opentrons 8.7.0a7__py3-none-any.whl → 8.7.0a8__py3-none-any.whl

opentrons/hardware_control/ot3api.py

@@ -74,7 +74,6 @@ from .types import (
     DoorStateNotification,
     ErrorMessageNotification,
     HardwareEvent,
-    AsynchronousModuleErrorNotification,
     HardwareEventHandler,
     HardwareAction,
     HepaFanState,
@@ -368,21 +367,6 @@ class OT3API(
 
         return futures
 
-    def _send_module_notification(self, event: HardwareEvent) -> None:
-        if not isinstance(
-            event,
-            AsynchronousModuleErrorNotification,
-        ):
-            return
-        mod_log.info(
-            f"Forwarding module event {event.event} for {event.module_model} {event.module_serial} at {event.port}"
-        )
-        for cb in self._callbacks:
-            try:
-                cb(event)
-            except Exception:
-                mod_log.exception("Errored during module asynchronous callback")
-
     def _reset_last_mount(self) -> None:
         self._last_moved_mount = None
 
@@ -438,9 +422,7 @@ class OT3API(
 
         await api_instance.set_status_bar_enabled(status_bar_enabled)
         module_controls = await AttachedModulesControl.build(
-            api_instance,
-            board_revision=backend.board_revision,
-            event_callback=api_instance._send_module_notification,
+            api_instance, board_revision=backend.board_revision
         )
         backend.module_controls = module_controls
         await backend.build_estop_detector()
@@ -502,9 +484,7 @@ class OT3API(
         )
         await api_instance.cache_instruments()
         module_controls = await AttachedModulesControl.build(
-            api_instance,
-            board_revision=backend.board_revision,
-            event_callback=api_instance._send_module_notification,
+            api_instance, board_revision=backend.board_revision
         )
         backend.module_controls = module_controls
         await backend.watch(api_instance.loop)
@@ -647,10 +627,9 @@ class OT3API(
             self.is_simulator
         ), "Cannot build simulating module from non-simulating hardware control API"
 
-        return await self._backend.module_controls.register_simulated_module(
-            simulated_usb_port=USBPort(
-                name="", port_number=1, port_group=PortGroup.LEFT
-            ),
+        return await self._backend.module_controls.build_module(
+            port="",
+            usb_port=USBPort(name="", port_number=1, port_group=PortGroup.LEFT),
             type=modules.ModuleType.from_model(model),
             sim_model=model.value,
         )
@@ -1483,6 +1462,7 @@ class OT3API(
         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.
 
@@ -1503,6 +1483,7 @@ class OT3API(
             gripper.max_allowed_grip_error,
             gripper.min_jaw_width,
             gripper.max_jaw_width,
+            disable_geometry_grip_check,
         )
 
     def gripper_jaw_can_home(self) -> bool:

opentrons/hardware_control/poller.py

@@ -5,7 +5,6 @@ from abc import ABC, abstractmethod
 from typing import AsyncGenerator, List, Optional
 from opentrons.hardware_control.modules.errors import AbsorbanceReaderDisconnectedError
 from opentrons_shared_data.errors.exceptions import ModuleCommunicationError
-from opentrons.drivers.asyncio.communication.errors import SerialException
 
 
 log = logging.getLogger(__name__)
@@ -89,18 +88,6 @@ class Poller:
         except asyncio.InvalidStateError:
             log.warning("Poller waiter was already cancelled")
 
