refactor(api,robot-server,app): use labwareURI instead of labwareID for placeLabwareState and unsafe/placeLabware command. (#16719)

The `placeLabwareState` and `unsafe/placeLabware` commands rely on the
`labwareID` to place labware held by the gripper back down to a deck
slot. However, as correctly pointed out, this is wrong because the
labwareID changes across runs. This was working for the plate reader lid
because the lid is loaded with a fixed labwareID, however, that would not
be the case for other labware across different runs. This pull request
replaces the labwareID with labwareURI used by the `placeLabwareState`
and `unsafe/placeLabware` commands so the behavior is consistent across
runs.

Author: vegano1

api-client/src/runs/types.ts

@@ -214,7 +214,7 @@ export interface NozzleLayoutValues {
 }
 
 export interface PlaceLabwareState {
-  labwareId: string
+  labwareURI: string
   location: OnDeckLabwareLocation
   shouldPlaceDown: boolean
 }

api/src/opentrons/protocol_engine/commands/unsafe/unsafe_place_labware.py

@@ -5,6 +5,7 @@
 from typing import TYPE_CHECKING, Optional, Type
 from typing_extensions import Literal
 
+from opentrons.calibration_storage.helpers import details_from_uri
 from opentrons.hardware_control.types import Axis, OT3Mount
 from opentrons.motion_planning.waypoints import get_gripper_labware_placement_waypoints
 from opentrons.protocol_engine.errors.exceptions import (
@@ -13,7 +14,12 @@
 )
 from opentrons.types import Point
 
-from ...types import DeckSlotLocation, ModuleModel, OnDeckLabwareLocation
+from ...types import (
+    DeckSlotLocation,
+    LoadedLabware,
+    ModuleModel,
+    OnDeckLabwareLocation,
+)
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 from ...resources import ensure_ot3_hardware
@@ -32,7 +38,7 @@
 class UnsafePlaceLabwareParams(BaseModel):
     """Payload required for an UnsafePlaceLabware command."""
 
-    labwareId: str = Field(..., description="The id of the labware to place.")
+    labwareURI: str = Field(..., description="Labware URI for labware.")
     location: OnDeckLabwareLocation = Field(
         ..., description="Where to place the labware."
     )
@@ -71,8 +77,8 @@ async def execute(
         is pressed, get into error recovery, etc).
 
         Unlike the `moveLabware` command, where you pick a source and destination
-        location, this command takes the labwareId to be moved and location to
-        move it to.
+        location, this command takes the labwareURI of the labware to be moved
+        and location to move it to.
 
         """
         ot3api = ensure_ot3_hardware(self._hardware_api)
@@ -84,10 +90,35 @@ async def execute(
                 "Cannot place labware when gripper is not gripping."
             )
 
-        labware_id = params.labwareId
-        # Allow propagation of LabwareNotLoadedError.
-        definition_uri = self._state_view.labware.get(labware_id).definitionUri
+        location = self._state_view.geometry.ensure_valid_gripper_location(
+            params.location,
+        )
+
+        # TODO: We need a way to create temporary labware for moving around,
+        # the labware should get deleted once its used.
+        details = details_from_uri(params.labwareURI)
+        labware = await self._equipment.load_labware(
+            load_name=details.load_name,
+            namespace=details.namespace,
+            version=details.version,
+            location=location,
+            labware_id=None,
+        )
+
+        self._state_view.labware._state.definitions_by_uri[
+            params.labwareURI
+        ] = labware.definition
+        self._state_view.labware._state.labware_by_id[
+            labware.labware_id
+        ] = LoadedLabware.construct(
+            id=labware.labware_id,
+            location=location,
+            loadName=labware.definition.parameters.loadName,
+            definitionUri=params.labwareURI,
+            offsetId=labware.offsetId,
+        )
 
+        labware_id = labware.labware_id
         # 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.*
@@ -109,10 +140,6 @@ async def execute(
                 params.location.slotName.id
             )
 
