opentrons 8.7.0a9__py3-none-any.whl → 8.8.0a7__py3-none-any.whl

opentrons/protocol_engine/state/labware_origin_math/stackup_origin_to_labware_origin.py

@@ -0,0 +1,1336 @@
+"""Utilities for calculating the labware origin offset position."""
+import dataclasses
+import enum
+from typing import Union, overload, Optional
+
+from typing_extensions import assert_type
+
+from opentrons.types import Point, DeckSlotName
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    LabwareDefinition2,
+    LabwareDefinition3,
+    Extents,
+    AxisAlignedBoundingBox3D,
+    Vector3D,
+)
+from opentrons_shared_data.labware.types import (
+    SlotFootprintAsChildFeature,
+    LocatingFeatures,
+    SpringDirectionalForce,
+    SlotFootprintAsParentFeature,
+    Vector3D as LabwareVector3D,
+)
+from opentrons_shared_data.module.types import ModuleOrientation
+from opentrons.protocol_engine.resources.labware_validation import (
+    validate_definition_is_lid,
+    is_absorbance_reader_lid,
+)
+from opentrons.protocol_engine.errors import (
+    LabwareNotOnDeckError,
+    LabwareOffsetDoesNotExistError,
+    InvalidModuleOrientation,
+)
+from .errors import (
+    MissingLocatingFeatureError,
+    IncompatibleLocatingFeatureError,
+    InvalidLabwarePlacementError,
+)
+from opentrons.protocol_engine.types import AddressableArea
+from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
+from opentrons.protocol_engine.types import (
+    ModuleDefinition,
+    ModuleModel,
+    DeckLocationDefinition,
+    LabwareLocation,
+    ModuleLocation,
+    DeckSlotLocation,
+    AddressableAreaLocation,
+    OnLabwareLocation,
+    LabwareMovementOffsetData,
+    LabwareOffsetVector,
+    WASTE_CHUTE_LOCATION,
+)
+
+_OFFSET_ON_TC_OT2 = Point(x=0, y=0, z=10.7)
+
+LabwareStackupAncestorDefinition = Union[
+    DeckLocationDefinition,
+    ModuleDefinition,
+]
+_LabwareStackupDefinition = Union[
+    DeckLocationDefinition, ModuleDefinition, LabwareDefinition
+]
+
+
+class LabwareOriginContext(enum.Enum):
+    """Context for labware origin calculations."""
+
+    PIPETTING = enum.auto()
+    GRIPPER_PICKING_UP = enum.auto()
+    GRIPPER_DROPPING = enum.auto()
+
+
+@dataclasses.dataclass
+class _Labware3SupportedParentDefinition:
+    features: LocatingFeatures
+    extents: Extents
+
+
+@dataclasses.dataclass
+class _GripperOffsets:
+    pick_up_offset: Point
+    drop_offset: Point
+
+
+def get_stackup_origin_to_labware_origin(
+    context: LabwareOriginContext,
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+    slot_name: DeckSlotName,
+    module_parent_to_child_offset: Point | None,
+    deck_definition: DeckDefinitionV5,
+) -> Point:
+    """Returns the offset from the stackup placement origin to child labware origin.
+
+    Accounts for offset differences caused by context.
+    """
+    if context == LabwareOriginContext.PIPETTING:
+        return _get_stackup_origin_to_lw_origin(
+            stackup_lw_info_top_to_bottom=stackup_lw_info_top_to_bottom,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+            module_parent_to_child_offset=module_parent_to_child_offset,
+            deck_definition=deck_definition,
+            slot_name=slot_name,
+        )
+    else:
+        gripper_offsets = _total_nominal_gripper_offsets(
+            stackup_lw_info_top_to_bottom=stackup_lw_info_top_to_bottom,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+            slot_name=slot_name,
+            deck_definition=deck_definition,
+        )
+        gripper_offset = (
+            gripper_offsets.pick_up_offset
+            if context == LabwareOriginContext.GRIPPER_PICKING_UP
+            else gripper_offsets.drop_offset
+        )
+
+        return gripper_offset + _get_stackup_origin_to_lw_origin(
+            stackup_lw_info_top_to_bottom=stackup_lw_info_top_to_bottom,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+            module_parent_to_child_offset=module_parent_to_child_offset,
+            deck_definition=deck_definition,
+            slot_name=slot_name,
+        )
+
+
+def _get_stackup_origin_to_lw_origin(
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+    module_parent_to_child_offset: Point | None,
+    deck_definition: DeckDefinitionV5,
+    slot_name: DeckSlotName,
+    is_topmost_labware: bool = True,
+) -> Point:
+    """Returns the offset from the stackup placement origin to child labware origin."""
+    definition, location = stackup_lw_info_top_to_bottom[0]
+    underlying_ancestor_orientation = _get_underlying_ancestor_orientation(
+        underlying_ancestor_definition, slot_name
+    )
+
+    if isinstance(
+        location, (AddressableAreaLocation, DeckSlotLocation, ModuleLocation)
+    ):
+        return _get_parent_placement_origin_to_lw_origin_by_location(
+            labware_location=location,
+            labware_definition=definition,
+            parent_definition=underlying_ancestor_definition,
+            deck_definition=deck_definition,
+            module_parent_to_child_offset=module_parent_to_child_offset,
+            is_topmost_labware=is_topmost_labware,
+            underlying_ancestor_orientation=underlying_ancestor_orientation,
+        )
+    elif isinstance(location, OnLabwareLocation):
+        parent_definition = stackup_lw_info_top_to_bottom[1][0]
+
+        parent_placement_origin_to_lw_origin = (
+            _get_parent_placement_origin_to_lw_origin_by_location(
+                labware_location=location,
+                labware_definition=definition,
+                parent_definition=parent_definition,
+                deck_definition=deck_definition,
+                module_parent_to_child_offset=module_parent_to_child_offset,
+                is_topmost_labware=is_topmost_labware,
+                underlying_ancestor_orientation=underlying_ancestor_orientation,
+            )
+        )
+        remaining_lw_defs_locs_top_to_bottom = stackup_lw_info_top_to_bottom[1:]
+
+        return parent_placement_origin_to_lw_origin + _get_stackup_origin_to_lw_origin(
+            stackup_lw_info_top_to_bottom=remaining_lw_defs_locs_top_to_bottom,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+            module_parent_to_child_offset=module_parent_to_child_offset,
+            deck_definition=deck_definition,
+            slot_name=slot_name,
+            is_topmost_labware=False,
+        )
+    elif location == WASTE_CHUTE_LOCATION:
+        raise LabwareNotOnDeckError(
+            f"Cannot access {definition.metadata.displayName} because it is in the waste chute."
+        )
+    else:
+        raise LabwareNotOnDeckError(
+            f"Cannot access {definition.metadata.displayName} since it is not on the deck. "
+            "Either it has been loaded off-deck or its been moved off-deck."