-    def _error_callback(self, exc: Exception) -> None:
-        try:
-            self._reader.on_error(exc)
-        except Exception:
-            log.exception("Exception in reader callback")
-
-    def _complete_all(
-        self, exc: Exception | None, previous: List["asyncio.Future[None]"]
-    ) -> None:
-        for waiter in previous:
-            Poller._set_waiter_complete(waiter, exc)
-
     async def _poll_once(self) -> None:
         """Trigger a single read, notifying listeners of success or error."""
         previous_waiters = self._poll_waiters
@@ -112,15 +99,14 @@ class Poller:
         except asyncio.CancelledError:
             raise
         except AbsorbanceReaderDisconnectedError as e:
-            self._error_callback(e)
-            self._complete_all(e, previous_waiters)
-        except SerialException as se:
-            log.error(f"Polling gcode error: {se}")
-            self._error_callback(se)
-            self._complete_all(se, previous_waiters)
+            for waiter in previous_waiters:
+                Poller._set_waiter_complete(waiter, None)
+            self._reader.on_error(e)
         except Exception as e:
             log.exception("Polling exception")
-            self._error_callback(e)
-            self._complete_all(e, previous_waiters)
+            self._reader.on_error(e)
+            for waiter in previous_waiters:
+                Poller._set_waiter_complete(waiter, e)
         else:
-            self._complete_all(None, previous_waiters)
+            for waiter in previous_waiters:
+                Poller._set_waiter_complete(waiter)

opentrons/hardware_control/protocols/gripper_controller.py

@@ -41,6 +41,7 @@ class GripperController(Protocol):
         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."""
 

opentrons/hardware_control/scripts/update_module_fw.py

@@ -1,5 +1,4 @@
 """Module Firmware update script."""
-
 import argparse
 import asyncio
 from glob import glob
@@ -15,7 +14,6 @@ from opentrons.hardware_control import modules
 from opentrons.hardware_control.modules.mod_abc import AbstractModule
 from opentrons.hardware_control.modules.update import update_firmware
 from opentrons.hardware_control.types import BoardRevision
-from opentrons.hardware_control.execution_manager import ExecutionManager
 
 
 # Constants for checking if module is back online
@@ -86,9 +84,6 @@ async def build_module(
             port=port,
             usb_port=mod.usb_port,
             type=modules.MODULE_TYPE_BY_NAME[mod.name],
-            execution_manager=ExecutionManager(),
-            disconnected_callback=lambda *args: None,
-            error_callback=lambda *args: None,
             simulating=False,
             hw_control_loop=loop,
         )

opentrons/hardware_control/types.py

@@ -2,26 +2,12 @@ from asyncio import Queue
 import enum
 import logging
 from dataclasses import dataclass
-from typing import (
-    cast,
-    Tuple,
-    Union,
-    List,
-    Callable,
-    Dict,
-    TypeVar,
-    Type,
-    TYPE_CHECKING,
-)
+from typing import cast, Tuple, Union, List, Callable, Dict, TypeVar, Type
 from typing_extensions import Literal
 from opentrons import types as top_types
 from opentrons_shared_data.pipette.types import PipetteChannelType
-from opentrons_shared_data.errors.exceptions import EnumeratedError
 from opentrons.config import feature_flags
 
-if TYPE_CHECKING:
-    from .modules.types import ModuleModel
-
 MODULE_LOG = logging.getLogger(__name__)
 
 
@@ -398,7 +384,6 @@ class HardwareEventType(enum.Enum):
     DOOR_SWITCH_CHANGE = enum.auto()
     ERROR_MESSAGE = enum.auto()
     ESTOP_CHANGE = enum.auto()
-    ASYNCHRONOUS_MODULE_ERROR = enum.auto()
 
 
 @dataclass
@@ -443,24 +428,10 @@ class ErrorMessageNotification:
     event: Literal[HardwareEventType.ERROR_MESSAGE] = HardwareEventType.ERROR_MESSAGE
 
 
-@dataclass(frozen=True)
-class AsynchronousModuleErrorNotification:
-    exception: EnumeratedError
-    module_serial: str | None
-    module_model: "ModuleModel"
-    port: str
-    event: Literal[
-        HardwareEventType.ASYNCHRONOUS_MODULE_ERROR
-    ] = HardwareEventType.ASYNCHRONOUS_MODULE_ERROR
-
-
 # new event types get new dataclasses
 # when we add more event types we add them here
 HardwareEvent = Union[
-    DoorStateNotification,
-    ErrorMessageNotification,
-    EstopStateNotification,
-    AsynchronousModuleErrorNotification,
+    DoorStateNotification, ErrorMessageNotification, EstopStateNotification
 ]
 
