op in virtual implementation."""
+        mount = self.pick_mount_from_axis_map(axis_map)
+        current_position = await self.get_position_from_mount(mount)
+        updated_position = {}
+        if relative_move:
+            updated_position[MotorAxis.X] = (
+                axis_map.get(MotorAxis.X, 0.0) + current_position[0]
+            )
+            updated_position[MotorAxis.Y] = (
+                axis_map.get(MotorAxis.Y, 0.0) + current_position[1]
+            )
+            if mount == Mount.RIGHT:
+                updated_position[MotorAxis.RIGHT_Z] = (
+                    axis_map.get(MotorAxis.RIGHT_Z, 0.0) + current_position[2]
+                )
+            elif mount == Mount.EXTENSION:
+                updated_position[MotorAxis.EXTENSION_Z] = (
+                    axis_map.get(MotorAxis.EXTENSION_Z, 0.0) + current_position[2]
+                )
+            else:
+                updated_position[MotorAxis.LEFT_Z] = (
+                    axis_map.get(MotorAxis.LEFT_Z, 0.0) + current_position[2]
+                )
+        else:
+            critical_point = critical_point or {}
+            updated_position = {
+                ax: pos - critical_point.get(ax, 0.0) for ax, pos in axis_map.items()
+            }
+        return updated_position
+
+    async def move_mount_to(
+        self, mount: Mount, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the hardware mount to a waypoint. No-op in virtual implementation."""
+        assert len(waypoints) > 0, "Must have at least one waypoint"
+        return waypoints[-1].position
+
+    async def move_to(
+        self, pipette_id: str, waypoints: List[Waypoint], speed: Optional[float]
+    ) -> Point:
+        """Move the hardware gantry to a waypoint. No-op in virtual implementation."""
+        assert len(waypoints) > 0, "Must have at least one waypoint"
+        return waypoints[-1].position
+
+    async def move_relative(
+        self,
+        pipette_id: str,
+        delta: Point,
+        speed: Optional[float],
+    ) -> Point:
+        """Move the hardware gantry in a relative direction by delta.
+
+        Args:
+            pipette_id: Pipette ID to get position of for virtual move.
+            delta: Relative X/Y/Z distance to move gantry.
+            speed: Not used in virtual implementation.
+        """
+        origin = await self.get_position(pipette_id)
+        return origin + delta
+
+    async def home(self, axes: Optional[List[MotorAxis]]) -> None:
+        """Home the gantry. No-op in virtual implementation."""
+        pass
+
+    async def retract_axis(self, axis: MotorAxis) -> None:
+        """Retract the specified axis. No-op in virtual implementation."""
+        pass
+
+    async def prepare_for_mount_movement(self, mount: Mount) -> None:
+        """Retract the 'idle' mount if necessary."""
+        pass
+
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Get present hardware axes from a list of engine axes. In simulation, all axes are present."""
+        return [
+            self.motor_axis_to_hardware_axis(motor_axis) for motor_axis in motor_axes
+        ]
+
+
+def create_gantry_mover(
+    state_view: StateView, hardware_api: HardwareControlAPI
+) -> GantryMover:
+    """Create a gantry mover."""
+    return (
+        HardwareGantryMover(hardware_api=hardware_api, state_view=state_view)
+        if state_view.config.use_virtual_pipettes is False
+        else VirtualGantryMover(state_view=state_view)
+    )