+        )
+
+
+def _get_underlying_ancestor_orientation(
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+    slot_id: DeckSlotName,
+) -> ModuleOrientation:
+    if isinstance(underlying_ancestor_definition, ModuleDefinition):
+        orientation = underlying_ancestor_definition.orientation.get(slot_id.id)
+        if orientation == "left":
+            return ModuleOrientation.LEFT
+        elif orientation == "right":
+            return ModuleOrientation.RIGHT
+        elif orientation == "center":
+            return ModuleOrientation.CENTER
+        else:
+            raise InvalidModuleOrientation(
+                f"Module {underlying_ancestor_definition.moduleType} does "
+                f"not contain a valid orientation for slot {slot_id}."
+            )
+
+    elif isinstance(underlying_ancestor_definition, AddressableArea):
+        return underlying_ancestor_definition.orientation
+    else:
+        return underlying_ancestor_definition["orientation"]
+
+
+def _get_parent_placement_origin_to_lw_origin_by_location(
+    labware_location: LabwareLocation,
+    labware_definition: LabwareDefinition,
+    parent_definition: _LabwareStackupDefinition,
+    deck_definition: DeckDefinitionV5,
+    module_parent_to_child_offset: Point | None,
+    underlying_ancestor_orientation: ModuleOrientation,
+    is_topmost_labware: bool,
+) -> Point:
+    if isinstance(labware_location, ModuleLocation):
+        if module_parent_to_child_offset is None:
+            raise ValueError(
+                "Expected value for module_parent_to_child_offset, received None."
+            )
+        else:
+            return _get_parent_placement_origin_to_lw_origin(
+                child_labware=labware_definition,
+                parent_deck_item=parent_definition,  # type: ignore[arg-type]
+                module_parent_to_child_offset=module_parent_to_child_offset,
+                deck_definition=deck_definition,
+                is_topmost_labware=is_topmost_labware,
+                labware_location=labware_location,
+                underlying_ancestor_orientation=underlying_ancestor_orientation,
+            )
+    elif isinstance(labware_location, OnLabwareLocation):
+        return _get_parent_placement_origin_to_lw_origin(
+            child_labware=labware_definition,
+            parent_deck_item=parent_definition,  # type: ignore[arg-type]
+            module_parent_to_child_offset=None,
+            deck_definition=deck_definition,
+            is_topmost_labware=is_topmost_labware,
+            labware_location=labware_location,
+            underlying_ancestor_orientation=underlying_ancestor_orientation,
+        )
+    elif isinstance(labware_location, (DeckSlotLocation, AddressableAreaLocation)):
+        return _get_parent_placement_origin_to_lw_origin(
+            child_labware=labware_definition,
+            parent_deck_item=parent_definition,  # type: ignore[arg-type]
+            module_parent_to_child_offset=None,
+            deck_definition=deck_definition,
+            is_topmost_labware=is_topmost_labware,
+            labware_location=labware_location,
+            underlying_ancestor_orientation=underlying_ancestor_orientation,
+        )
+    else:
+        raise ValueError(f"Invalid labware location: {labware_location}")
+
+
+@overload
+def _get_parent_placement_origin_to_lw_origin(
+    child_labware: LabwareDefinition,
+    parent_deck_item: ModuleDefinition,
+    module_parent_to_child_offset: Point,
+    deck_definition: DeckDefinitionV5,
+    is_topmost_labware: bool,
+    labware_location: ModuleLocation,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    ...
+
+
+@overload
+def _get_parent_placement_origin_to_lw_origin(
+    child_labware: LabwareDefinition,
+    parent_deck_item: DeckLocationDefinition,
+    module_parent_to_child_offset: None,
+    deck_definition: DeckDefinitionV5,
+    is_topmost_labware: bool,
+    labware_location: Union[DeckSlotLocation, AddressableAreaLocation],
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    ...
+
+
+@overload
+def _get_parent_placement_origin_to_lw_origin(
+    child_labware: LabwareDefinition,
+    parent_deck_item: LabwareDefinition,
+    module_parent_to_child_offset: None,
+    deck_definition: DeckDefinitionV5,
+    is_topmost_labware: bool,
+    labware_location: OnLabwareLocation,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    ...
+
+
+def _get_parent_placement_origin_to_lw_origin(
+    child_labware: LabwareDefinition,
+    parent_deck_item: _LabwareStackupDefinition,
+    module_parent_to_child_offset: Point | None,
+    deck_definition: DeckDefinitionV5,
+    is_topmost_labware: bool,
+    labware_location: LabwareLocation,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    """Returns the offset from parent entity's placement origin to child labware origin.
+
+    Placement origin varies depending on the parent entity type (labware v3 are the back left bottom, and
+    labware v2, modules, & deck location types are the front left bottom).
+
+    Only parent-child specific offsets are calculated. Offsets that apply to a single entity
+    (ex., module cal) or the entire stackup (ex., LPC) are handled elsewhere.
+    """
+    if isinstance(child_labware, LabwareDefinition2) or isinstance(
+        parent_deck_item, LabwareDefinition2
+    ):
+        parent_deck_item_origin_to_child_labware_placement_origin = (
+            _get_parent_deck_item_origin_to_child_labware_placement_origin(
+                child_labware=child_labware,
+                parent_deck_item=parent_deck_item,
+                module_parent_to_child_offset=module_parent_to_child_offset,
+                deck_definition=deck_definition,
+                labware_location=labware_location,
+            )
+        )
+
+        # For v2 definitions, cornerOffsetFromSlot is the parent entity placement origin to child labware origin offset.
+        # For compatibility with historical (buggy?) behavior,
+        # we only consider it when the child labware is the topmost labware in a stackup.
+        if isinstance(child_labware, LabwareDefinition2):
+            parent_deck_item_to_child_labware_offset = (
+                Point.from_xyz_attrs(child_labware.cornerOffsetFromSlot)
+                if is_topmost_labware
+                else Point(0, 0, 0)
+            )
+
+            return (
+                parent_deck_item_origin_to_child_labware_placement_origin
+                + parent_deck_item_to_child_labware_offset
+            )
+        else:
+            assert isinstance(child_labware, LabwareDefinition3)
+            parent_deck_item_to_child_labware_back_left = Point(
+                x=0, y=child_labware.extents.total.frontRightTop.y * -1, z=0
+            )
+            child_labware_back_left_to_child_labware_origin = (
+                _get_corner_offset_from_extents(child_labware)
+                if is_topmost_labware
+                else Point(0, 0, 0)
+            )
+
+            return (
+                parent_deck_item_origin_to_child_labware_placement_origin  # Only the Z-offset in this case.
+                + parent_deck_item_to_child_labware_back_left
+                + child_labware_back_left_to_child_labware_origin
+            )
+    else:
+        # For v3 definitions, get the vector from the back left bottom to the front right bottom.