 HardwareEventHandler = Callable[[HardwareEvent], None]

opentrons/legacy_commands/module_commands.py

@@ -102,19 +102,6 @@ def thermocycler_execute_profile(
     }
 
 
-def thermocycler_start_execute_profile(
-    steps: List[ThermocyclerStep], repetitions: int
-) -> command_types.ThermocyclerStartExecuteProfileCommand:
-    text = (
-        f"In the background, thermocycler starting to run {repetitions} repetitions "
-        f" of cycle composed of the following steps: {steps}"
-    )
-    return {
-        "name": command_types.THERMOCYCLER_START_EXECUTE_PROFILE,
-        "payload": {"text": text, "steps": steps},
-    }
-
-
 def thermocycler_wait_for_hold() -> command_types.ThermocyclerWaitForHoldCommand:
     text = "Waiting for hold time duration"
     return {"name": command_types.THERMOCYCLER_WAIT_FOR_HOLD, "payload": {"text": text}}
@@ -196,16 +183,6 @@ def heater_shaker_set_and_wait_for_shake_speed(
     }
 
 
-def heater_shaker_set_shake_speed(
-    rpm: int,
-) -> command_types.HeaterShakerSetShakeSpeedCommand:
-    text = f"Setting Heater-Shaker to Shake at {rpm} RPM"
-    return {
-        "name": command_types.HEATER_SHAKER_SET_SHAKE_SPEED,
-        "payload": {"text": text},
-    }
-
-
 def heater_shaker_open_labware_latch() -> command_types.HeaterShakerOpenLabwareLatchCommand:
     text = "Unlatching labware on Heater-Shaker"
     return {

opentrons/legacy_commands/protocol_commands.py

@@ -1,7 +1,6 @@
 from datetime import timedelta
 from typing import Optional
 from . import types as command_types
-from opentrons.protocol_api.tasks import Task
 
 
 def comment(msg: str) -> command_types.CommentCommand:
@@ -53,22 +52,3 @@ def move_labware(text: str) -> command_types.MoveLabwareCommand:
         "name": command_types.MOVE_LABWARE,
         "payload": {"text": text},
     }
-
-
-def wait_for_tasks(tasks: list[Task]) -> command_types.WaitForTasksCommand:
-    task_ids = [task.created_at.strftime("%Y-%m-%d %H:%M:%S") for task in tasks]
-    msg = f"Waiting for tasks that started at: {task_ids}."
-    return {
-        "name": command_types.WAIT_FOR_TASKS,
-        "payload": {"text": msg},
-    }
-
-
-def create_timer(seconds: float) -> command_types.CreateTimerCommand:
-    return {
-        "name": command_types.CREATE_TIMER,
-        "payload": {
-            "text": f"Creating background timer for {seconds} seconds.",
-            "time": seconds,
-        },
-    }

