fix(api, shared-data): raise error when using gripper in ot2 protocols (#13208)

* raise error if using gripper with ot2 robot type
* add new error code for NOT_SUPPORTED_ON_ROBOT_TYPE

---------

Co-authored-by: Ed Cormany <[email protected]>

Author: sanni-t

api/src/opentrons/protocol_engine/commands/move_labware.py

@@ -12,7 +12,7 @@
     LabwareOffsetVector,
     LabwareMovementOffsetData,
 )
-from ..errors import LabwareMovementNotAllowedError
+from ..errors import LabwareMovementNotAllowedError, NotSupportedOnRobotType
 from ..resources import labware_validation
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate
 
@@ -120,6 +120,11 @@ async def execute(self, params: MoveLabwareParams) -> MoveLabwareResult:
         )
 
         if params.strategy == LabwareMovementStrategy.USING_GRIPPER:
+            if self._state_view.config.robot_type == "OT-2 Standard":
+                raise NotSupportedOnRobotType(
+                    message="Labware movement using a gripper is not supported on the OT-2",
+                    details={"strategy": params.strategy},
+                )
             if labware_validation.validate_definition_is_adapter(
                 current_labware_definition
             ):

api/src/opentrons/protocol_engine/errors/__init__.py

@@ -54,6 +54,7 @@
     LabwareMovementNotAllowedError,
     LocationIsOccupiedError,
     InvalidAxisForRobotType,
+    NotSupportedOnRobotType,
 )
 
 from .error_occurrence import ErrorOccurrence, ProtocolCommandFailedError
@@ -114,6 +115,7 @@
     "LabwareMovementNotAllowedError",
     "LocationIsOccupiedError",
     "InvalidAxisForRobotType",
+    "NotSupportedOnRobotType",
     # error occurrence models
     "ErrorOccurrence",
 ]

api/src/opentrons/protocol_engine/errors/exceptions.py

@@ -684,7 +684,9 @@ def __init__(
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
         """Build a HardwareNotSupportedError."""
-        super().__init__(ErrorCodes.GENERAL_ERROR, message, details, wrapping)
+        super().__init__(
+            ErrorCodes.NOT_SUPPORTED_ON_ROBOT_TYPE, message, details, wrapping
+        )
 
 
 class GripperNotAttachedError(ProtocolEngineError):
@@ -789,3 +791,18 @@ def __init__(
     ) -> None:
         """Build an EStopActivatedError."""
         super().__init__(ErrorCodes.E_STOP_ACTIVATED, message, details, wrapping)
+
+
+class NotSupportedOnRobotType(ProtocolEngineError):
+    """Raised when attempting to perform an action that is not supported for the given robot type."""
+
+    def __init__(
+        self,
+        message: Optional[str] = None,
+        details: Optional[Dict[str, Any]] = None,
+        wrapping: Optional[Sequence[EnumeratedError]] = None,
+    ) -> None:
+        """Build a NotSupportedOnRobotType exception."""
+        super().__init__(
+            ErrorCodes.NOT_SUPPORTED_ON_ROBOT_TYPE, message, details, wrapping
+        )

api/tests/opentrons/protocol_engine/commands/test_move_labware.py

@@ -5,7 +5,7 @@
 
 from opentrons.types import DeckSlotName
 from opentrons.protocols.models import LabwareDefinition
-from opentrons.protocol_engine import errors
+from opentrons.protocol_engine import errors, Config
 from opentrons.protocol_engine.resources import labware_validation
 from opentrons.protocol_engine.types import (
     DeckSlotLocation,
@@ -15,6 +15,7 @@
     LabwareMovementStrategy,
     LabwareOffsetVector,
     LabwareMovementOffsetData,
+    DeckType,
 )
 from opentrons.protocol_engine.state import StateView
 from opentrons.protocol_engine.commands.move_labware import (
@@ -424,3 +425,44 @@ async def test_move_labware_raises_when_moving_adapter_with_gripper(
 
     with pytest.raises(errors.LabwareMovementNotAllowedError, match="gripper"):
         await subject.execute(data)
+
+
+async def test_move_labware_with_gripper_raises_on_ot2(
+    decoy: Decoy,
+    equipment: EquipmentHandler,
+    labware_movement: LabwareMovementHandler,
+    state_view: StateView,
+    run_control: RunControlHandler,
+) -> None:
+    """It should raise an error when using a gripper with robot type of OT2."""
+    subject = MoveLabwareImplementation(
+        state_view=state_view,
+        equipment=equipment,
+        labware_movement=labware_movement,
+        run_control=run_control,
+    )
+    data = MoveLabwareParams(
+        labwareId="my-cool-labware-id",
+        newLocation=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
+        strategy=LabwareMovementStrategy.USING_GRIPPER,
+    )
+    decoy.when(state_view.labware.get(labware_id="my-cool-labware-id")).then_return(
+        LoadedLabware(
+            id="my-cool-labware-id",
+            loadName="load-name",
+            definitionUri="opentrons-test/load-name/1",
+            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
+            offsetId=None,
+        )
+    )
+    decoy.when(
+        state_view.labware.get_definition(labware_id="my-cool-labware-id")
+    ).then_return(
+        LabwareDefinition.construct(namespace="spacename")  # type: ignore[call-arg]
+    )
+
+    decoy.when(state_view.config).then_return(
+        Config(robot_type="OT-2 Standard", deck_type=DeckType.OT2_STANDARD)
+    )
+    with pytest.raises(errors.NotSupportedOnRobotType):
+        await subject.execute(data)

shared-data/errors/definitions/1/errors.json

@@ -157,6 +157,10 @@
     "4002": {
       "detail": "API Removed",
       "category": "generalError"
+    },
+    "4003": {
+      "detail": "Not supported on this robot type",
+      "category": "generalError"
     }
   }
 }

shared-data/python/opentrons_shared_data/errors/codes.py

@@ -69,6 +69,7 @@ class ErrorCodes(Enum):
     GENERAL_ERROR = _code_from_dict_entry("4000")
     ROBOT_IN_USE = _code_from_dict_entry("4001")
     API_REMOVED = _code_from_dict_entry("4002")
+    NOT_SUPPORTED_ON_ROBOT_TYPE = _code_from_dict_entry("4003")
 
     @classmethod
     @lru_cache(25)