+        assert_type(child_labware, LabwareDefinition3)
+
+        # TODO(jh, 06-25-25): This code is entirely temporary and only exists for the purposes of more useful
+        #  snapshot testing. This code should exist in NO capacity after features are implemented outside of the
+        #  module_parent_to_child_offset.
+        if _shim_does_locating_feature_pair_exist(
+            child_labware=child_labware,
+            parent_deck_item=_get_standardized_parent_deck_item(parent_deck_item),
+        ):
+            parent_deck_item_origin_to_child_labware_placement_origin = (
+                _module_parent_to_child_offset(
+                    module_parent_to_child_offset, labware_location
+                )
+            )
+        else:
+            parent_deck_item_origin_to_child_labware_placement_origin = (
+                _get_parent_deck_item_origin_to_child_labware_placement_origin(
+                    child_labware=child_labware,
+                    parent_deck_item=parent_deck_item,
+                    module_parent_to_child_offset=module_parent_to_child_offset,
+                    deck_definition=deck_definition,
+                    labware_location=labware_location,
+                )
+            )
+
+        parent_deck_item_to_child_labware_feature_offset = (
+            _parent_deck_item_to_child_labware_feature_offset(
+                child_labware=child_labware,
+                parent_deck_item=_get_standardized_parent_deck_item(parent_deck_item),
+                underlying_ancestor_orientation=underlying_ancestor_orientation,
+            )
+        ) + _feature_exception_offsets(
+            deck_definition=deck_definition, parent_deck_item=parent_deck_item
+        )
+
+        return (
+            parent_deck_item_origin_to_child_labware_placement_origin
+            + parent_deck_item_to_child_labware_feature_offset
+        )
+
+
+def _get_parent_deck_item_origin_to_child_labware_placement_origin(
+    child_labware: LabwareDefinition,
+    parent_deck_item: _LabwareStackupDefinition,
+    module_parent_to_child_offset: Point | None,
+    deck_definition: DeckDefinitionV5,
+    labware_location: LabwareLocation,
+) -> Point:
+    """Get the offset vector from parent entity origin to child labware placement origin."""
+    if isinstance(labware_location, (DeckSlotLocation, AddressableAreaLocation)):
+        return Point(x=0, y=0, z=0)
+
+    elif isinstance(labware_location, ModuleLocation):
+        assert isinstance(parent_deck_item, ModuleDefinition)
+
+        child_labware_overlap_with_parent_deck_item = (
+            _get_child_labware_overlap_with_parent_module(
+                child_labware=child_labware,
+                parent_module_model=parent_deck_item.model,
+                deck_definition=deck_definition,
+            )
+        )
+        module_parent_to_child_offset = _module_parent_to_child_offset(
+            module_parent_to_child_offset, labware_location
+        )
+
+        return (
+            module_parent_to_child_offset - child_labware_overlap_with_parent_deck_item
+        )
+
+    elif isinstance(labware_location, OnLabwareLocation):
+        assert isinstance(parent_deck_item, (LabwareDefinition2, LabwareDefinition3))
+
+        # TODO(jh, 06-05-25): This logic is slightly duplicative of LabwareView get_dimensions. Can we unify?
+        if isinstance(parent_deck_item, LabwareDefinition2):
+            parent_deck_item_height = parent_deck_item.dimensions.zDimension
+        else:
+            assert_type(parent_deck_item, LabwareDefinition3)
+            parent_deck_item_height = (
+                parent_deck_item.extents.total.frontRightTop.z
+                - parent_deck_item.extents.total.backLeftBottom.z
+            )
+
+        child_labware_overlap_with_parent_deck_item = (
+            _get_child_labware_overlap_with_parent_labware(
+                child_labware=child_labware,
+                parent_labware_name=parent_deck_item.parameters.loadName,
+            )
+        )
+
+        return Point(
+            x=child_labware_overlap_with_parent_deck_item.x,
+            y=child_labware_overlap_with_parent_deck_item.y,
+            z=parent_deck_item_height - child_labware_overlap_with_parent_deck_item.z,
+        )
+
+    else:
+        raise TypeError(f"Unsupported labware location type: {labware_location}")
+
+
+def _get_corner_offset_from_extents(child_labware: LabwareDefinition3) -> Point:
+    """Derive the corner offset from slot from a LabwareDefinition3's extents."""
+    back_left_bottom = child_labware.extents.total.backLeftBottom
+
+    x = back_left_bottom.x
+    y = back_left_bottom.y * -1
+    z = back_left_bottom.z
+
+    return Point(x, y, z)
+
+
+def _module_parent_to_child_offset(
+    module_parent_to_child_offset: Point | None,
+    labware_location: LabwareLocation,
+) -> Point:
+    """Returns the module offset if applicable."""
+    if (
+        isinstance(labware_location, ModuleLocation)
+        and module_parent_to_child_offset is not None
+    ):
+        return Point.from_xyz_attrs(module_parent_to_child_offset)
+    else:
+        return Point(0, 0, 0)
+
+
+def _shim_does_locating_feature_pair_exist(
+    child_labware: LabwareDefinition3,
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> bool:
+    """Temporary util."""
+    slot_footprint_exists = (
+        parent_deck_item.features.get("slotFootprintAsParent") is not None
+        and child_labware.features.get("slotFootprintAsChild") is not None
+    )
+    flex_tiprack_lid_exists = (
+        parent_deck_item.features.get("opentronsFlexTipRackLidAsParent") is not None
+        and child_labware.features.get("opentronsFlexTipRackLidAsChild") is not None
+    )
+    hs_universal_flat_adapter_exists = (
+        parent_deck_item.features.get("heaterShakerUniversalFlatAdapter") is not None
+        and child_labware.features.get("flatSupportThermalCouplingAsChild") is not None
+    )
+    hs_universal_flat_adapter_screw_anchored_exists = (
+        parent_deck_item.features.get("screwAnchoredAsParent") is not None
+        and child_labware.features.get("heaterShakerUniversalFlatAdapter") is not None
+    )
+    screw_anchored_exists = (
+        parent_deck_item.features.get("screwAnchoredAsParent") is not None
+        and child_labware.features.get("screwAnchoredAsChild") is not None
+    )
+
+    return (
+        slot_footprint_exists
+        or flex_tiprack_lid_exists
+        or hs_universal_flat_adapter_exists
+        or hs_universal_flat_adapter_screw_anchored_exists
+        or screw_anchored_exists
+    )
+
+
+def _get_standardized_parent_deck_item(
+    parent_deck_item: Union[
+        LabwareDefinition3, DeckLocationDefinition, ModuleDefinition
+    ],
+) -> _Labware3SupportedParentDefinition:
+    """Returns a standardized parent deck item interface."""