opentrons/legacy_commands/types.py

@@ -64,7 +64,6 @@ HEATER_SHAKER_WAIT_FOR_TEMPERATURE: Final = "command.HEATER_SHAKER_WAIT_FOR_TEMP
 HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED: Final = (
     "command.HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED"
 )
-HEATER_SHAKER_SET_SHAKE_SPEED: Final = "command.HEATER_SHAKER_SET_SHAKE_SPEED"
 HEATER_SHAKER_OPEN_LABWARE_LATCH: Final = "command.HEATER_SHAKER_OPEN_LABWARE_LATCH"
 HEATER_SHAKER_CLOSE_LABWARE_LATCH: Final = "command.HEATER_SHAKER_CLOSE_LABWARE_LATCH"
 HEATER_SHAKER_DEACTIVATE_SHAKER: Final = "command.HEATER_SHAKER_DEACTIVATE_SHAKER"
@@ -82,7 +81,6 @@ THERMOCYCLER_OPEN: Final = "command.THERMOCYCLER_OPEN"
 THERMOCYCLER_CLOSE: Final = "command.THERMOCYCLER_CLOSE"
 THERMOCYCLER_SET_BLOCK_TEMP: Final = "command.THERMOCYCLER_SET_BLOCK_TEMP"
 THERMOCYCLER_EXECUTE_PROFILE: Final = "command.THERMOCYCLER_EXECUTE_PROFILE"
-THERMOCYCLER_START_EXECUTE_PROFILE: Final = "command.THERMOCYCLER_START_EXECUTE_PROFILE"
 THERMOCYCLER_DEACTIVATE: Final = "command.THERMOCYCLER_DEACTIVATE"
 THERMOCYCLER_WAIT_FOR_HOLD: Final = "command.THERMOCYCLER_WAIT_FOR_HOLD"
 THERMOCYCLER_WAIT_FOR_TEMP: Final = "command.THERMOCYCLER_WAIT_FOR_TEMP"
@@ -104,10 +102,6 @@ ROBOT_MOVE_RELATIVE_TO: Final = "command.ROBOT_MOVE_RELATIVE_TO"
 ROBOT_OPEN_GRIPPER_JAW: Final = "command.ROBOT_OPEN_GRIPPER_JAW"
 ROBOT_CLOSE_GRIPPER_JAW: Final = "command.ROBOT_CLOSE_GRIPPER_JAW"
 
-# Tasks #
-WAIT_FOR_TASKS: Final = "command.WAIT_FOR_TASKS"
-CREATE_TIMER: Final = "command.CREATE_TIMER"
-
 
 class TextOnlyPayload(TypedDict):
     text: str
@@ -196,15 +190,6 @@ class HeaterShakerSetAndWaitForShakeSpeedCommand(TypedDict):
     payload: HeaterShakerSetAndWaitForShakeSpeedPayload
 
 
-class HeaterShakerSetShakeSpeedPayload(TextOnlyPayload):
-    pass
-
-
-class HeaterShakerSetShakeSpeedCommand(TypedDict):
-    name: Literal["command.HEATER_SHAKER_SET_SHAKE_SPEED"]
-    payload: HeaterShakerSetShakeSpeedPayload
-
-
 class HeaterShakerOpenLabwareLatchPayload(TextOnlyPayload):
     pass
 
@@ -323,15 +308,6 @@ class ThermocyclerExecuteProfileCommand(TypedDict):
     payload: ThermocyclerExecuteProfileCommandPayload
 
 
-class ThermocyclerStartExecuteProfileCommandPayload(TextOnlyPayload):
-    steps: List[ThermocyclerStep]
-
-
-class ThermocyclerStartExecuteProfileCommand(TypedDict):
-    name: Literal["command.THERMOCYCLER_START_EXECUTE_PROFILE"]
-    payload: ThermocyclerStartExecuteProfileCommandPayload
-
-
 class ThermocyclerWaitForHoldCommandPayload(TextOnlyPayload):
     pass
 
@@ -738,27 +714,6 @@ class RobotCloseGripperJawCommand(TypedDict):
     payload: GripperCommandPayload
 
 
-# Task Commands and Payloads
-
-
-class WaitForTasksPayload(TextOnlyPayload):
-    pass
-
-
-class CreateTimerPayload(TextOnlyPayload):
-    time: float
-
-
-class WaitForTasksCommand(TypedDict):
-    name: Literal["command.WAIT_FOR_TASKS"]
-    payload: WaitForTasksPayload
-
-
-class CreateTimerCommand(TypedDict):
-    name: Literal["command.CREATE_TIMER"]
-    payload: CreateTimerPayload
-
-
 Command = Union[
     DropTipCommand,
     DropTipInDisposalLocationCommand,
@@ -779,7 +734,6 @@ Command = Union[
     HeaterShakerSetTargetTemperatureCommand,
     HeaterShakerWaitForTemperatureCommand,
     HeaterShakerSetAndWaitForShakeSpeedCommand,
-    HeaterShakerSetShakeSpeedCommand,
     HeaterShakerOpenLabwareLatchCommand,
     HeaterShakerCloseLabwareLatchCommand,
     HeaterShakerDeactivateShakerCommand,
@@ -793,7 +747,6 @@ Command = Union[
     ThermocyclerWaitForTempCommand,
     ThermocyclerWaitForHoldCommand,
     ThermocyclerExecuteProfileCommand,
-    ThermocyclerStartExecuteProfileCommand,
     ThermocyclerSetBlockTempCommand,
     ThermocyclerOpenCommand,
     TempdeckDeactivateCommand,
@@ -829,9 +782,6 @@ Command = Union[
     FlexStackerStoreCommand,
     FlexStackerEmptyCommand,
     FlexStackerFillCommand,
-    # Task commands
-    WaitForTasksCommand,
-    CreateTimerCommand,
 ]
 