-        location = self._state_view.geometry.ensure_valid_gripper_location(
-            params.location,
-        )
-
         # This is an absorbance reader, move the lid to its dock (staging area).
         if isinstance(location, DeckSlotLocation):
             module = self._state_view.modules.get_by_slot(location.slotName)
@@ -122,7 +149,7 @@ async def execute(
                 )
 
         new_offset_id = self._equipment.find_applicable_labware_offset_id(
-            labware_definition_uri=definition_uri,
+            labware_definition_uri=params.labwareURI,
             labware_location=location,
         )
 

app/src/resources/modules/hooks/usePlacePlateReaderLid.ts

@@ -36,7 +36,7 @@ export function usePlacePlateReaderLid(
     const location = placeLabware.location
     const loadModuleCommand = buildLoadModuleCommand(location as ModuleLocation)
     const placeLabwareCommand = buildPlaceLabwareCommand(
-      placeLabware.labwareId as string,
+      placeLabware.labwareURI as string,
       location
     )
     commandsToExecute = [loadModuleCommand, placeLabwareCommand]
@@ -72,11 +72,11 @@ const buildLoadModuleCommand = (location: ModuleLocation): CreateCommand => {
 }
 
 const buildPlaceLabwareCommand = (
-  labwareId: string,
+  labwareURI: string,
   location: OnDeckLabwareLocation
 ): CreateCommand => {
   return {
     commandType: 'unsafe/placeLabware' as const,
-    params: { labwareId, location },
+    params: { labwareURI, location },
   }
 }

robot-server/robot_server/runs/router/base_router.py

@@ -602,6 +602,7 @@ async def get_current_state(  # noqa: C901
             for pipetteId, nozzle_map in active_nozzle_maps.items()
         }
 
+        run = run_data_manager.get(run_id=runId)
         current_command = run_data_manager.get_current_command(run_id=runId)
         last_completed_command = run_data_manager.get_last_completed_command(
             run_id=runId
@@ -636,11 +637,14 @@ async def get_current_state(  # noqa: C901
         if isinstance(command, MoveLabware):
             location = command.params.newLocation
             if isinstance(location, DeckSlotLocation):
-                place_labware = PlaceLabwareState(
-                    location=location,
-                    labwareId=command.params.labwareId,
-                    shouldPlaceDown=False,
-                )
+                for labware in run.labware:
+                    if labware.id == command.params.labwareId:
+                        place_labware = PlaceLabwareState(
+                            location=location,
+                            labwareURI=labware.definitionUri,
+                            shouldPlaceDown=False,
+                        )
+                        break
         # Handle absorbance reader lid
         elif isinstance(command, (OpenLid, CloseLid)):
             for mod in run.modules:
@@ -655,10 +659,13 @@ async def get_current_state(  # noqa: C901
                         and hw_mod.serial_number == mod.serialNumber
                     ):
                         location = mod.location
-                        labware_id = f"{mod.model}Lid{location.slotName}"
+                        # TODO: Not the best location for this, we should
+                        # remove this once we are no longer defining the plate reader lid
+                        # as a labware.
+                        labware_uri = "opentrons/opentrons_flex_lid_absorbance_plate_reader_module/1"
                         place_labware = PlaceLabwareState(
                             location=location,
-                            labwareId=labware_id,
+                            labwareURI=labware_uri,
                             shouldPlaceDown=estop_engaged,
                         )
                         break

robot-server/robot_server/runs/run_models.py

@@ -319,7 +319,7 @@ class ActiveNozzleLayout(BaseModel):
 class PlaceLabwareState(BaseModel):
     """Details the labware being placed by the gripper."""
 
-    labwareId: str = Field(..., description="The ID of the labware to place.")
+    labwareURI: str = Field(..., description="The URI of the labware to place.")
     location: OnDeckLabwareLocation = Field(
         ..., description="The location the labware should be in."
     )

shared-data/command/schemas/10.json

@@ -4749,9 +4749,9 @@
       "description": "Payload required for an UnsafePlaceLabware command.",
       "type": "object",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "The id of the labware to place.",
+        "labwareURI": {
+          "title": "Labwareuri",
+          "description": "Labware URI for labware.",
           "type": "string"
         },
         "location": {
@@ -4773,7 +4773,7 @@
           ]
         }
       },
-      "required": ["labwareId", "location"]
+      "required": ["labwareURI", "location"]
     },
     "UnsafePlaceLabwareCreate": {
       "title": "UnsafePlaceLabwareCreate",

shared-data/command/types/unsafe.ts

@@ -92,7 +92,7 @@ export interface UnsafeUngripLabwareRunTimeCommand
   result?: any
 }
 export interface UnsafePlaceLabwareParams {
-  labwareId: string
+  labwareURI: string
   location: OnDeckLabwareLocation
 }
 export interface UnsafePlaceLabwareCreateCommand