+    if isinstance(parent_deck_item, ModuleDefinition):
+        slot_footprint_as_parent = _module_slot_footprint_as_parent(parent_deck_item)
+        if slot_footprint_as_parent is not None:
+            return _Labware3SupportedParentDefinition(
+                features={
+                    **parent_deck_item.features,
+                    "slotFootprintAsParent": slot_footprint_as_parent,
+                },
+                extents=parent_deck_item.extents,
+            )
+        else:
+            return _Labware3SupportedParentDefinition(
+                features=parent_deck_item.features, extents=parent_deck_item.extents
+            )
+    elif isinstance(parent_deck_item, AddressableArea):
+        extents = Extents(
+            total=AxisAlignedBoundingBox3D(
+                backLeftBottom=Vector3D(x=0, y=0, z=0),
+                frontRightTop=Vector3D(
+                    x=parent_deck_item.bounding_box.x,
+                    y=parent_deck_item.bounding_box.y * 1,
+                    z=parent_deck_item.bounding_box.z,
+                ),
+            )
+        )
+
+        slot_footprint_as_parent = _aa_slot_footprint_as_parent(parent_deck_item)
+        if slot_footprint_as_parent is not None:
+            return _Labware3SupportedParentDefinition(
+                features={
+                    **parent_deck_item.features,
+                    "slotFootprintAsParent": slot_footprint_as_parent,
+                },
+                extents=extents,
+            )
+        else:
+            return _Labware3SupportedParentDefinition(
+                parent_deck_item.features, extents=extents
+            )
+    elif isinstance(parent_deck_item, LabwareDefinition3):
+        return _Labware3SupportedParentDefinition(
+            features=parent_deck_item.features, extents=parent_deck_item.extents
+        )
+    # The slotDefV3 case.
+    else:
+        extents = Extents(
+            total=AxisAlignedBoundingBox3D(
+                backLeftBottom=Vector3D(x=0, y=0, z=0),
+                frontRightTop=Vector3D(
+                    x=parent_deck_item["boundingBox"]["xDimension"],
+                    y=parent_deck_item["boundingBox"]["yDimension"] * 1,
+                    z=parent_deck_item["boundingBox"]["zDimension"],
+                ),
+            )
+        )
+        slot_footprint_as_parent = _slot_def_slot_footprint_as_parent(parent_deck_item)
+        return _Labware3SupportedParentDefinition(
+            features={
+                **parent_deck_item["features"],
+                "slotFootprintAsParent": slot_footprint_as_parent,
+            },
+            extents=extents,
+        )
+
+
+def _module_slot_footprint_as_parent(
+    parent_deck_item: ModuleDefinition,
+) -> SlotFootprintAsParentFeature | None:
+    """Returns the slot footprint as parent feature if inherently supported by the module definition.
+
+    This utility is a normalization shim until labwareOffset + labwareInterfaceX/YDimension is deleted in module defs
+    and replaced with the same slotFootprintAsParent that exists in labware def v3.
+    """
+    dimensions = parent_deck_item.dimensions
+    if (
+        dimensions.labwareInterfaceYDimension is None
+        or dimensions.labwareInterfaceXDimension is None
+    ):
+        return None
+    else:
+        # Modules with springs would require special mating types and therefore are not handled here.
+        return SlotFootprintAsParentFeature(
+            z=0,
+            backLeft={"x": 0, "y": dimensions.labwareInterfaceYDimension},
+            frontRight={"x": dimensions.labwareInterfaceXDimension, "y": 0},
+        )
+
+
+def _aa_slot_footprint_as_parent(
+    parent_deck_item: AddressableArea,
+) -> SlotFootprintAsParentFeature | None:
+    """Returns the slot footprint as parent feature for addressable areas.
+
+    This utility is a normalization shim until bounding box in deck defs and
+    replaced with the same slotFootprintAsParent that exists in labware def v3.
+    """
+    bb = parent_deck_item.bounding_box
+
+    if parent_deck_item.mating_surface_unit_vector is not None:
+        if parent_deck_item.mating_surface_unit_vector == [-1, 1, -1]:
+            return SlotFootprintAsParentFeature(
+                z=0,
+                backLeft={"x": 0, "y": bb.y},
+                frontRight={"x": bb.x, "y": 0},
+                springDirectionalForce="backLeftBottom",
+            )
+        else:
+            raise NotImplementedError(
+                "Slot footprint as parent does not support mating surface unit vector."
+            )
+    else:
+        return SlotFootprintAsParentFeature(
+            z=0,
+            backLeft={"x": 0, "y": bb.y},
+            frontRight={"x": bb.x, "y": 0},
+        )
+
+
+def _slot_def_slot_footprint_as_parent(
+    parent_deck_item: SlotDefV3,
+) -> SlotFootprintAsParentFeature:
+    """Returns the slot footprint as parent feature for slot definitions.
+
+    This utility is a normalization shim until bounding box in deck defs and
+    replaced with the same slotFootprintAsParent that exists in labware def v3.
+    """
+    bb = parent_deck_item["boundingBox"]
+    return SlotFootprintAsParentFeature(
+        z=0,
+        backLeft={"x": 0, "y": bb["yDimension"]},
+        frontRight={"x": bb["xDimension"], "y": 0},
+        springDirectionalForce="backLeftBottom",
+    )
+
+
+def _parent_deck_item_to_child_labware_feature_offset(
+    child_labware: LabwareDefinition3,
+    parent_deck_item: _Labware3SupportedParentDefinition,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    """Get the offset vector from the parent entity origin to the child labware origin."""
+    if parent_deck_item.features.get("heaterShakerUniversalFlatAdapter") is not None:
+        if child_labware.features.get("flatSupportThermalCouplingAsChild") is not None:
+            return _parent_origin_to_heater_shaker_universal_flat_adapter_feature(
+                parent_deck_item=parent_deck_item,
+                underlying_ancestor_orientation=underlying_ancestor_orientation,
+            ) + _heater_shaker_universal_flat_adapter_feature_to_child_origin(
+                child_labware=child_labware,
+                underlying_ancestor_orientation=underlying_ancestor_orientation,
+            )
+        else:
+            raise MissingLocatingFeatureError(
+                labware_name=child_labware.metadata.displayName,
+                required_feature="flatSupportThermalCouplingAsChild",
+            )
+
+    elif (
+        parent_deck_item.features.get("opentronsFlexTipRackLidAsParent") is not None
+        and child_labware.features.get("opentronsFlexTipRackLidAsChild") is not None
+    ):
+        # TODO(jh, 07-29-25): Support center X/Y calculation after addressing grip point
+        # calculations. See #18929 discussion.