 
@@ -841,7 +791,6 @@ CommandPayload = Union[
     HeaterShakerSetTargetTemperaturePayload,
     HeaterShakerWaitForTemperaturePayload,
     HeaterShakerSetAndWaitForShakeSpeedPayload,
-    HeaterShakerSetShakeSpeedPayload,
     HeaterShakerOpenLabwareLatchPayload,
     HeaterShakerCloseLabwareLatchPayload,
     HeaterShakerDeactivateShakerPayload,
@@ -874,7 +823,6 @@ CommandPayload = Union[
     DispenseInDisposalLocationCommandPayload,
     HomeCommandPayload,
     ThermocyclerExecuteProfileCommandPayload,
-    ThermocyclerStartExecuteProfileCommandPayload,
     ThermocyclerSetBlockTempCommandPayload,
     TempdeckAwaitTempCommandPayload,
     TempdeckSetTempCommandPayload,
@@ -894,9 +842,6 @@ CommandPayload = Union[
     RobotMoveAxisRelativeCommandPayload,
     RobotMoveAxisToCommandPayload,
     GripperCommandPayload,
-    # Task payloads
-    WaitForTasksPayload,
-    CreateTimerPayload,
 ]
 
 
@@ -1007,12 +952,6 @@ class HeaterShakerSetAndWaitForShakeSpeedMessage(
     pass
 
 
-class HeaterShakerSetShakeSpeedMessage(
-    CommandMessageFields, HeaterShakerSetShakeSpeedCommand
-):
-    pass
-
-
 class HeaterShakerOpenLabwareLatchMessage(
     CommandMessageFields, HeaterShakerOpenLabwareLatchCommand
 ):
@@ -1089,12 +1028,6 @@ class ThermocyclerExecuteProfileMessage(
     pass
 
 
-class ThermocyclerStartExecuteProfileMessage(
-    CommandMessageFields, ThermocyclerStartExecuteProfileCommand
-):
-    pass
-
-
 class ThermocyclerSetBlockTempMessage(
     CommandMessageFields, ThermocyclerSetBlockTempCommand
 ):
@@ -1191,14 +1124,6 @@ class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawComm
     pass
 
 
-class WaitForTasksMessage(CommandMessageFields, WaitForTasksCommand):
-    pass
-
-
-class CreateTimerMessage(CommandMessageFields, CreateTimerCommand):
-    pass
-
-
 CommandMessage = Union[
     DropTipMessage,
     DropTipInDisposalLocationMessage,
@@ -1219,7 +1144,6 @@ CommandMessage = Union[
     HeaterShakerSetTargetTemperatureMessage,
     HeaterShakerWaitForTemperatureMessage,
     HeaterShakerSetAndWaitForShakeSpeedMessage,
-    HeaterShakerSetShakeSpeedMessage,
     HeaterShakerOpenLabwareLatchMessage,
     HeaterShakerCloseLabwareLatchMessage,
     HeaterShakerDeactivateShakerMessage,
@@ -1233,7 +1157,6 @@ CommandMessage = Union[
     ThermocyclerWaitForTempMessage,
     ThermocyclerWaitForHoldMessage,
     ThermocyclerExecuteProfileMessage,
-    ThermocyclerStartExecuteProfileMessage,
     ThermocyclerSetBlockTempMessage,
     ThermocyclerOpenMessage,
     TempdeckSetTempMessage,
@@ -1260,7 +1183,4 @@ CommandMessage = Union[
     FlexStackerStoreMessage,
     FlexStackerEmptyMessage,
     FlexStackerFillMessage,
-    # Task Messages
-    WaitForTasksMessage,
-    CreateTimerMessage,
 ]

