fix(api): Fix gripper move point calculation for modules

[mjhuff]

Closes RQA-4295

Overview

When we get_labware_origin_position, we start by retrieving the deck coordinates for the underlying addressable area, so for example, if the addressable area is heaterShakerV1D1, we get the coordinates for D1. Much later down stream, if there is a module involved in a stackup, we offset D1 by the heaterShakerV1D1 's offsetFromCutoutFixture.

In #18564, we refactored get_labware_grip_point to utilize more of the get_labware_origin_position logic (see that PR for more details), however, the grip point does exactly one thing different: we utilize the deck position for the actual addressable area we care about, ex, heaterShakerV1D1. This means that an extra offsetFromCutoutFixture is applied for grip moves.

To fix, we should refactor get_labware_origin_position to get the deck coordinates for the addressable area we actually care about and not do the offsetFromCutoutFixture adjustment much later down stream. Doing so unifies the gripper point and labware point calculation behavior almost entirely.

a89db22 fixes the second half of the issue, which is we weren't correctly applying all stacking offsets in a stackup to the gripper moves. Now we are.

Test Plan and Hands on Testing

• Ran the stackup testing script to ensure that there isn't any regression in well positioning behavior.
• Ran a few simulations of protocols for gripper moves: the gripper point calculations now match the positioning that occurred before refactor(api): Encapsulate labware offset calculations #18564.

Changelog

• Fixed the gripper moving to incorrect positions when interacting with labware on top of a module.

Risk assessment

lowish - the risk only comes from the get_grip_point changes, since we have regression testing for the labware origin changes.

[sfoster1]

Excellent, makes the entire process way less complicated

[vegano1]

Makes sense
I tested on a Flex by moving the labware dispensed by the stacker to another location. It's working as expected.
Thanks for fixing!

[SyntaxColoring]

Test plan looks great, thanks!

[CaseyBatten]

Very nice, way easier to trace now.