+        return _parent_origin_to_flex_tip_rack_lid_feature(
+            parent_deck_item
+        ) + _flex_tip_rack_lid_feature_to_child_origin(child_labware)
+    elif (
+        parent_deck_item.features.get("screwAnchoredAsParent") is not None
+        and _get_screw_anchored_center_for_child(
+            child_labware, underlying_ancestor_orientation
+        )
+        is not None
+    ):
+        return _parent_origin_to_screw_anchored_feature(
+            parent_deck_item
+        ) + _screw_anchored_feature_to_child_origin(
+            child_labware, underlying_ancestor_orientation
+        )
+    elif (
+        parent_deck_item.features.get("slotFootprintAsParent") is not None
+        and child_labware.features.get("slotFootprintAsChild") is not None
+    ):
+        spring_force = _get_spring_force(child_labware, parent_deck_item)
+
+        if spring_force is not None:
+            if spring_force == "backLeftBottom":
+                return _parent_origin_to_slot_back_left_bottom(
+                    parent_deck_item
+                ) + _slot_back_left_bottom_to_child_origin(child_labware)
+            else:
+                raise NotImplementedError(f"Spring force: {spring_force}")
+        else:
+            return _parent_origin_to_slot_bottom_center(
+                parent_deck_item
+            ) + slot_bottom_center_to_child_origin(child_labware)
+    else:
+        # TODO(jh, 06-25-25): This is a temporary shim to unblock FE usage with LW Def3 and more accurately diff
+        #  ongoing positioning snapshot changes, but we should throw an error  after adding all locating features
+        #  if no appropriate LF pair is found.
+        return Point(0, 0, 0)
+
+
+def _get_spring_force(
+    child_labware: LabwareDefinition3,
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> SpringDirectionalForce | None:
+    """Returns whether the parent-child stackup has a spring that affects positioning."""
+    assert parent_deck_item.features.get("slotFootprintAsParent") is not None
+    assert child_labware.features.get("slotFootprintAsChild") is not None
+
+    parent_spring_force = parent_deck_item.features["slotFootprintAsParent"].get(
+        "springDirectionalForce"
+    )
+    child_spring_force = child_labware.features["slotFootprintAsChild"].get(
+        "springDirectionalForce"
+    )
+
+    if parent_spring_force is not None and child_spring_force is not None:
+        if parent_spring_force != child_spring_force:
+            raise IncompatibleLocatingFeatureError(
+                parent_feature=f"slotFootprintAsParent spring force: {parent_spring_force}",
+                child_feature=f"slotFootprintAsChild spring force: {child_spring_force}",
+            )
+
+    return parent_spring_force or child_spring_force
+
+
+def _get_screw_anchored_center_for_child(
+    child_labware: LabwareDefinition3,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> LabwareVector3D | None:
+    """Returns the screw center if it exists in any locating feature that supports screw anchoring."""
+    hs_universal_flat_adapter_feature = child_labware.features.get(
+        "heaterShakerUniversalFlatAdapter"
+    )
+    screw_anchored_as_child_feature = child_labware.features.get("screwAnchoredAsChild")
+
+    if hs_universal_flat_adapter_feature is not None:
+        if underlying_ancestor_orientation == ModuleOrientation.LEFT:
+            x = hs_universal_flat_adapter_feature["deckLeft"]["screwCenter"]["x"]
+            y = hs_universal_flat_adapter_feature["deckLeft"]["screwCenter"]["y"]
+            return LabwareVector3D(x=x, y=y, z=0)
+        elif underlying_ancestor_orientation == ModuleOrientation.RIGHT:
+            x = hs_universal_flat_adapter_feature["deckRight"]["screwCenter"]["x"]
+            y = hs_universal_flat_adapter_feature["deckRight"]["screwCenter"]["y"]
+            return LabwareVector3D(x=x, y=y, z=0)
+        else:
+            raise InvalidLabwarePlacementError(
+                feature_name="heaterShakerUniversalFlatAdapter",
+                invalid_placement=ModuleOrientation.CENTER.value,
+            )
+    elif screw_anchored_as_child_feature is not None:
+        return screw_anchored_as_child_feature["screwCenter"]
+    else:
+        return None
+
+
+def _parent_origin_to_flex_tip_rack_lid_feature(
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> Point:
+    """Returns the offset from a deck item's origin to the Flex tip rack lid locating feature."""
+    flex_tip_rack_lid_as_parent = parent_deck_item.features.get(
+        "opentronsFlexTipRackLidAsParent"
+    )
+    assert flex_tip_rack_lid_as_parent is not None
+
+    return Point(x=0, y=0, z=flex_tip_rack_lid_as_parent["matingZ"])
+
+
+def _parent_origin_to_slot_bottom_center(
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> Point:
+    """Returns the offset from a deck item's origin to the bottom center of the slot that it provides."""
+    slot_footprint_as_parent = parent_deck_item.features.get("slotFootprintAsParent")
+    assert slot_footprint_as_parent is not None
+
+    x = (
+        slot_footprint_as_parent["frontRight"]["x"]
+        + slot_footprint_as_parent["backLeft"]["x"]
+    ) / 2
+    y = (
+        slot_footprint_as_parent["frontRight"]["y"]
+        + slot_footprint_as_parent["backLeft"]["y"]
+    ) / 2
+    z = slot_footprint_as_parent["z"]
+
+    return Point(x, y, z)
+
+
+def _parent_origin_to_slot_back_left_bottom(
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> Point:
+    """Returns the offset from a deck item's origin to the back left bottom of the slot that it provides."""
+    slot_footprint_as_parent = parent_deck_item.features.get("slotFootprintAsParent")
+    assert slot_footprint_as_parent is not None
+
+    x = slot_footprint_as_parent["backLeft"]["x"]
+    y = slot_footprint_as_parent["backLeft"]["y"]
+    z = slot_footprint_as_parent["z"]
+
+    return Point(x, y, z)
+
+
+def _parent_origin_to_heater_shaker_universal_flat_adapter_feature(
+    parent_deck_item: _Labware3SupportedParentDefinition,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    """Returns the offset from a deck item's origin to the Heater Shaker Universal Flat Adapter locating feature."""
+    flat_adapter_feature = parent_deck_item.features.get(
+        "heaterShakerUniversalFlatAdapter"
+    )
+    assert flat_adapter_feature is not None
+
+    flat_well_support_z = flat_adapter_feature["flatSupportThermalCouplingZ"]
+    extents = parent_deck_item.extents.total
+
+    if underlying_ancestor_orientation == ModuleOrientation.LEFT:
+        left_wall_x = flat_adapter_feature["deckLeft"]["wallX"]
+        left_side_center_x = extents.backLeftBottom.x + left_wall_x
+        left_side_center_y = (extents.backLeftBottom.y + extents.frontRightTop.y) / 2
+
+        return Point(left_side_center_x, left_side_center_y, flat_well_support_z)
+    elif underlying_ancestor_orientation == ModuleOrientation.RIGHT:
+        right_wall_x = flat_adapter_feature["deckRight"]["wallX"]
+        right_side_center_x = extents.frontRightTop.x + right_wall_x
+        right_side_center_y = (extents.backLeftBottom.y + extents.frontRightTop.y) / 2
+
+        return Point(right_side_center_x, right_side_center_y, flat_well_support_z)
+
+    else:
+        raise InvalidLabwarePlacementError(
+            feature_name="heaterShakerUniversalFlatAdapter",
+            invalid_placement=ModuleOrientation.CENTER.value,
+        )
+
+
+def _parent_origin_to_screw_anchored_feature(
+    parent_deck_item: _Labware3SupportedParentDefinition,
+) -> Point:
+    """Returns the offset from a deck item's origin to the `screwAnchoredAsParent` locating feature."""