opentrons/motion_planning/deck_conflict.py

@@ -2,7 +2,6 @@
 
 from __future__ import annotations
 
-from collections.abc import Container
 from dataclasses import dataclass
 from typing import List, Mapping, NamedTuple, Optional, Set, Union
 from typing_extensions import Final
@@ -16,7 +15,6 @@ from opentrons.motion_planning.adjacent_slots_getters import (
     get_adjacent_staging_slot,
 )
 
-from opentrons.protocols.api_support.constants import OPENTRONS_NAMESPACE
 from opentrons.types import DeckSlotName, StagingSlotName
 
 _FIXED_TRASH_SLOT: Final[Set[DeckSlotName]] = {
@@ -39,14 +37,14 @@ HS_MAX_X_ADJACENT_ITEM_HEIGHT = 53.0
 # For background, see: https://github.com/Opentrons/opentrons/issues/10316
 #
 # TODO(mc, 2022-06-16): move this constant to the module definition
-HS_ALLOWED_ADJACENT_TALL_LABWARE = {
-    "opentrons_96_filtertiprack_10ul",
-    "opentrons_96_filtertiprack_200ul",
-    "opentrons_96_filtertiprack_20ul",
-    "opentrons_96_tiprack_10ul",
-    "opentrons_96_tiprack_20ul",
-    "opentrons_96_tiprack_300ul",
-}
+HS_ALLOWED_ADJACENT_TALL_LABWARE = [
+    LabwareUri("opentrons/opentrons_96_filtertiprack_10ul/1"),
+    LabwareUri("opentrons/opentrons_96_filtertiprack_200ul/1"),
+    LabwareUri("opentrons/opentrons_96_filtertiprack_20ul/1"),
+    LabwareUri("opentrons/opentrons_96_tiprack_10ul/1"),
+    LabwareUri("opentrons/opentrons_96_tiprack_20ul/1"),
+    LabwareUri("opentrons/opentrons_96_tiprack_300ul/1"),
+]
 
 
 @dataclass
@@ -158,15 +156,11 @@ class _MaxHeight(NamedTuple):
     source_item: DeckItem
     source_location: DeckSlotName
     max_height: float
-    allowed_labware_load_names: Container[str]
+    allowed_labware: List[LabwareUri]
 
     def is_allowed(self, item: DeckItem) -> bool:
         if isinstance(item, Labware):
-            namespace, load_name, _version = item.uri.split("/")
-            if (
-                namespace == OPENTRONS_NAMESPACE
-                and load_name in self.allowed_labware_load_names
-            ):
+            if item.uri in self.allowed_labware:
                 return True
             else:
                 return item.highest_z < self.max_height
@@ -321,7 +315,7 @@ def _create_ot2_restrictions(  # noqa: C901
                     source_item=item,
                     source_location=location,
                     max_height=HS_MAX_X_ADJACENT_ITEM_HEIGHT,
-                    allowed_labware_load_names=HS_ALLOWED_ADJACENT_TALL_LABWARE,
+                    allowed_labware=HS_ALLOWED_ADJACENT_TALL_LABWARE,
                 )
             )
 