+    feature = parent_deck_item.features.get("screwAnchoredAsParent")
+    assert feature is not None
+
+    screw_center_x = feature["screwCenter"]["x"]
+    screw_center_y = feature["screwCenter"]["y"]
+    screw_center_z = feature["screwCenter"]["z"]
+
+    return Point(x=screw_center_x, y=screw_center_y, z=screw_center_z)
+
+
+def _flex_tip_rack_lid_feature_to_child_origin(
+    child_labware: LabwareDefinition3,
+) -> Point:
+    """Returns the offset from a Flex tip rack lid locating feature to the child origin."""
+    flex_tip_rack_lid_as_child = child_labware.features.get(
+        "opentronsFlexTipRackLidAsChild"
+    )
+    assert flex_tip_rack_lid_as_child is not None
+
+    return Point(x=0, y=0, z=flex_tip_rack_lid_as_child["matingZ"])
+
+
+def slot_bottom_center_to_child_origin(
+    child_labware: LabwareDefinition3,
+) -> Point:
+    """Returns offset from a parent slot's bottom center to the child origin."""
+    slot_footprint_as_child = child_labware.features.get("slotFootprintAsChild")
+    assert slot_footprint_as_child is not None
+
+    x = (
+        slot_footprint_as_child["frontRight"]["x"]
+        + slot_footprint_as_child["backLeft"]["x"]
+    ) / 2
+    y = (
+        slot_footprint_as_child["frontRight"]["y"]
+        + slot_footprint_as_child["backLeft"]["y"]
+    ) / 2
+    z = slot_footprint_as_child["z"]
+
+    return Point(x, y, z) * -1
+
+
+def _slot_back_left_bottom_to_child_origin(
+    child_labware: LabwareDefinition3,
+) -> Point:
+    """Returns offset from a parent slot's back left bottom to the child's origin."""
+    slot_footprint_as_child = child_labware.features.get("slotFootprintAsChild")
+    assert slot_footprint_as_child is not None
+
+    x = slot_footprint_as_child["backLeft"]["x"]
+    y = slot_footprint_as_child["backLeft"]["y"]
+    z = slot_footprint_as_child["z"]
+
+    return Point(x, y, z) * -1
+
+
+def _child_back_left_bottom_position(child_labware: LabwareDefinition3) -> Point:
+    """Get the back left bottom position from a v3 labware definition."""
+    footprint_as_child = _get_labware_footprint_as_child(child_labware)
+
+    return Point(
+        x=footprint_as_child["backLeft"]["x"],
+        y=footprint_as_child["frontRight"]["y"],
+        z=footprint_as_child["z"],
+    )
+
+
+def _heater_shaker_universal_flat_adapter_feature_to_child_origin(
+    child_labware: LabwareDefinition3,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    """Returns the offset from a Heater Shaker Universal Flat Adapter locating feature to the child origin."""
+    flat_well_support_as_child = child_labware.features.get(
+        "flatSupportThermalCouplingAsChild"
+    )
+
+    assert flat_well_support_as_child is not None
+
+    well_exterior_bottom_z = flat_well_support_as_child["wellExteriorBottomZ"]
+    extents = child_labware.extents.total
+
+    if underlying_ancestor_orientation == ModuleOrientation.LEFT:
+        left_side_center_x = extents.backLeftBottom.x
+        left_side_center_y = (extents.backLeftBottom.y + extents.frontRightTop.y) / 2
+
+        return (
+            Point(left_side_center_x, left_side_center_y, well_exterior_bottom_z) * -1
+        )
+    elif underlying_ancestor_orientation == ModuleOrientation.RIGHT:
+        right_side_center_x = extents.frontRightTop.x
+        right_side_center_y = (extents.backLeftBottom.y + extents.frontRightTop.y) / 2
+
+        return (
+            Point(right_side_center_x, right_side_center_y, well_exterior_bottom_z) * -1
+        )
+
+    else:
+        raise InvalidLabwarePlacementError(
+            feature_name="heaterShakerUniversalFlatAdapter",
+            invalid_placement=ModuleOrientation.CENTER.value,
+        )
+
+
+def _screw_anchored_feature_to_child_origin(
+    child_labware: LabwareDefinition3,
+    underlying_ancestor_orientation: ModuleOrientation,
+) -> Point:
+    """Returns the offset from a `screwAnchoredAsChild` locating feature to the child origin."""
+    screw_center = _get_screw_anchored_center_for_child(
+        child_labware, underlying_ancestor_orientation
+    )
+    assert screw_center is not None
+
+    screw_center_x = screw_center["x"]
+    screw_center_y = screw_center["y"]
+    screw_center_z = screw_center["z"]
+
+    return Point(x=screw_center_x, y=screw_center_y, z=screw_center_z) * -1
+
+
+def _get_child_labware_overlap_with_parent_labware(
+    child_labware: LabwareDefinition, parent_labware_name: str
+) -> Point:
+    """Get the child labware's overlap with the parent labware's load name."""
+    if isinstance(child_labware, LabwareDefinition3) and not hasattr(
+        child_labware, "legacyStackingOffsetWithLabware"
+    ):
+        raise NotImplementedError(
+            f"Labware {child_labware.metadata.displayName} contains no legacyStackingOffsetWithLabware. "
+            f"Either add this property explictly on the definition or update your protocol's API Level."
+        )
+
+    overlap = (
+        child_labware.stackingOffsetWithLabware.get(parent_labware_name)
+        if isinstance(child_labware, LabwareDefinition2)
+        else child_labware.legacyStackingOffsetWithLabware.get(parent_labware_name)
+    )
+
+    if overlap is None:
+        overlap = (
+            child_labware.stackingOffsetWithLabware.get("default")
+            if isinstance(child_labware, LabwareDefinition2)
+            else child_labware.legacyStackingOffsetWithLabware.get("default")
+        )
+
+    if overlap is None:
+        if isinstance(child_labware, LabwareDefinition3):
+            raise ValueError(
+                f"No default labware overlap specified for parent labware: {parent_labware_name} "
+                f"in legacyStackingOffsetWithLabware."
+            )
+        else:
+            raise ValueError(
+                f"No default labware overlap specified for parent labware: {parent_labware_name} "
+                f"in stackingOffsetWithLabware."
+            )
+    else:
+        return Point.from_xyz_attrs(overlap)
+
+
+def _get_child_labware_overlap_with_parent_module(
+    child_labware: LabwareDefinition,
+    parent_module_model: ModuleModel,
+    deck_definition: DeckDefinitionV5,
+) -> Point:
+    """Get the child labware's overlap with the parent module model."""
+    child_labware_overlap = child_labware.stackingOffsetWithModule.get(
+        str(parent_module_model.value)
+    )
+    if not child_labware_overlap:
+        if _is_thermocycler_on_ot2(parent_module_model, deck_definition):
+            return _OFFSET_ON_TC_OT2
+        else:
+            return Point(x=0, y=0, z=0)
+
+    return Point.from_xyz_attrs(child_labware_overlap)
+
+
+def _feature_exception_offsets(
+    parent_deck_item: _LabwareStackupDefinition,
+    deck_definition: DeckDefinitionV5,
+) -> Point:
+    """These offsets are intended for legacy reasons only and should generally be avoided post labware schema 2.
+
+    If you need to make exceptions for a parent-child stackup, use the `custom` locating feature.
+    """
+    if isinstance(parent_deck_item, ModuleDefinition) and _is_thermocycler_on_ot2(
+        parent_deck_item.model, deck_definition
+    ):
+        return _OFFSET_ON_TC_OT2
+    else:
+        return Point(x=0, y=0, z=0)
+
+
+def _is_thermocycler_on_ot2(
+    parent_module_model: ModuleModel,
+    deck_definition: DeckDefinitionV5,
+) -> bool:
+    """Whether the given parent module is a thermocycler with the current deck being an OT2 deck."""
+    robot_model = deck_definition["robot"]["model"]
+    return (
+        parent_module_model
+        in [ModuleModel.THERMOCYCLER_MODULE_V1, ModuleModel.THERMOCYCLER_MODULE_V2]
+        and robot_model == "OT-2 Standard"
+    )
+
+
+def _get_labware_footprint_as_child(
+    labware: LabwareDefinition3,
+) -> SlotFootprintAsChildFeature:
+    """Get the SlotFootprintAsChildFeature for labware definitions."""
+    footprint_as_child = labware.features.get("slotFootprintAsChild")
+    if footprint_as_child is None:
+        raise MissingLocatingFeatureError(
+            labware_name=labware.metadata.displayName,
+            required_feature="slotFootprintAsChild",
+        )
+    else:
+        return footprint_as_child
+
+
+def _total_nominal_gripper_offsets(
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+    slot_name: DeckSlotName,
+    deck_definition: DeckDefinitionV5,
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+) -> _GripperOffsets:
+    """Get the total of the offsets to be used to pick up and drop labware."""
+    top_most_lw_definition, top_most_lw_location = stackup_lw_info_top_to_bottom[0]
+    special_offsets = _get_special_gripper_offsets(
+        stackup_lw_info_top_to_bottom, underlying_ancestor_definition
+    )
+
+    if isinstance(
+        top_most_lw_location,
+        (ModuleLocation, DeckSlotLocation, AddressableAreaLocation),
+    ):
+        offsets = _nominal_gripper_offsets_for_location(
+            labware_location=top_most_lw_location,
+            labware_definition=top_most_lw_definition,
+            slot_name=slot_name,
+            deck_definition=deck_definition,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+        )
+
+        pick_up_offset = Point.from_xyz_attrs(offsets.pickUpOffset)
+        drop_offset = Point.from_xyz_attrs(offsets.dropOffset)
+
+        return _GripperOffsets(
+            pick_up_offset=pick_up_offset + special_offsets.pick_up_offset,
+            drop_offset=drop_offset + special_offsets.drop_offset,
+        )
+    else:
+        # If it's a labware on a labware (most likely an adapter),
+        # we calculate the offset as sum of offsets for the direct parent labware
+        # and the underlying non-labware parent location.
+        direct_parent_def, direct_parent_loc = stackup_lw_info_top_to_bottom[1]
+        direct_parent_offsets = _nominal_gripper_offsets_for_location(
+            labware_location=direct_parent_loc,
+            labware_definition=direct_parent_def,
+            slot_name=slot_name,
+            deck_definition=deck_definition,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+        )
+
+        top_most_offsets = _nominal_gripper_offsets_for_location(
+            labware_location=top_most_lw_location,
+            labware_definition=top_most_lw_definition,
+            slot_name=slot_name,
+            deck_definition=deck_definition,
+            underlying_ancestor_definition=underlying_ancestor_definition,
+        )
+
+        pick_up_offset = Point.from_xyz_attrs(
+            direct_parent_offsets.pickUpOffset
+        ) + Point.from_xyz_attrs(top_most_offsets.pickUpOffset)
+        drop_offset = Point.from_xyz_attrs(
+            direct_parent_offsets.dropOffset
+        ) + Point.from_xyz_attrs(top_most_offsets.dropOffset)
+
+        return _GripperOffsets(
+            pick_up_offset=pick_up_offset + special_offsets.pick_up_offset,
+            drop_offset=drop_offset + special_offsets.drop_offset,
+        )
+
+
+# TODO(jh, 08-15-25): Return _GripperOffsets instead of LabwareMovementOffsetData.
+def _nominal_gripper_offsets_for_location(
+    labware_location: LabwareLocation,
+    labware_definition: LabwareDefinition,
+    slot_name: DeckSlotName,
+    deck_definition: DeckDefinitionV5,
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+) -> LabwareMovementOffsetData:
+    """Provide the default gripper offset data for the given location type."""
+    if isinstance(labware_location, (DeckSlotLocation, AddressableAreaLocation)):
+        offsets = _get_deck_default_gripper_offsets(deck_definition)
+    elif isinstance(labware_location, ModuleLocation):
+        offsets = _get_module_default_gripper_offsets(underlying_ancestor_definition)  # type: ignore[arg-type]
+    else:
+        offsets = _labware_gripper_offsets(
+            top_most_lw_definition=labware_definition, slot_name=slot_name
+        )
+    return offsets or LabwareMovementOffsetData(
+        pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
+        dropOffset=LabwareOffsetVector(x=0, y=0, z=0),
+    )
+
+
+def _get_deck_default_gripper_offsets(
+    deck_definition: DeckDefinitionV5,
+) -> Optional[LabwareMovementOffsetData]:
+    """Get the deck's default gripper offsets."""