@@ -440,6 +434,7 @@ def _create_flex_restrictions(  # noqa: C901
 def _create_restrictions(
     item: DeckItem, location: Union[DeckSlotName, StagingSlotName], robot_type: str
 ) -> List[_DeckRestriction]:
+
     if robot_type == "OT-2 Standard":
         return _create_ot2_restrictions(item, location)
     else:

opentrons/motion_planning/waypoints.py

@@ -7,6 +7,7 @@ from opentrons.hardware_control.types import CriticalPoint
 
 from .types import Waypoint, MoveType, GripperMovementWaypointsWithJawStatus
 from .errors import DestinationOutOfBoundsError, ArcOutOfBoundsError
+from ..protocol_engine.types import LabwareMovementOffsetData
 
 DEFAULT_GENERAL_ARC_Z_MARGIN: Final[float] = 10.0
 DEFAULT_IN_LABWARE_ARC_Z_MARGIN: Final[float] = 5.0
@@ -124,41 +125,47 @@ def get_gripper_labware_movement_waypoints(
     from_labware_center: Point,
     to_labware_center: Point,
     gripper_home_z: float,
+    offset_data: LabwareMovementOffsetData,
     post_drop_slide_offset: Optional[Point],
     gripper_home_z_offset: Optional[float] = None,
 ) -> List[GripperMovementWaypointsWithJawStatus]:
     """Get waypoints for moving labware using a gripper."""
+    pick_up_offset = offset_data.pickUpOffset
+    drop_offset = offset_data.dropOffset
+
+    pick_up_location = from_labware_center + Point(
+        pick_up_offset.x, pick_up_offset.y, pick_up_offset.z
+    )
+    drop_location = to_labware_center + Point(
+        drop_offset.x, drop_offset.y, drop_offset.z
+    )
+
     gripper_max_z_home = gripper_home_z - (gripper_home_z_offset or 0)
-    post_drop_home_pos = Point(to_labware_center.x, to_labware_center.y, gripper_home_z)
+
+    post_drop_home_pos = Point(drop_location.x, drop_location.y, gripper_home_z)
 
     waypoints_with_jaw_status = [
         GripperMovementWaypointsWithJawStatus(
-            position=Point(
-                from_labware_center.x, from_labware_center.y, gripper_home_z
-            ),
+            position=Point(pick_up_location.x, pick_up_location.y, gripper_home_z),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=from_labware_center, jaw_open=True, dropping=False
+            position=pick_up_location, jaw_open=True, dropping=False
         ),
         # Gripper grips the labware here
         GripperMovementWaypointsWithJawStatus(
-            position=Point(
-                from_labware_center.x, from_labware_center.y, gripper_max_z_home
-            ),
+            position=Point(pick_up_location.x, pick_up_location.y, gripper_max_z_home),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=Point(
-                to_labware_center.x, to_labware_center.y, gripper_max_z_home
-            ),
+            position=Point(drop_location.x, drop_location.y, gripper_max_z_home),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=to_labware_center, jaw_open=False, dropping=False
+            position=drop_location, jaw_open=False, dropping=False
         ),
         # Gripper ungrips here
         GripperMovementWaypointsWithJawStatus(
@@ -182,18 +189,25 @@ def get_gripper_labware_movement_waypoints(
 def get_gripper_labware_placement_waypoints(
     to_labware_center: Point,
     gripper_home_z: float,
+    drop_offset: Optional[Point],
 ) -> List[GripperMovementWaypointsWithJawStatus]:
     """Get waypoints for placing labware using a gripper."""
-    post_drop_home_pos = Point(to_labware_center.x, to_labware_center.y, gripper_home_z)
+    drop_offset = drop_offset or Point()
+
+    drop_location = to_labware_center + Point(
+        drop_offset.x, drop_offset.y, drop_offset.z
+    )
+
+    post_drop_home_pos = Point(drop_location.x, drop_location.y, gripper_home_z)
 
     return [
         GripperMovementWaypointsWithJawStatus(
-            position=Point(to_labware_center.x, to_labware_center.y, gripper_home_z),
+            position=Point(drop_location.x, drop_location.y, gripper_home_z),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=to_labware_center, jaw_open=False, dropping=False
+            position=drop_location, jaw_open=False, dropping=False
         ),
         # Gripper ungrips here
         GripperMovementWaypointsWithJawStatus(