+    parsed_offsets = deck_definition.get("gripperOffsets", {}).get("default")
+    return (
+        LabwareMovementOffsetData(
+            pickUpOffset=LabwareOffsetVector(
+                x=parsed_offsets["pickUpOffset"]["x"],
+                y=parsed_offsets["pickUpOffset"]["y"],
+                z=parsed_offsets["pickUpOffset"]["z"],
+            ),
+            dropOffset=LabwareOffsetVector(
+                x=parsed_offsets["dropOffset"]["x"],
+                y=parsed_offsets["dropOffset"]["y"],
+                z=parsed_offsets["dropOffset"]["z"],
+            ),
+        )
+        if parsed_offsets
+        else None
+    )
+
+
+def _get_module_default_gripper_offsets(
+    module_definition: ModuleDefinition,
+) -> Optional[LabwareMovementOffsetData]:
+    """Get the deck's default gripper offsets."""
+    offsets = module_definition.gripperOffsets
+    return offsets.get("default") if offsets else None
+
+
+def _labware_gripper_offsets(
+    top_most_lw_definition: LabwareDefinition, slot_name: DeckSlotName
+) -> Optional[LabwareMovementOffsetData]:
+    """Provide the most appropriate gripper offset data for the specified labware.
+
+    We check the types of gripper offsets available for the labware ("default" or slot-based)
+    and return the most appropriate one for the overall location of the labware.
+    Currently, only module adapters (specifically, the H/S universal flat adapter)
+    have non-default offsets that are specific to location of the module on deck,
+    so, this code only checks for the presence of those known offsets.
+    """
+    slot_based_offset = _get_child_gripper_offsets(
+        top_most_lw_definition=top_most_lw_definition, slot_name=slot_name
+    )
+    return slot_based_offset or _get_child_gripper_offsets(
+        top_most_lw_definition=top_most_lw_definition, slot_name=None
+    )
+
+
+def _get_child_gripper_offsets(
+    top_most_lw_definition: LabwareDefinition,
+    slot_name: DeckSlotName | None,
+) -> Optional[LabwareMovementOffsetData]:
+    """Get the grip offsets that a labware says should be applied to children stacked atop it.
+
+    If `slot_name` is provided, returns the gripper offsets that the parent labware definition
+    specifies just for that slot, or `None` if the labware definition doesn't have an
+    exact match.
+
+    If `slot_name` is `None`, returns the gripper offsets that the parent labware
+    definition designates as "default," or `None` if it doesn't designate any as such.
+    """
+    parsed_offsets = top_most_lw_definition.gripperOffsets
+    offset_key = slot_name.id if slot_name else "default"
+
+    if parsed_offsets is None or offset_key not in parsed_offsets:
+        return None
+    else:
+        return LabwareMovementOffsetData(
+            pickUpOffset=LabwareOffsetVector.model_construct(
+                x=parsed_offsets[offset_key].pickUpOffset.x,
+                y=parsed_offsets[offset_key].pickUpOffset.y,
+                z=parsed_offsets[offset_key].pickUpOffset.z,
+            ),
+            dropOffset=LabwareOffsetVector.model_construct(
+                x=parsed_offsets[offset_key].dropOffset.x,
+                y=parsed_offsets[offset_key].dropOffset.y,
+                z=parsed_offsets[offset_key].dropOffset.z,
+            ),
+        )
+
+
+def _get_special_gripper_offsets(
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+) -> _GripperOffsets:
+    """Handles all special-cased gripper offsets."""
+    tc_lid_offsets = (
+        _get_tc_lid_gripper_offsets(
+            stackup_lw_info_top_to_bottom, underlying_ancestor_definition
+        )
+    ) or _GripperOffsets(drop_offset=Point(), pick_up_offset=Point())
+
+    ar_lid_offsets = (
+        _get_absorbance_reader_lid_gripper_offsets(stackup_lw_info_top_to_bottom)
+    ) or _GripperOffsets(drop_offset=Point(), pick_up_offset=Point())
+
+    return _GripperOffsets(
+        pick_up_offset=tc_lid_offsets.pick_up_offset + ar_lid_offsets.pick_up_offset,
+        drop_offset=tc_lid_offsets.pick_up_offset + ar_lid_offsets.drop_offset,
+    )
+
+
+def _get_tc_lid_gripper_offsets(
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+    underlying_ancestor_definition: LabwareStackupAncestorDefinition,
+) -> _GripperOffsets | None:
+    top_most_lw_def, top_most_lw_loc = stackup_lw_info_top_to_bottom[0]
+
+    if isinstance(top_most_lw_loc, OnLabwareLocation):
+        bottom_most_lw_location = stackup_lw_info_top_to_bottom[-1][1]
+
+        # This is done as a workaround for some TC geometry inaccuracies.
+        # See PLAT-579 for context.
+        if (
+            isinstance(bottom_most_lw_location, ModuleLocation)
+            and getattr(underlying_ancestor_definition, "model", None)
+            == ModuleModel.THERMOCYCLER_MODULE_V2
+            and validate_definition_is_lid(top_most_lw_def)
+        ):
+            # It is intentional to use the `pickUpOffset` in both the gripper pick up and drop cases.
+            if "lidOffsets" in top_most_lw_def.gripperOffsets.keys():
+                offset = Point(
+                    x=top_most_lw_def.gripperOffsets["lidOffsets"].pickUpOffset.x,
+                    y=top_most_lw_def.gripperOffsets["lidOffsets"].pickUpOffset.y,
+                    z=top_most_lw_def.gripperOffsets["lidOffsets"].pickUpOffset.z,
+                )
+                return _GripperOffsets(pick_up_offset=offset, drop_offset=offset)
+            else:
+                raise LabwareOffsetDoesNotExistError(
+                    f"Labware Definition {top_most_lw_def.parameters.loadName} does not contain required field 'lidOffsets' of 'gripperOffsets'."
+                )
+
+    return None
+
+
+def _get_absorbance_reader_lid_gripper_offsets(
+    stackup_lw_info_top_to_bottom: list[tuple[LabwareDefinition, LabwareLocation]],
+) -> _GripperOffsets | None:
+    top_most_lw_definition = stackup_lw_info_top_to_bottom[0][0]
+    load_name = top_most_lw_definition.parameters.loadName
+
+    if is_absorbance_reader_lid(load_name):
+        # todo(mm, 2024-11-06): This is only correct in the special case of an
+        # absorbance reader lid. Its definition currently puts the offsets for *itself*
+        # in the property that's normally meant for offsets for its *children.*
+        offsets = _get_child_gripper_offsets(top_most_lw_definition, slot_name=None)
+
+        if offsets is None:
+            raise ValueError(
+                "Expected gripper offsets for absorbance reader lid to be defined."
+            )
+        else:
+            return _GripperOffsets(
+                pick_up_offset=Point.from_xyz_attrs(offsets.pickUpOffset),
+                drop_offset=Point.from_xyz_attrs(offsets.dropOffset),
+            )
+
+    else:
+        return None